MULTI LINK APPARATUS LOWER-LOMB EXOSKELETON ROBOT USING THE SAME AND METHED FOR CONTROLLING THE SAME

摘要

Disclosed is a multi-link structure comprising: a driving device for providing a torque to a drive shaft; a first link provided on one side of the drive shaft; a driving arm having one end fixed to the drive shaft and the other end moved by rotation of the drive shaft; a first auxiliary link rotatably connected at one end to the other end of the driving arm; a second auxiliary link rotatably connected to a first point on the other side of the first link and the other end of the first auxiliary link; a second link disposed below the first link and rotatably connected to the second auxiliary link; and a third auxiliary link which is rotatably connected at one end to a second point spaced apart from a first point on the other side of the first link, and whose other end is rotatably connected to the second link.