Reaction force adjusting device and method using variable stiffness actuator of exoskeleton system

摘要

A reaction force adjusting device using a variable elastic actuator of an exoskeleton system comprises: a first link member and a second link member connected to each other to allow the joint movement; a joint shaft connected between the first link member and the second link member and not constrained with the first link member but constrainedly connected with the second link member; a joint driving means for rotating the second link member with respect to the first link member around the joint shaft; a variable elastic body connected to the joint shaft to provide an elastic force between the first link member and the second link member; and a control actuator installed on the side of the first link body and adjusting a reaction force of the variable elastic body, A user can set the desired level of forces so the device can move more comfortably to increase the treatment effect and wearing performance.