Abstract: An exoskeleton mechanism according to the present disclosure includes: a fixed frame positioned to correspond to an upper physique; a rotatable frame positioned to correspond to a lower physique and coupled to the fixed frame by a hinge unit to be rotatable in the vertical direction; a support frame for supporting a terminal; a first motor mounted to the fixed frame and connected to the rotatable frame to drive the rotatable frame to rotate in the vertical direction; motors mounted to the rotatable frame and connected to the support frame to drive the support frame to rotate in the vertical direction and in the horizontal direction and rotate around an axis (roll axis) of the lower physique; links for connecting the first motor and the rotatable frame; and links for connecting the motors and the support frame.

Abstract: A spherical transmission joint has an input shaft connected to a driving source to rotate, an input link fixed to the input shaft to be rotated by the input shaft and having a bent shape, a coupler link rotatably mounted to a first rotary shaft mounted to the input link and having a bent shape, an output link rotatably mounted to a second rotary shaft mounted to the coupler link and having a bent shape, and an output shaft fixed to the output link. This spherical transmission joint for rotating power transmission of inclined shafts is widely used for transmission joints with certain gradients since a rotating angle between an input shaft and an output shaft is ranged wide.

Abstract: A spherical transmission joint has an input shaft connected to a driving source to rotate, an input link fixed to the input shaft to be rotated by the input shaft and having a bent shape, a coupler link rotatably mounted to a first rotary shaft mounted to the input link and having a bent shape, an output link rotatably mounted to a second rotary shaft mounted to the coupler link and having a bent shape, and an output shaft fixed to the output link. This spherical transmission joint for rotating power transmission of inclined shafts is widely used for transmission joints with certain gradients since a rotating angle between an input shaft and an output shaft is ranged wide.

Abstract: An exoskeleton mechanism according to the present disclosure includes: a fixed frame positioned to correspond to an upper physique; a rotatable frame positioned to correspond to a lower physique and coupled to the fixed frame by a hinge unit to be rotatable in the vertical direction; a support frame for supporting a terminal; a first motor mounted to the fixed frame and connected to the rotatable frame to drive the rotatable frame to rotate in the vertical direction; motors mounted to the rotatable frame and connected to the support frame to drive the support frame to rotate in the vertical direction and in the horizontal direction and rotate around an axis (roll axis) of the lower physique; links for connecting the first motor and the rotatable frame; and links for connecting the motors and the support frame.