Apparatus and method for observing feedback force of wearable exoskeleton system

摘要

According to the present invention, a device for tracking a reverse force of a wearable exoskeleton system comprises a first link body and a second link body connected to each other to be rotatable relative to each other, an elastic member interposed between the first link body and the second link body, a load cell connected between the elastic member and the first link body to measure a load applied to the elastic member, an actuator connected between the elastic member and the second link body to adjust a reaction force of the elastic member, and a control part which receives a measurement signal of the load cell and outputs a control signal to the actuator according to user′s reverse force setting. The user can set a desired level of reverse force enabling to more comfortably move, thereby increasing a treatment effect and wearing performance.