Abstract: A gripper includes a body part, a finger base part coupled to the body part, and a finger part coupled to a first side of the body part or the finger base part and coupled to the body part or the finger base part to be reciprocal, wherein the finger part comprises a first link structure and a second link structure, sides of which are coupled to the finger base part, respectively, and wherein, in the first link structure and the second link structure, a first support area of the first link structure and a second support area of the second link structure reciprocate in only one of a plurality of directions that cross a direction in which the finger part reciprocates with respect to the finger base part.

Abstract: A gripper includes a body part, a finger base part coupled to the body part to be rotatable, the finger base part including a first finger base part and a second finger base part configured such that when the first finger base part is rotated in a first direction with respect to the body part, the second finger base part is provided to be rotatable in a second direction opposite the first direction with respect to the body part, and a finger part coupled to a first side of the body part or the finger base part to be reciprocal.

Abstract: An embodiment device includes an input module including a motor configured to generate a rotational force, an output module configured to receive power from the input module to be rotatable, and a connection module having a first side coupled to the input module and a second side, opposite the first side, coupled to the output module, wherein the connection module is configured to transmit the power from the input module to the output module.

Abstract: An embodiment joint structure includes a first connection link configured to be fixed to one side of a wearer, a second connection link coupled to the first connection link to be rotatable about a first rotation axis, a third connection link coupled to the first connection link to be rotatable about a second rotation axis spaced apart from the first rotation axis, and a fourth connection link, a first side of which is coupled to the second connection link to be rotatable about a third rotation axis and a second side of which is coupled to the third connection link to be rotatable about a fourth rotation axis spaced apart from the third rotation axis, wherein an imaginary first extension axis, an imaginary second extension axis, an imaginary third extension axis, and an imaginary fourth extension axis intersect each other in an intersection area.

Abstract: Disclosed is a device including a first connection link coupled to be rotatable about a first rotary shaft, a second connection link coupled to be rotatable relative to the first connection link about a second rotary shaft, a third connection link coupled to be rotatable relative to the second connection link about a third rotary shaft, and a fourth connection link coupled to be rotatable relative to the third connection link about a fourth rotary shaft, in which first to fourth extension axes respectively defined by extending the first to fourth rotary shafts in longitudinal directions thereof intersect in an intersection region.

Abstract: An embodiment apparatus includes a wire unit surrounding a shoulder of a wearer, a clutch unit penetrated by the wire unit and disposed on a route along which the wire unit extends, and a support unit having a first side rotatably connected to the clutch unit and a second side supporting an elbow of the wearer.

Abstract: An embodiment wearable robot includes a rear body unit configured to be provided in close contact with a rear side of a user, the rear body unit including a first link, and a link module having a first side coupled to the rear body unit and a second side configured to be positioned on a shoulder of the user, the link module including a second link rotatably coupled to a first side of the first link, a third link rotatably coupled to a second side of the first link, and a fourth link having a first side rotatably coupled to the second link and a second side rotatably coupled to the third link, the fourth link being configured to extend to the shoulder of the user.

Abstract: Provided is an apparatus for assisting muscular strength, including an upper frame; a lower frame configured to be rotatable relative to the upper frame; and a force generating unit configured to provide the lower frame with a force applied in a second rotational direction D2 opposite to a first rotational direction D1 when the lower frame rotates in the first rotational direction D1 relative to the upper frame. The force generating unit includes a frame member configured to define a body of the force generating unit; a first spring accommodated in the frame member; a pressing part disposed at one side of the first spring and configured to press the first spring; and a link part disposed at the other side of the first spring and configured to press the first spring and move in conjunction with a relative rotational motion between the upper frame and the lower frame.

Abstract: Disclosed is an apparatus for assisting muscular strength, the apparatus including: an upper frame configured to be fixed to a user's upper body; a lower frame disposed below the upper frame and configured to be fixed to the user's lower body and rotatable relative to the upper frame; a wire disposed across the upper frame and the lower frame; and a force generating unit coupled to one side of the upper frame, in which when the lower frame rotates in a first direction D1 relative to the upper frame, the force generating unit generates a force applied in a second direction D2 opposite to the first direction D1, in which the force generating unit includes: a first movable member; a second movable member; and a main spring part.

Abstract: A force generating device includes: a support unit; a link unit rotatably coupled to one side of the support unit; a transfer unit that is coupled to the link unit and transfers wave energy to the outside; and a drive unit that operates the link unit. In particular, the transfer unit is moved on an imaginary sphere by a motion of the link unit, and the transfer unit transfers the wave energy to a center of the imaginary sphere.