KR101774152B1 - Wearable apparatus for support holding posture - Google Patents

Abstract

The present invention relates to a wearable apparatus for supporting a holding posture, comprising: a foot fixing means; a calf frame; a thigh frame; a saddle means; a detection means; a first rotation adjusting means; a second rotation adjusting means; and a control means. The wearable apparatus for supporting a holding posture is light so free movements and walking are possible when a user wears the apparatus, and a holing posture of the user is supported. Also, an operation mode can be easily converted according to intentions of the user without regard to working environments. The composition of the apparatus is simple so the apparatus is easily removable from the user and manufacturing and maintenance costs are low.

Description

[0001] WEARABLE APPARATUS FOR SUPPORT HOLDING POSTURE [0002]

The present invention relates to a wearable posture maintaining assisting device, and more particularly, to a wearable posture maintaining assisting device which is light in weight and capable of freely moving and walking in a worn state, assisting the maintenance of the posture of a user, The present invention relates to a wearable posture maintaining auxiliary device which can easily change an operation mode and is simple in configuration and is easy to attach and detach by a user and is low in manufacturing and maintenance costs.

Work that requires low mechanical rate, for example, work that must be input in an industrial or agricultural environment requires repetitive work such as a working posture, for example, a squatting or kneeling attitude, Diseases, especially leg and knee diseases, frequently occur.

Therefore, it is possible to calibrate the posture by using a supporting device such as various chairs and supports, which can assist the posture maintenance of the user. However, it is inconvenient to carry a chair or a support for each work place, So that it is not used well.

Recently, a rehabilitation aids for muscular patients have been used for the elderly and handicapped people, such as muscular power assistant for the elderly and the disabled, army cranes for heavy armament, surgical patients (laparotomy patients) and long-term hospital patients And an exoskeletal muscle force augmentor, which is a wearable robot worn by a user, may be used.

However, the currently developed exoskeletal muscle strength aids include components such as power devices, such as motors, actuators, and cylinders, so that they are heavy and bulky, and are worn by those who have significantly reduced strength such as the elderly or patients There is a disadvantage in that it is difficult for the user to walk and various inconveniences are felt even when worn.

Further, when the wearable robot has a large volume, there is a problem in that the operation itself such as passing or sitting on a narrow place (for example, a toilet, an armchair, etc.) is difficult due to interference of nearby objects.

Therefore, there is a need for a wearable posture maintaining assisting device in which the above-mentioned problems are complemented.

Korean Patent Publication No. 10-2013-0111763

SUMMARY OF THE INVENTION It is an object of the present invention to provide a wearable posture maintaining auxiliary device capable of freely moving and walking while being light in weight and assisting a user in maintaining posture.

Another object of the present invention is to provide a wearable posture maintaining auxiliary device which can easily change an operation mode according to a user's intention without regard to a working environment.

Another object of the present invention is to provide a wearable posture maintaining auxiliary device which is simple in construction and is easy to attach and detach, and which is low in manufacturing and maintenance costs.

According to the present invention, said object is achieved by a foot fixing means on which a user's foot or shoe is seated; A calf frame rotatably connected to said foot fastening means and being in contact with or proximate to a user's calf; A thigh frame rotatably connected to the calf frame and being in contact with or proximate to a user's thigh; Saddle means pivotally connected to the thigh frame and positioned adjacent to or in proximity to a ball of a user; Detecting means provided in at least one of the calf frame and the thigh frame for detecting attitude information of a user; First caliper adjusting means disposed in the calf frame and the thigh frame to adjust the turning operation of the thigh frame; Second throttle adjusting means provided on the thigh frame and the saddle means for adjusting the turning operation of the saddle means; And control means for controlling operations of the first rotation adjustment means and the second rotation adjustment means in accordance with detection information transmitted from the detection means, wherein the first rotation adjustment means comprises: A first tension member, a part of which is located inside or outside the calf frame; And a first brake member disposed in the calf frame and fixing or releasing the first tension member, wherein the second rotation adjusting means is fixed to the saddle means, A second tension member located inside or outside; And a second brake member which is disposed on the thigh frame and fixes or disengages the second tension member, wherein the first brake member and the second brake member are fixed to the first tension member, And a pair of electromagnets which sandwich a tension member between the pair of electromagnets.

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It is preferable that one or both of the first tension member and the second tension member is composed of any one or a combination of two or more of a timing band, a chain, and a wire.

Here, the first tension member and the second tension member are provided with a first concavo-convex portion formed of a plurality of grooves or projections along the longitudinal direction, and the first concavo-convex portion and the second concavo- The first concavo-convex part and the second concavo-convex part are brought into close contact with each other or separated from each other and the first tension member and the second tension member are fixed Or may be released.

Here, the detecting means may include: a first inertial sensor mounted on the calf frame and sensing an operation of the calf frame; A second inertia sensor disposed in the thigh frame to sense motion of the thigh frame; And a pressure sensor provided on the thigh frame for sensing movement of the user's thigh muscles; .

Here, the thigh frame may further include a thigh band surrounding the thigh of the user, and the pressure sensor may include a portion of the thigh band that is in contact with the front of the thigh of the user and a portion of the thigh As shown in FIG.

Here, the control means controls the rotation of the calf frame or the thigh frame for a predetermined period of time after the rotation of the calf frame or the thigh frame is sensed through the first inertial sensor or the second inertial sensor If it is not detected, it is determined that the chair mode is selected, and the first brake member and the second brake member are operated to control the first tension member and the second tension member to be fixed.

Here, when the operation of the calf frame and the thigh frame is detected through the first and second inertial sensors and the movement of the user's thigh muscle is sensed through the pressure sensor, It is preferable to control the first brake member and the second brake member so as to fix the first tension member and the second tension member.

According to the present invention, there is provided a wearable posture maintaining assisting device capable of freely moving and walking even when wearing a light weight, and assisting the user in maintaining posture.

In addition, the operation mode can be easily changed according to the user's intention without regard to the working environment.

In addition, the structure is simple and the user is easy to attach and detach, and the manufacturing and maintenance cost is low.

1 is a block diagram showing a configuration of a wearable posture maintaining assisting apparatus according to an embodiment of the present invention;
2 is a perspective view illustrating a wearable posture maintaining assisting apparatus according to an embodiment of the present invention,
Fig. 3 is a partially exploded perspective view of the wearable posture maintaining auxiliary apparatus shown in Fig. 2,
Fig. 4 is a side view of the wearable posture maintaining auxiliary device shown in Fig. 2,
5 is an internal enlarged view of "A" shown in Fig. 4,
6 and 7 (a) and 7 (b) are operational states showing the operation of the first rotation adjusting means among the wearable posture maintaining assisting devices according to the embodiment of the present invention,
FIG. 8 is a flowchart illustrating the use of the wearable posture maintaining assisting apparatus according to an embodiment of the present invention;
9 is a diagram for calculating the tension in the chair mode,
10A to 10C are state diagrams illustrating a state in which the wearable posture maintaining assisting device according to the embodiment of the present invention is used.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a wearable posture maintaining assistance device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a configuration of a wearable posture maintaining assisting apparatus according to an embodiment of the present invention. FIG. 2 is a perspective view of a wearable posture maintaining assisting apparatus according to an embodiment of the present invention, and FIG. 3 is a partially exploded perspective view of the wearable posture maintaining assisting apparatus shown in FIG. 4 is a side view of the wearable posture maintaining assisting apparatus shown in Fig. 2, and Fig. 5 is an enlarged view of the inside of "A" shown in Fig.

1 to 5, a wearable posture maintaining assisting apparatus 100 according to an embodiment of the present invention includes a foot fixing unit 10, a calf frame 20, a thigh frame 30, a saddle unit 40, a detection means 50, a first rotation adjustment means 60, a second rotation adjustment means 70, and a control means 80.

The foot fixing means 10 is a component that is located at the lowermost end of the wearable posture assisting-assisting device 100 according to the embodiment of the present invention and on which a user's foot or shoe is seated. For this purpose, the foot fixing means 10 has a shape in which a user's foot or shoe can be seated and fixed.

The calf frame 20 is a component that is pivotally connected to the foot fastening means 10 using a fastening member, such as a hinge, as shown in Fig. 3, and is located in contact with or near the user's calf. That is, when the user wears the wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention, the foot fixing means 10 or the calf frame 20 can be rotated according to the movement of the user's ankle.

The calf frame 20 further includes a calf band 22 surrounding the user's calf so that the calf frame 20 can be positioned in contact with or proximate to the user's calf.

The thigh frame 30 is rotatably connected to the calf frame 20 by using a hinge or the like as shown in FIG. 3 so that the calf frame 20 or the thigh frame 30 can be operated do.

The thigh frame 30 also includes a thigh band 32 that surrounds the thigh of the user so that the thigh frame 30 can be positioned in contact with or close to the thigh of the user.

The saddle means 40 is also pivotally connected to the thigh frame 30 via a hinge or the like as shown in Fig. The saddle means 40 serves as a chair for the user to sit on, so that when the user sits or stands up, the thigh frame 30 or the saddle means 40, depending on the angle change between the thigh and the ball, .

The foot fixing means 10, the calf frame 20, the thigh frame 30 and the saddle means 40 are made of a light and durable material so that a user wearing the wearable posture maintaining auxiliary device 100 can freely move, But is not limited to, titanium or carbon.

The detecting means 50 is a component provided in at least one of the calf frame 20 and the thigh frame 30 to detect the attitude information of the user and includes a first inertial sensor 52 and a second inertial sensor 54, , And a pressure sensor (56).

The first inertial sensor 52 is mounted on the calf frame 20 to sense the operation of the calf frame 20 and the second inertial sensor 54 is disposed on the thigh frame 30 to detect the movement of the thigh frame 30 ). ≪ / RTI >

The pressure sensor 56 is provided on the thigh frame 30, in particular, the thigh band 32 surrounding the thigh of the user to sense the movement of the thigh muscles of the user.

Here, the user's thigh muscles have different muscles to be used when walking and different muscles to be used when sitting, and different forces are applied depending on positions. Accordingly, in the present invention, a plurality of pressure sensors 56 provided on the thigh band 32 are provided so that the pressure sensor 56 can be divided into a portion contacting the front of the thigh and a portion contacting the back of the thigh, And the like.

The first rotation adjusting means 60 shown in detail in FIG. 5 is a component arranged in the calf frame 20 and the thigh frame 30 to control the turning operation of the thigh frame 30, (62) and a first brake member (64).

The first tension member 62 is a kind of strap fixed to the thigh frame 30 and partly located on the inside or outside of the calf frame 20 and may be any one or a combination of two or more of a timing band, And the other of the first tension member 62 is positioned inside the calf frame 20 in the present invention.

The first brake member 64 is disposed in the calf frame 20, in which a part of the first tension member 62 is located inside the calf frame 20. The first brake member 64 is also located inside the calf frame 20 to control the turning operation of the thigh frame 30 by fixing or releasing the first tension member 62. [

The first brake member 64 is composed of a pair of electromagnets sandwiching the first tension member 62 and the first brake member 64 is connected to the first tension member 62 in accordance with the supply of power, So that the first tension member 62 can be fixed or released.

5, the first tension member 62 is provided with a plurality of grooves or protrusions along the longitudinal direction so that the first tension member 62 can be fixed smoothly, And the first braking member 64 is formed with a second concave and convex portion B2 corresponding to the shape of the first concave and convex portion B1 of the first tension member 62. [

When the first brake member 64 is brought into contact with the first tension member 62, the first concave and convex portion B1 and the second concave and convex portion B2 are engaged with each other, .

The second rotation adjusting means 70 is provided on the hinge frame 30 and the saddle means 40 to control the pivotal movement of the saddle means 40. The calf frame 20 and the thigh frame 30, The second tension member 72 and the second brake member 74 have the same structure as that of the first rotation adjustment means 60 provided in the first and second brake cylinders.

The second tension member 72 is composed of any one or a combination of two or more of a timing band, a chain, and a wire similarly to the first tension member 62. The second tension member 72 is fixed to the saddle means 40 and a part of the second tension member 72 is located inside or outside the thigh frame 30 and is located inside the thigh frame 30 in the present invention.

The second brake member 74, which is placed on the inner side of the thigh frame 30 and part of the second tension member 72, is disposed inside the thigh frame 30, (64). Here, the power supply unit (not shown) for supplying power to the first brake member 64 and the second brake member 74 may be a conventional battery or an external socket, but this is a known technique, A detailed description thereof will be omitted.

The second tension member 72 and the second brake member 74 and also the first concave and convex portion B1 and the second concave and convex portion B2 corresponding to the shape of the first concave and convex portion B1 are formed, The first concavo-convex portion B1 and the second concavo-convex portion B2 are engaged with each other to fix the second tension member 72 when the second brake member 74 is in contact with the second tension member 72, The second tension member 72 is disengaged from the second tension member 72 so that the rotation of the saddle means 40 can be controlled.

The control means 80 is a component for controlling the wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention. In particular, The operation of the first rotation adjusting means 60 and the second rotation adjusting means 70 is controlled according to the detection information.

In other words, when the user wants to work in an uncomfortable posture such as, for example, squatting or kneeling, the calf frame 20, the thigh frame 30 and the saddle means 40 are fixed So that the user can comfortably maintain the posture.

When the user wearing the wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention maintains a specific posture for a predetermined time, the control means 80 controls the first and second rotation adjusting means 60 and 70 A timer that can be time-measured to control the operation may be included.

The wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention is used by wearing on the lower body of the user's body, that is, on the legs and the ball side, and is provided with a pair .

The wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention is not an apparatus for assisting the movement of the user but an apparatus for assisting posture maintenance and does not require an additional power device (such as a motor, an actuator, or a cylinder) .

Therefore, it is easy to wear and disassemble because it is light in weight, easy to move in a worn state, and has a simple structure and low manufacturing and maintenance cost.

Now, the operation of the wearable posture maintaining assisting apparatus according to one embodiment of the present invention will be described.

6 and 7 (a) and 7 (b) are operation state diagrams showing the operation of the first rotation adjusting means of the wearable posture maintaining assisting device according to the embodiment of the present invention. In this case, only the position of the second rotation adjustment means is different from that of the first rotation adjustment means, and therefore, the description of the second rotation adjustment means is omitted here.

6 shows a part of the calf frame 20, a part of the thigh frame 30 and a first rotation adjusting means 60. The state shown in the figure is a state in which the user wearing the wearable posture maintaining auxiliary device 100 That is, the calf frame 20 and the thigh frame 30 form a straight line.

The thigh frame 30 is pivotally connected to the calf frame 20 and the first tension member 62 of the first tilt adjustment means 60 is fixed to the distal end of the thigh frame 30, And is located inside the calf frame 20.

And the first brake member 64 is disposed so as to sandwich the first tension member 62 located inside the calf frame 20.

On the other hand, the first tension member 62 is formed with a first concavo-convex portion B1 formed of a plurality of grooves or projections along the longitudinal direction, and the first brake member 64 is formed with the first concavo- The second concavo-convex portion B2 corresponding to the second concavo-convex portion B2 is formed.

7 (a), the thigh frame 30 is rotated with respect to the calf frame 20 in accordance with the movement of the user's knees.

At this time, the first brake member 64 is in a state of releasing the first tension member 62, and when the thigh frame 30 is rotated, the first tension member 62 Is pulled upward in the drawing.

7 (b), the thigh frame 30 further rotates, and the first tension member 62 positioned inside the calf frame 20 is rotated, When the first brake member 64 is operated to come close to the first tension member 62 under the control of the control means 80, the first concavo-convex portion B1 is brought into contact with the first tension member 62, And the second concavo-convex part B2 are engaged with each other and fixed, so that the thigh frame 30 does not rotate any more, so that the user can maintain the posture without applying force to the lower body.

FIG. 8 is a flowchart illustrating the use of a wearable posture maintaining assisting apparatus according to an embodiment of the present invention, FIG. 9 is a diagram for calculating tension in a chair mode, and FIGS. 10 (a) to 10 (c) Fig. 10 is a state diagram showing a state in which the wearable posture maintaining assisting device according to the embodiment is used.

First, as shown in FIG. 8, the wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention is basically set in a walking mode.

That is, the user can freely move in a state wearing the wearable posture maintaining auxiliary device 100 according to an embodiment of the present invention.

The detecting means 50 provided in the wearable posture maintaining auxiliary device 100 detects the posture and the motion information of the wearer wearing the wearable posture supporting assisting device 100 and transmits the detected posture and motion information to the control means 80, The rotation of the calf frame 20 or the thigh frame 30 is sensed through the first inertial sensor 52 or the second inertial sensor 54 for a certain period of time It is determined whether or not the turning motion of the calf frame 20 or the thigh frame 30 is sensed to determine whether or not the chair mode is performed.

As a result of the determination, if the user's posture is not fixed, the wearable posture maintaining auxiliary device 100 keeps the walking mode, and controls the chair mode when the user's posture is fixed.

That is, the first brake member 64 of the first rotation adjusting means 60 and the second brake member 74 of the second rotation adjusting means 70 are operated to rotate the first tension member 62 and the second tension member 62, The member 72 is fixed so that the user does not have to apply force to the lower body in order to maintain the current posture but can sit comfortably on the saddle means 40 to support the body weight and easily maintain the current posture.

In the wearable posture maintaining auxiliary device 100, there are various methods of determining whether the control means 80 grasps the posture of the user or whether the chair mode is performed, but the present invention is performed as follows in the present invention . The operation of the wearable posture maintaining assisting device 100 will now be described with reference to a side view of the wearable posture maintaining assisting device 100 shown in Fig.

When the user wearing the wearable posture maintaining auxiliary device 100 wants to perform the chair mode, the second inertia sensor (not shown) disposed in the hip frame 30 54 are transmitted to the control means 80 by detecting both the left leg of the user and the right leg at the same time with a similar acceleration in the -z axis direction and a similar angular velocity in the clockwise direction.

The control means 80 calculates the angle between the first inertial sensor 52 disposed on the calf frame 20 and the second inertial sensor 54 disposed on the thigh frame 30, The angle between the calf frame 20 and the horseshoe frame 30 or the angle between the first inertial sensor 52 and the second inertial sensor 54 in a state where both the right legs are judged to have a similar angle, If the movement stops after the angle of the chair reaches a certain angle, the chair mode is determined. At this time, the user can set a specific angle.

The control means 80 causes the first tension member 62 to be fixed via the first brake member 64 and the second tension member 72 So that the chair mode is performed.

Thus, the wearer wearing the wearable posture maintaining auxiliary device 100 can maintain the posture comfortably in various postures such as the state shown in Fig. 10 (a), 10 (b) or 10 (c) It is possible to reduce musculoskeletal diseases such as legs, knees and waist of a person who is working in an environment where it is difficult to use a posture aid such as a chair or a support.

When the chair mode is performed, the angle between the calf frame 20 and the horseshoe frame 30 is fixed, that is, the angle between the first brake member 64 of the first rotation adjustment means 60 and the second rotation adjustment means 70, The tension applied to fix the first tension member 62 and the second tension member 72 through the second brake member 74 of the second brake member 74 is calculated by the following equation 1. ≪ / RTI >

In FIG. 9, the object to measure "Length a" and "Length b" is the thigh frame 30, and the weight means the weight of the user.

"A" shown in Equation 1 means "length a" shown in FIG. 9, and "b" means "length b" shown in FIG.

When the wearable posture maintaining auxiliary device 100 performs the chair mode, when the user operates the posture such as squatting or kneeling, the calf frame 20, the thigh frame 30, the saddle means 40, The user is seated on the saddle unit 40 and is in a state of working so as to be able to maintain a comfortable posture as if sitting on a chair.

If the user changes his / her posture while performing the chair mode, for example, if the operation is completed and he / she is squatting and wants to stand up, the control means 80 controls the calf and the calf through the first and second inertial sensors 52 and 54, When the movement of the user's thigh muscle is sensed through the pressure sensor 56 while the motion of the frame 20 and the thigh frame 30 is sensed, a walking mode is performed.

That is, in the side view of Fig. 4, it is detected that the acceleration is generated in the + y axis direction through the first inertial sensor 52 disposed in the calf frame 20, It is detected that the acceleration is generated in the + z-axis direction through the sensor 54 and is transmitted to the control means.

The pressure sensor 56 disposed at the upper side of the figure, that is, the pressure sensor 56 contacting the front of the user's thigh, among the pressure sensors 56 disposed in the thigh band 32, The control means 80 determines that the user is in the walking mode when the pressure value sensed by the pressure sensor 56 located at the back of the user's thighs decreases.

Accordingly, the control means 80 fixes both the first rotation adjusting means 60 and the second rotation adjusting means 70 in a state in which the first concave / convex portion B1 and the second concave and convex portion B2 are engaged and fixed The user can freely walk or move.

Since the wearable posture maintaining auxiliary device 100 according to the embodiment of the present invention detects the posture and the movement of the user through the detection means 50 composed of various sensors to grasp the mode desired by the user, The user can easily convert the operation mode into the walking mode capable of walking freely and the chair mode capable of supporting the weight according to the user's intention.

The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms of embodiments within the scope of the appended claims. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

10: foot fixing means 20: calf frame
22: calf band 30: thigh frame
32: thigh band 40: saddle means
50: detecting means 52: first inertia sensor
54: second inertia sensor 56: pressure sensor
60: first rotation adjusting means 62: first tension member
64: first brake member 70: second rotation adjusting means
72: second tension member 74: second brake member
80: Control means 100: Wearable posture maintaining auxiliary device
B1: first uneven portion B2: second uneven portion

Claims (10)

A wearable posture maintaining auxiliary device,
A foot fixing means on which a user's foot or shoe is seated;
A calf frame rotatably connected to said foot fastening means and being in contact with or proximate to a user's calf;
A thigh frame rotatably connected to the calf frame and being in contact with or proximate to a user's thigh;
Saddle means pivotally connected to the thigh frame and positioned adjacent to or in proximity to a ball of a user;
Detecting means provided in at least one of the calf frame and the thigh frame for detecting attitude information of a user;
First caliper adjusting means disposed in the calf frame and the thigh frame to adjust the turning operation of the thigh frame;
Second throttle adjusting means provided on the thigh frame and the saddle means for adjusting the turning operation of the saddle means; And
And control means for controlling operations of the first rotation adjusting means and the second rotation adjusting means in accordance with detection information transmitted from the detecting means,
The first rotation adjusting means includes a first tension member fixed to the thigh frame and a part positioned inside or outside the calf frame; And a first brake member disposed in the calf frame and fixing or releasing the first tension member,
The second rotation adjusting means includes a second tension member fixed to the saddle means and a part of which is positioned on the inner side or the outer side of the thigh frame; And a second brake member which is disposed in the thigh frame and fixes or releases the second tension member,
Wherein the first brake member and the second brake member are constituted by a pair of electromagnets sandwiching the first tension member and the second tension member, respectively. delete delete delete The method according to claim 1,
Wherein one or both of the first tension member and the second tension member comprises:
A timing belt, a chain, and a wire, or a combination of two or more thereof. The method according to claim 1,
Wherein the first tension member and the second tension member are provided with:
A first concavo-convex portion formed of a plurality of grooves or projections is formed along the longitudinal direction,
Wherein the first brake member and the second brake member are provided,
A second concavo-convex portion corresponding to the shape of the first concavo-convex portion is formed,
And the first tension member and the second tension member are fixed or unlocked, respectively, according to the control of the control means, the first concavo-convex portion and the second concavo- Device. 7. The method according to any one of claims 1, 5 and 6,
Wherein the detecting means comprises:
A first inertial sensor mounted on the calf frame to sense movement of the calf frame;
A second inertia sensor disposed in the thigh frame to sense motion of the thigh frame; And
A pressure sensor provided on the thigh frame and sensing movement of a user's thigh muscle;
Wherein the wearable posture maintaining auxiliary device comprises: 8. The method of claim 7,
Wherein the thigh frame comprises:
Further comprising a thigh band surrounding the thigh of the user,
The pressure sensor includes:
Wherein a plurality of the torsion springs are arranged to be respectively disposed on a portion of the thigh band that is in contact with the front of the thigh of the user and a portion of the thigh of the user that is in contact with the back of the thigh. 8. The method of claim 7,
Wherein,
When the calf frame or the thigh frame is not sensed for a certain period of time after the rotation of the calf frame or the thigh frame is sensed through the first inertial sensor or the second inertial sensor, Judging,
And controls the first tension member and the second tension member to be fixed by operating the first brake member and the second brake member. 9. The method of claim 8,
Wherein,
Wherein when the motion of the user's thigh muscle is sensed through the pressure sensor while the operation of the calf frame and the thigh frame is sensed through the first and second inertial sensors,
Wherein the control unit controls the first brake member and the second brake member to release the first tension member and the second tension member.

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