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근력 보조를 위한 의복형 착용로봇용 텐던장치

Title
근력 보조를 위한 의복형 착용로봇용 텐던장치
Translated Title
TENDON DEVICE FOR SUIT TYPE ROBOT FOR ASSISTING HUMAN WITH PHYSICAL STRENGTH
Inventors
이희돈
DGIST Inventors
이희돈
Country
US
Application Date
2017-10-27
Application No.
15-796145
Registration Date
2020-10-13
Registration No.
10799381
Assignee
(재)대구경북과학기술원(100/100)
URI
http://hdl.handle.net/20.500.11750/13246
Abstract

A tendon device for a suit type robot which includes: a first wire and a second wire respectively fixed on a front portion and a rear portion of a joint of a user, and moving in a lengthwise direction thereof according to flexion-extension of the joint; a tendon driver including a first tendon module including a first pulley, and a second tendon module including a second pulley; a first pulley encoder measuring a rotary angle of the first pulley; a second pulley encoder for measuring a rotary angle of the second pulley; a controller configured to calculate tensions of the first wire and the second wire based on the rotary angle of the first and second pulleys in order to generate a control signal; and a driver configured to provide the first tendon module and the second tendon module with a driving power.

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