Wearable gravity compensation apparatus capable of multiple degrees of freedom of movement

A wearable gravity compensation apparatus capable of multiple degrees of freedom of movement comprising:

• a main frame configured to be fixable to a back of a user;
• a base link rotatably connected to the main frame around a first rotation axis;
• a front extension link having one end rotatably connected to the base link around a second rotation axis intersecting the first rotation axis, the front extension link extending to a front of the base link;
• a rear extension link connected to the base link, the rear extension link extending to a rear of the base link;
• a guide positioned above the base link, the guide provided on the main frame;
• a slider configured to be slidable along the guide;
• a gravity compensation elastic member having one end fixed to the main frame, and the other end fixed to the slider;
• a first coupling link rotatably connected to the slider;
• a link plate rotatably connected to each of the main frame and the first coupling link;
• a second coupling link rotatably connected to each of the link plate and the rear extension link;
• and
• a support part connected to the other end of the front extension link, the support part configured to be capable of supporting an arm of the user, and to be capable of two degrees of freedom of movement with respect to the front extension link, wherein the support part comprises:
• a support base rotatably connected to the front extension link around a third rotation axis;
• a support plate provided on an upper side of the support base, the support plate configured to be capable of two degrees of freedom of movement with respect to the support base;
• and
• a support joint configured to connect the support base and the support plate to each other, and permit free lateral movement to the left or to the right of a supported arm.