US 11,833,103 B2
Hip joint link apparatus
Seok Won Kang, Seoul (KR); and Yoon Young Kim, Seoul (KR)
Assigned to SEOUL NATIONAL UNIVERSITY R&DB FOUNDATION, Seoul (KR)
Filed by Seoul National University R&DB Foundation, Seoul (KR)
Filed on Jan. 21, 2021, as Appl. No. 17/154,086.
Claims priority of application No. 10-2020-0071805 (KR), filed on Jun. 12, 2020; and application No. 10-2020-0136264 (KR), filed on Oct. 20, 2020.
Prior Publication US 2021/0386610 A1, Dec. 16, 2021
Int. Cl. A61H 3/00 (2006.01)
CPC A61H 3/00 (2013.01) [A61H 2003/007 (2013.01); A61H 2201/163 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/1676 (2013.01)] 7 Claims
OG exemplary drawing
 
1. A hip joint link apparatus comprising:
an upper body link fixed to an upper body of a wearable robot, and a hip joint jointer linking a thigh link to a thigh of the wearable robot,
wherein the hip joint jointer has a four-revolute joint structure including a plurality of revolute joints and a plurality of links;
an arbitrary input moment to the hip joint jointer is changed to an output moment in a predetermined direction based on a state of being transmitted to the plurality of links through the plurality of revolute joints; and
the hip joint jointer assists a flexion moment, an extension moment, an abduction moment, and an adduction moment,
wherein the plurality of revolute joints include:
a first revolute joint that is linked to the upper body link and functions as a rotation axis of an input moment,
a second revolute joint that is interlocked at one side thereof to rotation of the first revolute joint,
a third revolute joint that is interlocked to rotation of the second revolute joint,
wherein the plurality of links include:
a first link linked to the upper body link through the first revolute joint, and
wherein the first revolute joint is linked to the middle portion of the first link, and the second revolute joint is linked to one end portion of the first link, and the third revolute joint is linked to the other end portion of the first link, and
wherein the first link includes a curved portion extended between the first revolute joint and the second revolute joint in a plan view, and a length of the curved portion is longer than a distance between the first revolute joint and the second revolute joint.