KR101787560B1 - Walking assist device equipped reduction unit - Google Patents

Abstract

A walking assist device according to the present invention includes a walking unit having a walking frame part corresponding to a part of a lower half of a user and rotatably provided and a walking power part coupled to the walking frame part to assist rotation of the walking frame part, A reduction unit that transmits an external force to the walking unit to reduce a load applied to the walking unit, and a housing unit coupled to the walking unit and having a harness unit for separating the walking unit from the ground.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a walking assist device having a reduction unit,

The present invention relates to a walking aid, and more particularly, to a walking aid for reducing the load of a walking power unit by transmitting a separate external force to a walking aid unit used apart from the ground.

In recent years, a walking assist device capable of performing rehabilitation training for an elderly person, a disabled person, or the like has been popularly used and widely used.

Generally, the walking aiding device is provided with a walking power unit, and sometimes the walking aiding device is used by being separated from the ground by a harness.

When the walking aiding device is used as spaced apart from the ground as described above, a load of the body is applied to the walking power portion. Due to the applied load, a large amount of walking power is required.

That is, the power unit provided in the member corresponding to the femur of the user requires a large power unit by applying the load of the body, the lower frame, and all the loads of the power unit. This leads directly to the overall weight and economic problems of the product.

Accordingly, a method for solving such problems is required. The present invention provides a structure for distributing load applied to the walking power unit by providing additional power to the walking aiding apparatus.

Korean Patent No. 10-0555990

Disclosure of Invention Technical Problem [8] Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a walking assistance device for dispersing a load applied during walking practice in a state of being separated from the ground.

The present invention also provides a walking assist device in which the user increases the degree of freedom of movement of the pelvis area accompanying the walking exercise.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a walking assist device including a walking frame part corresponding to a part of a lower half of a user and rotatably provided thereon, And a housing unit having a reduction unit for reducing a load applied to the gait unit by transmitting an external force to the gait unit and a harness unit coupled to the gait unit and separating the gait unit from the ground do.

The walking frame portion includes a femoral member rotatably provided at one end of the pelvis, a pivotal member rotatably provided at a lower portion of the pivotal member, and a leg portion rotatably provided at a lower portion of the pivotal member, The foot power unit includes a first power member provided on a part of the thigh-corresponding member, a second power member provided on a part of the thigh-corresponding member, and a third power member provided on a part of the foot- .

Further, the femoral member may be driven by the reduction unit or the first power member.

The lowering member may be driven by the reduction unit or the second power member.

Further, the foot-corresponding member may be driven by the reduction unit or the third power member.

The walking assist device may include a first frame disposed opposite to the user's back, a second frame having one end rotatably coupled to the first frame on the basis of the forward and backward axes, And a pelvis unit having a third frame rotatably coupled with respect to a downward axis.

In addition, the pelvis unit includes an alignment unit for connecting the third frame and the gait unit so that the gait unit is rotatable with respect to the upper and lower axes in order to compensate for the motion of the outer frame or the like.

In order to solve the above-described problem, the walking aid device of the present invention has the following effects.

First, the load applied to the walking unit can be reduced to reduce the size and weight of the overall walking assist device.

Second, the user can increase the degree of freedom of movement of the user's pelvis when the user wears the walking aid device of the present invention by rotating the pelvis unit provided in the walking aid.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description of the claims.

1 is a view showing a state of the pelvis.
FIGS. 2 and 3 are diagrams showing the pelvis-side incline and the pelvis rotation, respectively, which are related to the movement of the pelvis accompanied by a gait.
4 to 6 are views showing a walking aid provided with a pelvis unit according to an embodiment of the present invention.
FIG. 7 is a view showing the structure of the first frame and the second frame in the walking aiding apparatus provided with the pelvis unit according to the embodiment of the present invention. FIG.
FIG. 8 is a view showing a structure relating to the combination of the second frame and the third frame in the walking aid provided with the pelvis unit according to the embodiment of the present invention. FIG.
9 is a view showing a calibration unit in a walking aid provided with a pelvis unit according to an embodiment of the present invention.
FIG. 10 is a diagram showing a structure of a walking unit in a walking aid provided with a pelvis unit according to an embodiment of the present invention. FIG.
11 and 13 are views showing the structure of the reduction unit and the housing unit. And,
12 is a view showing the structure of the reduction unit.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In describing the present embodiment, the same designations and the same reference numerals are used for the same components, and further description thereof will be omitted.

The present invention relates to a walking assistance apparatus used apart from the ground, and includes a walking unit, a reduction unit, and a housing unit.

The walking unit of the present invention will be described with reference to Figs. 1 to 10. Fig.

As shown in FIG. 1, it can be seen that the human pelvic region does not move parallel to the femur in normal condition.

However, when the patient begins to walk, the pelvic region rotates according to the movement of the femur. These movements are typically represented by the lateral pelvic tilt and pelvic rotation, as can be seen in FIGS. 2 and 3. Pelvic side slope refers to the rotation of the pelvis with respect to the forward and backward direction of the body, and the pelvic rotation refers to rotation of the pelvis with respect to the upward and downward directions of the body.

The conventional pedometer does not consider the movement of the pelvis accompanied with the walking as described above, so that the user feels discomfort or can not use the pedometer when wearing the walking aid.

In order to overcome such disadvantages, a walking aiding apparatus provided with a separate pelvis unit 100 is required.

The walking assistance apparatus of the present invention is provided with a walking unit, a first frame (10), and a pelvis unit (100).

The walking unit is fixed to part or all of the lower half of the user to assist the user in walking. That is, if the user can wear the pelvis, the thighs, the lower legs, and the lower body, which refers to the foot, as well as a part thereof, the part is not limited.

And the walking unit is generally fixed to a part or all of the above-mentioned lower half body, and is equally positioned according to the movement of the user. Such a walking unit can support the user's lower body for safe walking. In addition, a power unit can be provided to help the user to walk naturally.

The power unit can be provided and operated for all of the lower half of the body. In addition, the power unit may be provided only for a part of the lower half of the body which is deemed to lack the force required for walking.

The first frame 10 may be provided so as to be disposed to face a part of the body behind the user. In the present embodiment, is limited so as to be opposed to the back. However, it is not necessarily against the back.

That is, the first frame supports the left and right configurations of the walking aid. Therefore, the position is not limited as long as it can achieve this.

According to the present embodiment, the first frame 10 is provided so as to face the back of the user and connects the pelvis unit 100 provided on the left and right sides of the walking aid. And helps the pelvis unit 100 of the walking aiding device to come into close contact with the user's waist and pelvis region.

In addition, the first frame 10 may be provided to be adjustable in length because the size of a portion to be worn for each user may be different.

Specifically, the first frame 10 can be provided so that the length of the first frame 10 can be adjusted in the left and right directions when viewed from the front. That is, two plates can be combined so that the length can be adjusted left and right on one flat plate. For example, a hole may be formed in one flat plate and two plates connected to the left and the right, and the length thereof may be adjustable depending on the position where the holes are coupled to each other. However, the above-described embodiment is only one embodiment, and the shape is not a problem if it can be realized by a single plate.

The pelvis unit 100 refers to a body corresponding to the waist and pelvis regions of the user's body. Generally, it will be configured to wrap around the user's waist and pelvis area.

The pelvis unit 100 is rotatably connected to the first frame 10 and the walking unit in association with the movement of the pelvis accompanied by a user of the walking aid.

The pelvic unit 100 is provided to enable lateral pelvic tilt and pelvic rotation, which are typical pelvic movements accompanied with walking.

Specifically, the pelvis unit 100 can combine the first frame 10 and the gait unit so as to be rotatable with respect to the forward and backward directions of the user, in order to realize the motion of the tilt of the pelvis. In order to realize the movement of the pelvis rotation, the pelvis unit 100 can be coupled to connect the first frame 10 and the gait unit so as to be rotatable about the upper and lower directions of the user.

If the pelvis unit 100 is rotatably connected to the first frame 10 and the walking unit, there is no problem in the form or rotation method.

However, in a method in which the first frame 10 of the pelvis unit 100 is rotatably connected to the gait unit, physically, the rotation must be made at an angle. This is due to the physical characteristics of the exoskeleton.

The pelvis unit 100 serves to increase the degree of freedom in the movement of the pelvis when the user wears it.

Therefore, the user can wear the walking support device provided with the pelvis unit 100 of the present invention with ease for a long time with less foreign body feeling.

According to the present embodiment, the pelvis unit 100 may include a second frame 120 and a third frame 140.

The second frame 120 is provided so as to correspond to the back of the user's waist, and realizes the movement of the tilt of the pelvis.

5, the second frame 120 may connect the first frame 10 and the third frame 140 such that the first frame 10 and the third frame 140 are rotatable with respect to the forward and backward directions of the user.

7, one end of the second frame 120 is connected to one end of the first frame 10 and can rotate at a predetermined angle with respect to the front and rear axes of the user.

Accordingly, when the user wears the walking aid apparatus of the present invention, the second frame 120 can be rotated by interlocking with the inclination of the pelvis, which is the movement of the user's pelvis.

Also, the second frame 120 may be provided to be adjustable in length.

This is because the position and size of the bone skeleton are different for each user wearing the walking aid. The contents of the length adjustment of the second frame 120 are the same as or similar to those of the length adjustment of the first frame 10 described above.

The third frame 140 is provided to correspond to the lateral side of the user's waist and realizes the movement of the pelvis rotation.

5, the third frame 140 can be connected to the second frame 120 and the walking unit described below in such a manner that the third frame 140 can be rotated with reference to the up and down directions of the user.

8, one end of the third frame 140 is connected to the other end of the second frame 120, and can rotate at a predetermined angle with respect to the upper and lower axes of the user.

Accordingly, when the user walks with the walking aid device of the present invention, the third frame 140 can be rotated in conjunction with the rotation of the pelvis, which is the motion of the user's pelvis.

The length of the third frame 140 can be adjusted, and the length of the third frame 140 is the same as or similar to the length of the first frame 10 and the second frame 120, and thus will not be described here.

According to the present embodiment, a portion of the second frame 120, to which the second frame 120 and the third frame 140 are coupled, may include protrusions formed to project forward.

The protruding portion should be provided such that the portion of the second frame 120 coupled with the first frame 10 is rotatable with respect to the forward and backward directions, Direction, as shown in FIG.

That is, the second frame 120 rotates the first frame 10 and the third frame 140 about a certain axis, respectively. The second frame needs to be connected to the first frame 10 and the third frame 140 so that each of the above-described rotations can be performed.

In addition, according to the present embodiment, the pelvis unit 100 may include an orthogonal portion 160.

The calibration unit 160 may be coupled to the third frame 140 and the gait unit for compensation of outward movement or movement along the first and second frames.

Here, regarding the walking of the outsider and the outsider, the outermost position means that the user's walking gait is directed outwardly, or the user is walking inward.

Specifically, the calibrating unit 160 may connect the third frame 140 and the walking unit in a rotatable manner with reference to the upward and downward directions of the user. That is, the gait unit can also rotate based on the upward and downward directions by the rotation of the calibration unit 160 in the upward and downward directions.

An example of the calibration unit 160 is as follows. If the user is walking outside in the outward direction, it is possible to guide the user to walk correctly by rotating the calibration unit 160 inward. In addition, when the user is walking in the inward direction, the correcting step can be induced by rotating the calibrating unit 160 in the outward direction.

At this time, the calibration unit 160 does not necessarily have to rotate left and right, and it can be rotated so as to be adjustable to the user.

10 is a view showing a combination of the units according to the above-described embodiment.

According to the present embodiment, the walking unit may include the walking frame unit 200 and the walking power unit 300. [

And the walking frame part 200 is tightly fixed to the lower body of the user.

The walking power section 300 refers to assisting the movement of the walking frame section 200 by using power.

Generally, the walking frame unit 200 includes a femoral member 220 that is in contact with the thigh of the user, a hip-corresponding member 240 that is in close contact with the calf of the user, and a foot- Member 260 as shown in FIG.

The femoral support member 220 constitutes the upper end of the gait frame unit 200 and is connected to the third frame 140 of the pelvis unit 100 and is supported by the rotation of the above- As shown in FIG.

In addition, since the femoral member 220 should be positioned like the movement of the thigh of the user, the femur corresponding member 220 should be rotatable with respect to the left and right directions of the user.

The leg support member 240 is coupled to the lower portion of the thigh correspondent member 220 and should be rotatable with respect to the left and right direction of the user for the same or similar reason as the thigh correspondent member 220.

The foot support member 260 is coupled to the lower portion of the leg support member 240 and is rotatably provided with respect to the left and right direction of the user for the same or similar reason as the leg support member 220 and the leg support member 240 do.

Each of the femoral member 220, the leg-restoring member 240, and the foot-corresponding member 260 of the walking frame unit 200 described above must be provided so as to be adjustable in length. This is for the convenience of the user, because the position and length of each part may be different for each user wearing the walking aid.

The walking power section 300 may include a first power member 320, a second power member 340, and a third power member 360. [

The first power member 320 is provided on a part of the femoral member 220 to assist the movement of the femoral member. The first power member 320 may be coupled to a portion connecting the third frame 140 of the pelvis unit 100 and the femoral member 220 to assist rotation of the femoral member 220. [ have. However, the first power member 320 may be sufficient to assist the rotation of the femoral counterpart member 220, so that the position of the first power member 320 is not a problem if it can achieve this purpose.

The second power member 340 is provided on a part of the leg-supporting member 240 to assist the movement of the leg-supporting member 240. The second power member 340 may be coupled to a portion connecting the femoral member 220 and the lower leg corresponding member 240 to assist rotation of the lower member.

The third power member 360 is provided on a part of the foot support member 260 to assist the movement of the foot support member 260. More specifically, the third power member 360 may be coupled to a portion connecting the leg-supporting member 240 and the foot-supporting member 260 to assist rotation of the foot-supporting member 260.

The walking power unit 300 may be anything that can assist the movement of the walking frame unit 200, and power transmission by a motor is generally used.

The walking assist device of the present invention is worn by the user in a state where the walking assist device is separated from the ground by the harness and the walking power section 300 has the feature that the greatest load is applied to the first power member 320.

Specifically, when the weights of the user, the foot-corresponding member 260, the leg-restoring member 240, and the femoral member 220 using the walking aid device of the present invention are A, B, C, 3 load is applied to the power member 360 by A + B. Since the user uses the walking assist device in a state of being separated from the ground, the load is added to the third power member 360 as much. A load of A + B + C is applied to the second power member 340 in the same manner. Also, a load of A + B + C + D is applied to the first power member 320.

For this reason, the first power member 320 requires a large power output. This is not only a weight of the walking unit but also a cost factor.

In order to solve such a problem, a reduction unit 400 is required.

The reduction unit 400 and the housing unit 500 will be described with reference to Figs. 11 to 13. Fig.

The housing unit 500 is formed so as to surround the walking aid, and may include a harness 520.

The harness 520 may be provided to connect the housing unit 500 and the walking unit so that the walking unit is spaced apart from the ground. In addition, the user may be provided so as to be able to practice walking by wearing a walking unit in a state where the user is connected to the harness unit connected to the housing unit 500.

The reduction unit 400 serves to reduce the load applied to the walking unit. That is, the reduction unit 400 can reduce the load applied to the walking power unit 300 of the walking unit by transmitting an external force to the walking unit. That is, the rotation of the walking frame unit 200 can be performed by an external force transmitted from the reduction unit 400 in addition to the walking power unit 300.

In the present embodiment, the reduction unit 400 can transmit an external force through the linear actuator. That is, the linear actuator connects the housing unit 500 and the walking frame unit 200 together. Then, the walking frame unit 200 is operated so as to rotate at a constant angle about the left and right directions of the walking aiding unit. At this time, the walking frame unit 200 and the reduction unit 400 may be rotatably connected to each other for a good rotation of the walking frame unit 200. In addition, in addition to the linear actuator, the walking frame portion 200 may be rotated using a rotating power portion.

The external power transmission of the reduction unit 400 enables the walking power unit 300 to use the walking aid even when the power unit with lower power than the existing one is used.

Specifically, when the walking function of the user using the walking assist device of the present invention is decreased and the walking practice is difficult by the magnetic force, the walking power section 300 assists the rotation of the walking frame section 200. [ At the same time, the reduction unit 400 transmits an external force to the walking frame part 200 to help the walking frame part 200 rotate together with the walking power part 300. Therefore, the load applied to the walking power unit 200 can be reduced by the external force transmission of the reduction unit 400. [

Even if the output of the walking power unit 300 is reduced by the amount of the force reduced by the reduction unit 400, walking practice is possible. Also, the size of the walking power unit 300 can be reduced.

Further, a sensor capable of measuring a load may be provided in the reduction unit. That is, the load that is reduced by the reduction unit can be measured using the sensor.

Specifically, there is a first step in which a user performs a walking exercise using the walking aid device of the present invention, a second step in which an external force is applied to the walking unit by the reduction unit, And a third step of measuring the magnitude of the external force.

If the output of the walking power section is smaller than the force required for the walking unit to move in step 2, the reduction unit delivers the external force to the walking unit. The magnitude of the external force is measured by the sensor.

Using this load measurement method, it is possible to cultivate appropriate athletic ability through the average walking ability of the user using the walking aid or the size of the force transmitted by the body part.

In this embodiment, the femoral member 220 may be driven by the reduction unit 400 or the first power member 320. And the lower member 240 can be driven by the reduction unit 400 or the second power member 340. [ The foot-corresponding member 260 may also be driven by the reduction unit 400 or the third power member 340.

The femoral member 220 is provided corresponding to the thigh of the user and rotates in accordance with the movement of the user on the thigh. The first power member 320 or the reduction unit 400 assists the rotation of the femoral member 220 when the user's walking ability does not satisfy the force necessary for rotating the femoral member 220. [

In such a case, the first power member 320 may first be operated first, and when the first power member 320 can not rotate the femoral counterpart member 220, the reduction unit 400 may operate together . As a result, the load applied to the first power member 320 can be reduced.

The lower leg support member 240 is provided corresponding to the lower leg of the user and rotates in accordance with the movement of the user on the lower leg. The second power member 340 or the reduction unit 400 assists the rotation of the leg support member 240 when the user's walking ability does not satisfy the force required for rotation of the leg support member 240. [

The reduction unit 400 operating on the lower leg support member 240 is the same as that of the lower leg support member 220. The reduction unit 400 can be operated together when rotation of the lower leg support member 240 is not possible by only the second power member 340. [ As a result, the load applied to the second power member 340 can be reduced.

The foot supporting member 260 is provided corresponding to the foot of the user and rotates in accordance with the movement of the foot part of the user and the operation of the reduction unit 400 is controlled by the operation of the femur counterpart member 220 or the back support member 240 same.

The reduction unit 400 of the present invention reduces the load applied to the walking power unit 300 through the above-described principle. Therefore, the weight of the walking power unit 300 itself, which is a problem, can be reduced through the reduction unit 400. This is advantageous in that it is possible to use the walking aid in a state of being separated from the ground even with the same walking aiding device as the conventional one.

It will be apparent to those skilled in the art that the present invention can be embodied in other specific forms without departing from the spirit or scope of the invention as defined in the appended claims. It is obvious to them. Therefore, the above-described embodiments are to be considered as illustrative rather than restrictive, and the present invention is not limited to the above description, but may be modified within the scope of the appended claims and equivalents thereof.

10: first frame 100: pelvis unit
120: second frame 140: third frame
160: Correction unit 200: Walking frame part
220: femoral support member 240:
260: foot member 280: grab member
300: a walking power section 320: a first power member
340: second power member 360: third power member
400: Reduction unit 500: Housing unit
520: Harness part

Claims (7)

A walking unit having a walking frame part corresponding to a part of a lower half of the user and rotatably provided and a walking power part coupled to the walking frame part to assist rotation of the walking frame part;
A reduction unit for transmitting an external force to the walking unit to reduce a load applied to the walking unit;
A housing unit coupled to the walking unit and having a harness unit for separating the walking unit from the ground; And
A first frame arranged to be opposed to the user's back, a second frame having one end rotatably engaged with the first frame on the basis of the front and rear axes, and a second frame having one end rotatably mounted on the second frame A pelvis unit provided with a third frame that is capable of being coupled;
And a walking assist device.
The method according to claim 1,
The walking frame unit includes:
A femoral member rotatably provided at one end of the pelvis unit;
A lower abutment member rotatably provided at a lower portion of the femoral corresponding member; And
A foot-corresponding member rotatably provided at a lower portion of the leg-corresponding member;
Lt; / RTI >
The walking power unit includes:
A first power member provided on a part of the femoral member;
A second power member provided on a part of the pivotal member; And
A third power member provided on a part of the foot supporting member;
(10).
3. The method of claim 2,
The femoral member includes:
And is driven by the reduction unit or the first power member.
The method of claim 3,
The hip-
And is driven by the reduction unit or the second power member.
5. The method of claim 4,
The foot-
And the second power member is driven by the reduction unit or the third power member.
delete The method according to claim 1,
The pelvic unit includes:
An arithmetic unit connecting the third frame and the gait unit such that the gait unit is rotatable with respect to the upper and lower axes in order to compensate for movement along the outer or inner surface;
(10).

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