KR102238595B1 - A supporting frame and a motion assistance apparatus comprising thereof - Google Patents

Abstract

An exercise assisting device for assisting a user's walking according to an embodiment includes: a fixing member supporting a user's waist; A driving module disposed on one side of the fixing member; A support module supporting the user's thigh; And a joint member for interconnecting the driving module and the support module and assisting the movement of the user's hip joint, and the length of the support module may be changed.

Description

A support frame and an exercise assisting device including the same TECHNICAL FIELD [A SUPPORTING FRAME AND A MOTION ASSISTANCE APPARATUS COMPRISING THEREOF}

The following description relates to a support frame and an exercise assisting device including the same.

As the aging society intensifies in recent years, there is an increasing number of people complaining of pain and discomfort due to joint problems, and interest in exercise assisting devices that enable the elderly or patients with joint discomfort to walk smoothly is increasing. In addition, exercise assistance devices have been developed to strengthen the muscle strength of the human body for purposes such as military use.

For example, the exercise assisting device includes a body frame mounted on the user's torso, a pelvic frame coupled to the lower side of the body frame to surround the user's pelvis, the user's thigh and calf, and a femoral frame mounted on the foot. It consists of a frame and a foot frame. The pelvic frame and the femur frame are rotatably connected by the hip joint, the frame and the calf frame are rotatably connected by the knee joint, and the calf frame and the foot frame are rotatably connected by the ankle joint.

Such an exercise assisting device may have an active joint structure including a driving motor or a hydraulic system for driving each joint to assist the user's leg muscles. For example, it may be provided with two motors for transmitting driving force to each of the hip joints on both sides.

Japanese Unexamined Patent Application Publication No. 2006-087478 (2006.04.06.) Japanese Unexamined Patent Application Publication No. 2011-131025 (2011.07.07.)

An exercise assisting device for assisting a user's walking according to an embodiment includes: a fixing member supporting a user's waist; A driving module disposed on one side of the fixing member; A support module supporting the user's thigh; And a joint member for interconnecting the driving module and the support module and assisting the movement of the user's hip joint, and the length of the support module may be changed.

The support module may include a support member mounted on a user's thigh; And a support frame capable of receiving power from the driving module and transmitting an auxiliary force to the support member.

One end of the support frame may be disposed on the front side of the user's thigh.

The support frame may have a shape bent so as to surround at least a portion of the circumference of the user's thigh.

The distal side of the support frame may not include a portion that interferes with the side of the user's thigh so as to avoid contact with the side of the user's thigh.

The support frame may include: a first frame connected to the joint member and at least partially disposed on a side of a user's thigh; And a second frame having one end connected to the support member on the front side of the user's thigh, and the other end slidably connected to the first frame.

The fixing member is worn on the user's waist, and the support member is worn on the user's thigh, and when the user walks, the length of the support frame may be changed.

The support frame may include a plurality of frames that are continuously slidably coupled to each other.

The support module may further include an action member that interconnects the support member and the support frame and is disposed on the front of the user's thigh.

The working member may have a shape extending in a circumferential direction of the user's thigh to both sides with respect to the end of the support frame.

The support member surrounds the rear surface of the user's thigh so that the user's thigh does not separate from the support frame, and both ends may be connected to both sides of the action member.

According to the movement of the user wearing the exercise assistance device, among the forces acting between the action member and the support frame, a force of a component parallel to the length direction of the user's thigh is transferred to the driving module through the support frame. In order not to be transmitted, the overall length of the support frame may be varied in the length direction of the user's thigh.

According to the movement of the user wearing the exercise assisting device, the total length of the support frame may be varied along a direction perpendicular to the direction of the assisting force acting as the acting member.

The support frame may include a first frame connected to the joint member; And a second frame having one end connected to the working member and the other end slidably connected to the first frame, and according to a movement of a user wearing the exercise assistance device, the working member and the first 2 Among the forces acting between the frames, the second frame allows a linear motion with respect to the first frame so that the force of a component parallel to the length direction of the user's thigh does not compress the first frame. Can function as a joint.

The support frame may include a first frame connected to the joint member; And a second frame having one end connected to the working member and the other end slidably connected to the first frame, and according to the movement of the user wearing the exercise assisting device, the working member and the support Among the forces acting between the frames, the second frame is configured such that a force of a component in a direction perpendicular to the direction of the auxiliary force acting as the acting member does not compress the first frame. It can function as a manual sliding joint capable of linear motion with respect to 1 frame.

The support frame may include a first frame connected to the joint member; And a second frame slidably connected to the first frame, wherein any one of the first frame and the second frame accommodates at least a part of the other frame therein, and the other one It may include a guide groove for guiding the movement of the frame.

The first frame may surround the second frame in a closed curve shape.

The first frame, the guide groove; And a hole communicating with the guide groove and formed at an end of the first frame, and the second frame may slide into the inside of the first frame through the hole.

The exercise assisting device further includes a power supply unit for supplying power, and the driving module includes: a motor receiving power from the power supply unit to generate power; And a gear that transmits power from the motor to the joint member.

The power supply may be installed at a portion of the fixing member located on the back of the user.

The exercise assisting device may further include a passive joint hinge structure that enables the support module to perform abduction or pronation motion with respect to the fixing member.

1 is a front view of an exercise assistance device according to an embodiment.
2 is a side view of an exercise assistance device according to an embodiment.
3 is a perspective view of a support frame according to the first embodiment.
4 is an exploded perspective view of a support frame according to the first embodiment.
5 is a view showing a state in which the support frame according to the first embodiment is deformed.
6 is a perspective view of a support frame according to a second embodiment.
7 is a perspective view of a support frame according to a third embodiment.
8 is a perspective view of a support frame according to a fourth embodiment.
9 is a perspective view of a support frame according to a fifth embodiment.
10 is a perspective view of a support frame according to a sixth embodiment.
11 is a view showing a state in which the support frame according to the sixth embodiment is deformed.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible, even if they are indicated on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are for distinguishing the constituent element from other constituent elements, and the nature, order, or order of the constituent element is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

1 is a front view of an exercise assistance device according to an embodiment, and FIG. 2 is a side view of an exercise assistance device according to the embodiment.

1 and 2, the exercise assisting device 10 according to the embodiment may be worn on an object to assist movement of the object. The object may be a human, an animal, or a robot, but is not limited thereto. In addition, FIG. 1 illustrates a case where the exercise assisting device 10 assists the movement of the thigh of the object, but the exercise assisting device 10 includes other parts of the upper body such as the hand, upper arm, and lower arm of the object, It is also possible to support other parts of the lower body, such as the feet and calves. In other words, the exercise assisting device 10 may assist the movement of a part of the object. Hereinafter, a case in which the exercise assisting device 10 assists the movement of a person's thigh will be exemplarily described.

The exercise assisting device 10 includes a fixed member 20, a drive module 30, a joint member 40, a support module 50, a control unit 70 that controls the drive module 30, A power supply unit 80 for supplying power to the driving module 30 may be included.

The fixing member 20 may be fixed to the object. The fixing member 20 may contact at least a part of an outer surface of the object. The fixing member 20 may have a shape surrounding the outer surface of the object. The fixing member 20 may be curved in a shape corresponding to a contact portion of the object. In other words, the fixing member 20 may include a curved surface in contact with the object. For example, the fixing member 20 may be fixed to one side of the waist of the object.

The drive module 30 may provide power transmitted to the joint member 40. The driving module 30 may include a motor that receives voltage or current from the power supply unit 80 to generate power. For example, the driving module 30 may be disposed in a lateral direction of the joint member 40. In other words, the rotation axis of the drive module 30 and the rotation axis of the joint member 40 may be disposed to be spaced apart from each other. In this case, the height protruding from the object may be reduced compared to a case where the driving module 30 and the joint member 40 share a rotation axis. Meanwhile, unlike the drawings, the driving module 30 may be disposed to be spaced apart from the joint member 40. In this case, a power transmission module for transmitting power from the drive module 30 to the joint member 40 may be provided. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a rubber band, a spring, a belt, or a chain. However, in the embodiment, the position and the power transmission structure of the drive module 30 is not limited.

The joint member 40 may receive power from the driving module 30 to assist in motion of the joint portion of the object. The joint member 40 may be disposed at a position corresponding to a joint portion of the object. The joint member 40 may be disposed on one side of the fixing member 20. One side of the joint member 40 may be connected to the driving module 30 and the other side may be connected to the support module 50. The joint member 40 may be rotated by the power transmitted from the driving module 30. An encoder for measuring the rotation angle of the joint member 40 may be disposed on one side of the joint member 40.

The support module 50 may support a part of the object. The support module 50 may assist the movement of a part of the object. The support module 50 may be rotated by the rotational force of the joint member 40. The support module 50 may include a support frame 100, an action member 54, and a support member 56.

The support frame 100 may transmit an assisting force for assisting the movement of a part of the object. Here, the “assistant force” may be understood as a force acting in a direction coincident with the motion direction of a part of the object. In other words, the assisting force may be understood as a force acting on a part of the object, excluding a force in a direction crossing the movement direction of the part. One end of the support frame 100 may be connected to and rotated with the joint member 40. The other end of the support frame 100 is connected to the support member 56 to transmit an assisting force to a portion of the object. For example, the support frame 100 may push or pull the thigh of the object. The support frame 100 may extend along the length direction of the thigh of the object. The support frame 100 may be bent to wrap at least a portion of the circumference of the thigh of the object.

The action member 54 may act as an auxiliary force on a part of the object. The working member 54 may be disposed between the other end of the support frame 100 and the support member 56. For example, the action member 54 may be disposed on one side of the object's thigh to push or pull the object's thigh. The action member 54 may be disposed on the front side of the thigh of the object. The action member 54 may be disposed along the circumferential direction of the thigh of the object. The working member 54 may extend to both sides around the other end of the support frame 100. The action member 54 may include a curved surface corresponding to the thigh of the object.

The support member 56 may be connected to one side of the action member 54. For example, the support member 56 may be disposed to surround at least a portion of the thigh of the object to prevent the thigh of the object from being separated from the support frame 100.

3 is a perspective view of a support frame according to the first embodiment, and FIG. 4 is an exploded perspective view of the support frame according to the first embodiment.

3 and 4, the support frame 100 according to the first embodiment may include a first frame 110, a second frame 120, and an auxiliary force sensing unit 130. .

The first frame 110 may be connected to the joint member 40 and the second frame 120. The first frame 110 may include a hinge coupling portion 114, a first guide portion 112, and first ribs 117 and 118.

The hinge coupling part 114 may connect the first guide part 112 and the joint member 40 (refer to FIG. 2 ). The hinge coupling part 114 may be located at one end of the first frame 110. The hinge coupling portion 114 may be rotatably coupled with respect to the joint member 40. The hinge axis of the hinge coupling portion 114 may be disposed in a direction crossing the rotation axis of the joint member 40. For example, the hinge axis can be orthogonal to the axis of rotation. According to the hinge coupling portion 114, the frame 100 may perform abduction or adduction. The hinge coupling portion 114 may function as a passive joint that enables rotational movement.

The first guide part 112 may be located at the other end of the second frame 120 and may be coupled to the second frame 120 so as to be slidably movable. The first guide unit 112 may be disposed to have an interview on a portion of the object. The first guide part 112 may have a cross section that is elongated in the hinge axis direction of the hinge coupling part 114.

The first ribs 117 and 118 may reinforce the rigidity of the first frame 110. The first ribs 117 and 118 are formed in a direction intersecting the length direction of the first main rib 117 and the first main rib 117 formed along the length direction of the first frame 110 A first auxiliary rib 118 may be included. For example, the first main rib 117 may be disposed along the longitudinal edge of the first frame 110. For example, the first auxiliary rib 118 may be formed in a direction orthogonal to the first main rib 117.

The second frame 120 may be connected to the first frame 110 and the action member 54 (see FIG. 2 ). The second frame 120 may include a second guide part 124, an acting part 123, an extension part 122, and second ribs 127 and 128. The second frame 120 may be arranged to have an interview on a portion of the object. The first frame 110 may have a cross section that is elongated in the hinge axis direction of the hinge coupling portion 114.

The second guide part 124 may be connected to the first guide part 112 in a slidable manner. The second guide part 124 and the first guide part 112 may function as a passive joint that enables linear motion. The second guide part 124 may slide in a direction crossing the hinge axis of the hinge coupling part 114 of the first guide part 112. For example, the second guide part 124 may slide in a direction perpendicular to the hinge axis of the hinge coupling part 114. The second guide part 124 may be arranged to have an interview on a part of the object. The second guide part 124 may have a cross section that is elongated in the hinge axis direction of the hinge coupling part 114 of the first guide part 112.

The second guide part 124 may include a guide groove 125 into which the first guide part 112 is inserted or withdrawn, and a guide cover 126 surrounding an opening of the guide groove 125. The guide groove 125 may be a space recessed from one surface of the second guide part 124. The guide groove 125 may have a shape corresponding to the shape of the first guide part 112.

The acting part 123 may be connected to the acting member 54 to act as an auxiliary force on the thigh of the object. For example, the acting part 123 may be located on the front side of the thigh of the object. The acting part 123 may include a surface in a direction crossing the hinge axis of the hinge coupling part 114 of the first guide part 112. For example, the acting part 123 may include a surface in a direction orthogonal to the hinge axis of the hinge coupling part 114 of the first guide part 112. In other words, the acting part 123 may include a surface parallel to the sliding movement direction of the first guide part 112 and the second guide part 124. In other words, the acting portion 123 may include a surface orthogonal to the surface of the second guide portion 124.

The extension part 122 may connect the second guide part 124 and the acting part 123. The extension part 122 may have a shape that gradually twists from the second guide part 124 to the acting part 123. For example, the extension part 122 may have a shape twisted by 90 degrees.

The second ribs 127 and 128 may reinforce the rigidity of the second frame 120. The second ribs 127 and 128 are formed in a direction intersecting the length direction of the second main rib 127 and the second main rib 127 formed along the length direction of the second frame 120. It may include a second auxiliary rib (128). For example, the second main rib 127 may be disposed along the longitudinal edge of the second frame 120. For example, the second auxiliary rib 128 may be formed in a direction orthogonal to the second main rib 127.

The auxiliary force sensing unit 130 may measure a tension acting on the frame. The auxiliary force sensing unit 130 may be disposed on at least one of the first frame 110 and the second frame 120. Hereinafter, a case in which the auxiliary force sensing unit 130 is disposed on the first frame 110 will be described as an example. The auxiliary force sensing unit 130 may include a tension measuring sensor 132, a deformation groove 134, and a sensor mounting space 136.

The sensor mounting space 136 may provide a space for mounting the tension measurement sensor 132. For example, the sensor mounting space 136 may be a space recessed from one surface of the first frame 110. The sensor mounting space 136 may be understood as a space formed between the first main rib 117 and the first auxiliary rib 118. As another example, the sensor mounting space 136 may be a hole formed in the first frame 110. According to the above structure, it is possible to prevent a problem in which the tension measurement sensor 132 is damaged by friction occurring between the first frame 110 and the second frame 120.

On the other hand, the sensor mounting space 136 is not necessarily required. Even in the absence of the sensor mounting space 136, the tension measurement sensor 132 may be disposed on the upper or lower surface of the first frame 110, or may be mounted inside the first frame 110.

The tension measurement sensor 132 may sense a tension acting on a portion to which the tension measurement sensor 132 is attached. For example, as the tension measurement sensor 132, a strain gauge may be used. For example, the tension measurement sensor 132 may measure a tension acting in the longitudinal direction of the first frame 110. For example, the strain gauge may be elongated along the sliding movement direction of the first frame 110 and the second frame 120. The tension measurement sensor 132 may be provided in plural. The tension measurement sensor 132 may be disposed on the upper side and the lower side of the first frame 110, respectively. The tension measurement sensor 132 may be arranged to be symmetrical to each other. At least some of the tension measurement sensors 132 among the plurality of tension measurement sensors 132 may be disposed to overlap each other in the vertical direction based on FIG. 4. In other words, some of the tension measurement sensors 132 may be disposed to overlap each other in the movement direction of the thigh of the object. In other words, some of the tension measurement sensors 132 may be disposed to overlap each other in the direction of the auxiliary force. For example, the tension measurement sensor 132 may be attached to the wall of the sensor mounting space 136.

The deformation groove 134 may improve flexibility of a specific portion of the first frame 110. The deformation groove 134 may be formed in a portion where the tension measurement sensor 132 is disposed. The deformation groove 134 may be disposed to overlap with the tension measurement sensor 132 based on the direction of the auxiliary force. According to the deformation groove 134, since the tension measurement sensor 132 can react sensitively to a change in the assisting force, the sensitivity of the tension measurement sensor 132 can be improved. Accordingly, the resolution of the tension measurement sensor 132 is improved, so that the assisting force can be accurately measured. A plurality of deformation grooves 134 may be provided corresponding to the number of tension measurement sensors 132. For example, the deformation groove 134 may be formed at the upper and lower ends of the first frame 110, respectively. For example, the deformation groove 134 may be formed in the first main rib 117.

Hereinafter, the operation of the auxiliary force sensing unit 130 will be described.

The frame 100 may rotate according to the rotation direction of the joint member 40 to transmit a force to a portion of the object supported by the frame 100. According to the action-reaction principle, by measuring the force acting on the frame 100, the magnitude of the force acting on a part of the object may be measured. The force acting on the frame 100 may be classified into three-axis forces Fx, Fy, and Fz, and moments Mx, My, and Mz based on the three-axis directions, as shown in FIG. 3. In the x-y-z coordinate system of FIG. 3, the direction of the assisting force for rotating the object is coincident with the z-axis, and the assisting force may be Fz. Forces and moments in the other directions except Fz can be said to be disturbances. Hereinafter, the effects of Fx, Fy, Mx, My, and Mz corresponding to the disturbance on the assisting force sensing unit 130 are as follows.

First, the force Fx may not act on the frame 100 as the hinge coupling portion 114 is rotatably connected to the joint member 40. In other words, the influence of the force Fx on the auxiliary force sensing unit 130 may be eliminated according to the passive joint.

The force Fy may not act on the frame 100 because the first frame 110 and the second frame 120 are disposed to be slidable in the y-axis direction. In other words, according to the sliding passive joint (passive joint), the influence of the force Fy on the auxiliary force sensing unit 130 may be eliminated.

The moment Mx may be removed by an operation of the control unit 70. The moment Mx corresponds to a bending moment acting on the frame 100. The tension measurement sensor 132 is disposed on the upper side and the lower side of the first frame 110, respectively, and the values measured by the respective tension measurement sensors 132 are compared, so that the bending moment Mx is applied to the auxiliary force sensing unit 130. The impact can be measured. Thus, it is possible to eliminate the influence of the measured force moment Mx.

Meanwhile, when the frame 100 is positioned between two joints, a portion of the object connected between the two joints performs a rigid body motion. Thus, the moment Mx does not actually act. For example, when one side of the support module 50 (refer to FIG. 1) is connected to the hip joint and the other side is connected to the thigh of the object, the moment Mx will not actually act.

Moment My can be ignored. Moment My corresponds to a torsional moment acting on the frame 100. The torsional moment My hardly causes a change in the length of the frame 100 in the y-axis direction. In other words, it can be seen that the tension applied in the y-axis direction of the frame 100 by the torsional moment My is negligible.

Finally, the moment Mz may not act on the frame 100 because the hinge coupling portion 114 is rotatably connected to the joint member 40. In other words, it is possible to prevent the moment Mz from affecting the auxiliary force sensing unit 130 according to the passive joint.

Therefore, according to the embodiment, it is possible to remove the disturbance and accurately measure the assisting force Fz.

5 is a view showing a state in which the support frame according to the first embodiment is deformed. 5 illustrates a state in which the first frame 110 is deformed when the first frame 110 of the support frame 100 pulls a portion of an object. Here, it is assumed that the moment Mx (see Fig. 3) does not act.

According to the first embodiment, the portion of the first frame 110 in which the deformation groove 134 is formed is most likely to be deformed. In addition, it is possible to prevent disturbances other than Fz from acting. Therefore, when the deformation grooves 134 symmetrical to each other are formed on the upper and lower sides of the first frame 110, the portion of the first frame 110 in which the deformation groove 134 is formed is a parallelogram ( It can be transformed into a parallelogram) shape. In addition, both ends of the first frame 110 only have a height difference, and an angle difference may not occur. Accordingly, the rotation angle of a part of the object and the rotation angle of the joint member 40 may be matched. As a result, the angle at which a part of the actual object rotates can be accurately measured using an encoder provided on one side of the joint member 40.

Hereinafter, components included in the above-described embodiments and components including common functions will be described using the same name. Unless otherwise stated, the description of the above embodiments may be applied to the following embodiments.

6 is a perspective view of a support frame according to a second embodiment. 6 illustrates an embodiment in which the auxiliary force sensing unit 230 is disposed on the second frame 220.

Referring to FIG. 6, the support frame 200 according to the second embodiment may include a first frame 210, a second frame 220, and an auxiliary force sensing unit 230. The first frame 210 may include a hinge coupling part 214 connected to the joint member 40. The second frame 220 may include a guide groove 215 for guiding the first frame 210 and a guide cover 216 covering an opening of the guide groove 215.

The auxiliary force sensing unit 230 includes a sensor mounting space 236 recessed from one surface of the second frame 220, a tension measuring sensor 232 for measuring tension acting on the second frame 220, and , It may include a deformation groove 234 to improve the sensitivity of the tension measurement sensor 232.

7 is a perspective view of a support frame according to a third embodiment. 7 shows an embodiment in which the guide groove 315 and the guide cover 316 are formed in the first frame 310.

Referring to FIG. 7, the support frame 300 according to the third embodiment may include a first frame 310, a second frame 320, and an auxiliary force sensing unit 330. The first frame 310 may include a hinge coupling part 314 connected to the joint member 40. The first frame 310 may include a guide groove 315 for guiding the second frame 320 and a guide cover 316 for covering an opening of the guide groove 315.

The auxiliary force sensing unit 330 includes a sensor mounting space 336 that is recessed from one surface of the first frame 310, and a tension measurement sensor 332 that measures a tension acting on the first frame 310. , It may include a deformation groove 334 to improve the sensitivity of the tension measurement sensor 332.

8 is a perspective view of a support frame according to a fourth embodiment. 8 illustrates an embodiment in which the assisting force sensing unit 430 is disposed on the second frame 420 and the guide groove 415 and the guide cover 416 are formed on the first frame 410. A detailed description of this will be omitted.

9 is a perspective view of a support frame according to a fifth embodiment.

Referring to FIG. 9, the support frame 500 according to the fifth embodiment may include a first frame 510, a second frame and an auxiliary force sensing unit 530. The auxiliary force sensing unit 530 may include a tension measurement sensor 532, a deformation groove 534, and a sensor mounting space 536.

The sensor mounting space 536 may be formed inside the first frame 510. In this case, it is possible to prevent a problem in which the tension measurement sensor 532 is damaged by an external shock. On the other hand, it goes without saying that the auxiliary force sensing unit 530 may be disposed on the second frame.

10 is a perspective view of a support frame according to a sixth embodiment.

Referring to FIG. 10, the support frame 600 according to the sixth embodiment may include a first frame 610, a second frame and an auxiliary force sensing unit 630. The auxiliary force sensing unit 630 may include a tension measuring sensor 632, a deformation groove 634, and a sensor mounting space 536.

The tension measurement sensor 632 may include two pairs of tension measurement sensors disposed to overlap each other in the direction of the auxiliary force. The first tension measurement sensor 632a and the second tension measurement sensor 632b are disposed to overlap each other in the auxiliary force direction, and the third tension measurement sensor 632c and the fourth tension measurement sensor 632d are arranged in the auxiliary force direction. They can be arranged to overlap each other.

A plurality of tension measurement sensors 632 may be disposed in a direction orthogonal to the direction of the auxiliary force. In other words, a plurality of tension measurement sensors 632 may be disposed along the length direction of the first frame 610. The first tension measurement sensor 632a and the third tension measurement sensor 632c are spaced apart from each other along the length direction of the first frame 610, and the second tension measurement sensor 632b and the fourth tension measurement sensor 632d ) May be spaced apart from each other along the length direction of the first frame 610.

A plurality of deformation grooves 634 may be disposed corresponding to the tension sensor 632. On the other hand, it goes without saying that the auxiliary force sensing unit 630 may be disposed on the second frame.

11 is a view showing a state in which the support frame according to the sixth embodiment is deformed. 11 illustrates a state in which the first frame 610 is deformed when the first frame 610 of the support frame 600 pulls a portion of the object. Here, it is assumed that the moment Mx (see Fig. 3) does not act.

A portion of the first frame 610 in which the deformation groove 634 is formed may be deformed into a plurality of parallelogram shapes as shown in FIG. 11.

As described above, although the embodiments have been described with reference to limited embodiments and drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and claims and equivalents fall within the scope of the claims to be described later.

Claims (21)

In the exercise assisting device for assisting the user's walking,
A fixing member supporting the user's waist;
A driving module disposed on one side of the fixing member;
(i) a support member mounted on the user's thigh, (ii) has a shape bent so as to surround at least a portion of the circumference of the user's thigh, and one end is disposed on the front of the user's thigh, A support module having a support frame capable of transmitting an auxiliary force to the support member by receiving the signal, and (iii) an action member that interconnects the support member and the support frame and is disposed on the front of the user's thigh; And
And a joint member for interconnecting the driving module and the support module and assisting the movement of the user's hip joint,
The support frame,
A first frame connected to the joint member and at least partially disposed on a side of a user's thigh; And
One end is connected to the action member at the front of the user's thigh, the other end includes a second frame continuously slidably connected to the first frame,
In accordance with the movement of the user wearing the exercise assistance device, among the forces acting between the action member and the second frame, the force of a component parallel to the length direction of the user's thigh does not act on the first frame. , By moving the second frame linearly with respect to the first frame, the overall length of the support module can be changed. delete delete delete The method of claim 1,
The distal side of the support frame does not include a portion that interferes with the side of the user's thigh so as to avoid contact with the side of the user's thigh. delete The method of claim 1,
In a state where the fixing member is worn on the user's waist, and the support member is worn on the user's thigh, when the user walks, the length of the support frame can be changed. delete delete The method of claim 1,
The working member has a shape extending to both sides in a circumferential direction of a user's thigh based on an end of the support frame. The method of claim 10,
The support member wraps the rear surface of the user's thigh so that the user's thigh does not deviate from the support frame, and both ends thereof are connected to both sides of the action member. The method of claim 1,
According to the movement of the user wearing the exercise assistance device, among the forces acting between the action member and the support frame, a force of a component parallel to the length direction of the user's thigh is transferred to the driving module through the support frame. In order not to be transmitted, the overall length of the support frame is variable in the length direction of the user's thigh. The method of claim 1,
According to the movement of the user wearing the exercise assisting device, along a direction perpendicular to the direction of the assisting force acting as the action member of the support frame, the overall length of the support frame is variable. delete The method of claim 1,
Of the force acting between the action member and the support frame according to the movement of the user wearing the exercise assisting device, the component of the second frame in a direction perpendicular to the direction of the assisting force acting as the action member An exercise assisting device that functions as a manual sliding joint in which the second frame is capable of linear motion with respect to the first frame so that force does not compress the first frame. The method of claim 1,
Any one of the first frame and the second frame accommodates at least a portion of the other frame therein, and includes a guide groove for guiding the movement of the other frame. The method of claim 16,
Any one frame is an exercise assistance device surrounding the circumference of the other frame in the form of a closed curve. The method of claim 16,
Any one of the above frames,
The guide groove; And
It communicates with the guide groove and includes a hole formed at an end of any one of the frames,
The remaining one frame,
Through the hole, the exercise assisting device that is slidable into the interior of any one frame. The method of claim 1,
The exercise assisting device,
Further comprising a power supply for supplying power,
The driving module,
A motor receiving power from the power supply and generating power; And
Exercise assistance device comprising a gear for transmitting power from the motor to the joint member. The method of claim 1,
The exercise assisting device further includes a power supply for supplying power,
The power supply unit is an exercise assisting device installed at a portion of the fixing member located on the back of the user. The method of claim 1,
The exercise assisting device,
The support module further comprises a passive joint hinge structure that allows the support module to perform abduction or pronation movement with respect to the fixing member.

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