Tendon-Driven Exoskeletal Power Assistive Robot and Driving Method Thereof

摘要

This invention relates to a wire -driven robot exoskeleton and its driving method . According to the invention, the direction of rotation of the joint is a wire connected to driving the actuator , rotation in the opposite direction can be efficiently driven by the single driving of each joint so as to drive the actuator by a return spring provided in the joint . Further, the driving of the wire -driven robot exoskeleton by the interval by analyzing the user's walking motion is entering a large torque is applied to the wire , the return spring force is provided in the section into a joint , and small torque acting on the drive actuator to the joint to pass can improve the efficiency . ;