ANKLE AUXILIAY EQUIPMENT, AND ROBOT SUIT FOR WEARABLE ROBOT FOR ASSISTING THE MUSCULAR STRENGTH OF LOWER EXTREMITY USING THEREOF

摘要

PURPOSE: An ankle assistant device and a robot suit are provided to improve contact force and to induce natural walking. CONSTITUTION: An ankle assistant device comprises a footrest unit(100), a bearing unit(200), a piston(250), a magneto-rheological damper unit(300), and an encoder(400). The footrest unit supports the plantar. The bearing unit has two rotational freedoms and supports the footrest unit. The piston is perpendicularly connected to the bearing unit and moves up and down in a cylinder filled with magneto-rheological fluid. The encoder measures displacement of the piston per hour within the cylinder. In the magneto-rheological damper unit, a magnet(350) is installed.