DEVICE FOR ACTUATING UNDERWATER WEARABLE ROBOTS AND METHOD FOR CONTROLLING THE SAME

摘要

The invention discloses a kind of wearable robot driving devices to be used for underwater operation, user can be made easily to overcome the resistance of water, the wearable submerged operating robot of quick and omni-directional drive portion the driving device includes that proletarian's wearable component and nozzle is instigateed to be mounted on driving body to generate thrust and pass through spray supply fluid. Driving body is worn the worker of a wrist and ankle in terminal part. Linear three axis direction of behave power of jet element generation (such as X, Y and Z axis, and an axial-rotation power. Therefore, the present invention facilitates worker and carries out the resistance that fast moving parts overcome water, wearable robot by directly driving end is freely movable the coordinate of job site, can accurately control the underwater movement for utilizing spray nozzle part in small-scale movement and high-speed motion in all directions. ;The 2014 of copyright KIPO submissions