EXOSKELETON MECHANISM AND METHOD FOR DRIVING EXOSKELETON MECHANISM

摘要

The objective of the present invention is to provide an exoskeleton mechanism which can perform various and high-level actions and a method for driving the exoskeleton mechanism. According to one embodiment of the present invention, the exoskeleton mechanism comprises: an index finger proximal phalanx wearing part worn on an index finger proximal phalanx; a pusher pushing the index finger proximal phalanx wearing part to the direction of the palm or pulling the index finger proximal phalanx wearing part to the direction of the back of the hand; an index finger distal phalanx wearing part worn on an index finger distal phalanx; a first wire passing from an upper side of the index finger distal phalanx wearing part to an upper side of the index finger proximal phalanx wearing part; a second wire passing from a lower side of the index finger distal phalanx wearing part to a lower side of the index finger proximal phalanx wearing part; and a control part performing a radial digital grasp action by pulling the first wire while the pusher is pushing the index finger proximal phalanx wearing part in the direction of the palm or performing a radial palmar grasp action by pulling the second wire while the pusher is pushing the index finger proximal phalanx wearing part in the direction of the palm.;COPYRIGHT KIPO 2020