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TORQUE GENERATING APPARATUS OF WEARABLE ROBOT FOR ASSISTING MUSCULAR STRENGTH AND ANKLE STRUCTURE OF WEARABLE ROBOT FOR ASSISTING MUSCULAR STRENGTH WITH THE SAME
TORQUE GENERATING APPARATUS OF WEARABLE ROBOT FOR ASSISTING MUSCULAR STRENGTH AND ANKLE STRUCTURE OF WEARABLE ROBOT FOR ASSISTING MUSCULAR STRENGTH WITH THE SAME
PURPOSE: A torque generating apparatus for a muscular strength supporting robot and an ankle structure of the muscular strength supporting robot with the same are provided to generate stable torque throughout a rotational angle range, and to prevent the excessive consumption of energy. CONSTITUTION: An ankle structure of the muscular strength supporting robot comprises a rotary shaft and a torque generating apparatus(200). A foot bone body corresponding to a foot of a user is rotatably connected to a leg bone body corresponding to a calf of the user by the rotary shaft. The torque generating apparatus generates torque for rotating the foot bone body against the leg bone body. The torque generating apparatus has a first upper bracket(210a), a first lower bracket(210b), a first cylinder(220), a second upper bracket(230a), a second lower bracket(230b), and a second cylinder(240).
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