Joint structure and exo-skeleton robot including the same

A joint structure comprising:

• 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;
• and
• an upper arm module coupled to one side of the fourth connection link to be rotatable and configured to be attached to an upper arm of the wearer, wherein the upper arm module comprises:
• a first upper arm part, one side of which is coupled to the fourth connection link to be rotatable about a fifth rotation axis;
• and
• a second upper arm part, one side of which is coupled to the first upper arm part to be rotatable about a sixth rotation axis;
• and
• wherein an imaginary first extension axis obtained by extending the first rotation axis, an imaginary second extension axis obtained by extending the second rotation axis, an imaginary third extension axis obtained by extending the third rotation axis, and an imaginary fourth extension axis obtained by extending the fourth rotation axis intersect each other in an intersection area.

An exo-skeleton robot comprising:

• a frame configured to be adhered to a back of a wearer;
• and
• a joint structure having one side coupled to the frame, wherein the joint structure is configured to be coupled to a shoulder and an upper arm of the wearer, and wherein the joint structure comprises:
• a first connection link configured to be fixed to one side of the 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, one side of which is coupled to the second connection link to be rotatable about a third rotation axis and an opposite 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;
• and
• wherein an imaginary first extension axis obtained by extending the first rotation axis, an imaginary second extension axis obtained by extending the second rotation axis, an imaginary third extension axis obtained by extending the third rotation axis, and an imaginary fourth extension axis obtained by extending the fourth rotation axis intersect each other in an intersection area.