KR102339188B1 - Variable stiffness support device - Google Patents

Abstract

The present invention relates to a variable rigidity support device, which utilizes the principle of origami, grasps the user's intention of operation, induces an increase in the degree of freedom of a thin plate structure by the user's continuous muscle signal, so that the user can freely move according to the movement of the body. On the other hand, it relates to a variable rigidity support device that can withstand a load by making the folding direction of the plate structure perpendicular to the direction of an external force by a simple operation.

Description

Variable stiffness support device

The present invention relates to a device for supporting variable stiffness, and more particularly, it can be applied to the field of wearable robots that can be worn on the user's body, and can support a load by exerting a large force even with a light weight by utilizing the origami principle. It relates to a variable rigidity support device.

In general, a wearable robot is a device that encompasses an electric system worn on the body and a system that strengthens various bodily functions using human body signals. It is widely used to assist in tasks that are difficult to work directly by enhancing the wearer's muscular strength in industrial fields that require

The wearable robot used in this field has the form of an exoskeleton that imitates the joints of the human body and is used to amplify muscle strength by receiving a synchronization signal from the wearer. are classified

Here, by detecting and dataizing the wearer's direct muscle expansion, a quick response to the motion intention and a response to a continuous muscle signal can be expected, but it is not easy to construct a measuring device and actuator that measures movement, The degree of expansion is not constant for each wearer, and since it requires various components to detect bio-signals, the weight and volume increase, making it difficult to install and use.

In addition, there are problems in that it is difficult to commercialize due to high production cost, manufacturing and repairing are complicated, and other variables are measured according to the wearer's muscle fatigue.

Accordingly, the present invention has been devised to solve the above problems, and an object of the present invention is to grasp the user's intention of operation and the degree of freedom of the thin plate structure by the user's continuous muscle signal by utilizing the origami principle. An object of the present invention is to provide a variable rigidity support device that can freely move according to the movement of the body by inducing an increase and can withstand a load by making the folding direction of the plate structure perpendicular to the direction of an external force with a simple operation.

In order to achieve the above object, the present invention is made of a plate structure using origami, and in order to change or maintain the degree of freedom and rigidity of the object to be worn, the folding direction of the plurality of fold lines formed on the plate structure A device for selectively determining variable stiffness, comprising: a plurality of first fold lines formed in a direction crossing the longitudinal direction of the plate structure and foldable in a mountain fold shape; and a second fold line formed with a straight center line crossing the center of the longitudinal direction of the plate structure, and capable of folding the plates facing each other based on the center line in a bone fold form; providing a variable rigidity support device comprising a do.

According to an embodiment of the present invention, the second fold line of the plate structure is installed between the plates facing each other based on the second fold line so that the second fold line of the plate structure can be folded in the bone fold shape to maintain a fixed state, thereby exerting a tensile force. It may further include a deformable part.

According to an embodiment of the present invention, the plate structure may include a steering plate portion having a plurality of first fold lines formed in the center and for inducing an increase in the degree of freedom through a complex torsional movement of the first fold lines. have.

According to an embodiment of the present invention, the steering plate unit may include: a plurality of link units having hinges formed along a first fold line partitioned to cross each other perpendicularly and obliquely to a longitudinal direction at a center point of a two-dimensional plane; And, it may include first and second side portions extending on both sides of the link portion.

According to an embodiment of the present invention, the plate structure may include: a connecting plate portion installed to be extendable by a first extension portion on both sides of the steering plate portion; and a support plate part having both ends connected and supporting the steering plate part and the bottom surface of the connecting plate part.

According to an embodiment of the present invention, the first extension part may include a plurality of wing surfaces formed to be expandable between the steering plate part and the connecting plate part by a hinge formed along the divided fold line.

According to an embodiment of the present invention, an additional wing surface may be provided on the wing surface of the first extension in order to increase the bending angle of the steering plate part and the connecting plate part.

According to an embodiment of the present invention, both ends of the support plate portion may be provided with first and second side portions of the steering plate portion and a second extension portion formed with a plurality of spreadable wing surfaces connected to the connecting plate portion.

According to an embodiment of the present invention, when the second fold line of the steering plate part is folded into a trough fold on the wing surface of the second extension part and deformed into a 'V' shape, the connection is formed bent by the load of the body It may include a support wing surface for supporting in surface contact with the bottom surface of the plate portion.

According to the variable rigidity support device according to the present invention having the configuration as described above, the plate structure using the origami principle is used to increase the degree of freedom due to the user's continuous muscle movement, thereby preventing the deformation of the plate structure according to the movement of the body. On the other hand, by limiting the movement of the body through a simple manipulation of the plate structure to support the load, there is an effect that the user can easily adjust the strength of the muscle strength enhancement.

In addition, it can be manufactured at low cost, has the characteristics of easy operation, and has the effect that it can be applied to various application fields requiring free stiffness change.

1 is an exploded view showing a variable rigidity support device according to a first embodiment of the present invention.
2 is a view showing the use state of the variable rigidity support device according to the first embodiment of the present invention.
3 is an operational view showing a free operation state of the variable rigidity support device according to the first embodiment of the present invention.
4 is an operational view showing a load-bearing state of the variable rigidity support device according to the first embodiment of the present invention.
5 is an exploded view of the variable rigidity support device according to the second embodiment of the present invention as viewed from above.
6 is an exploded view of the variable rigidity support device according to the second embodiment of the present invention as viewed from below.
7 is a side view of a variable rigidity support device according to a second embodiment of the present invention.
8 is a view showing the use state of the variable rigidity support device according to the second embodiment of the present invention.
9 is a photograph showing the use state of the variable rigidity support device according to the second embodiment of the present invention.
10 is a view showing another embodiment of the first extension part between the steering plate part and the connecting plate part of the variable stiffness support device according to the second embodiment of the present invention.
11 is an operation diagram showing a free operation state of the variable rigidity support device according to the second embodiment of the present invention.
12 and 13 are operational views illustrating a load-bearing state of the variable rigidity support device according to the second embodiment of the present invention.

Since the present invention can have various changes and can have various forms, embodiments will be described in detail in the text. However, this is not intended to limit the present invention to the specific disclosed form, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing each figure, like reference numerals have been used for like elements.

The above terms are used only for the purpose of distinguishing one component from another. The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is an exploded view showing a variable rigidity support device according to a first embodiment of the present invention, FIG. 2 is a usage view showing a state of use of the variable rigidity support device according to a first embodiment of the present invention, and FIG. 3 is It is an operation diagram showing a free operation state of the variable stiffness support device according to the first embodiment of the present invention, and FIG. 4 is an operation diagram showing the load support state of the variable stiffness support device according to the first embodiment of the present invention.

The variable rigidity support device according to the present invention can be applied to the field of wearable robots applicable to various parts of the user's body.

The present invention is particularly applied to the user's arm, and while being able to respond flexibly to the movement of the arm according to the folding direction, it is described based on a variable rigidity support device that can firmly support the load by increasing the resistance to compression and bending. decide to do

As shown in FIG. 1, the variable rigidity support device according to the first embodiment of the present invention is a two-dimensional planar model using origami, and includes a rectangular plate elongated in the longitudinal direction, and includes a plurality of foldable folds. It consists of a plate structure 100 provided with a line 200 .

In the fold line 200 according to the first embodiment of the present invention, a plurality of first fold lines 210 are formed at intervals in a direction intersecting the longitudinal direction of the plate structure 100 to form the first fold lines 210 ), in the form of a mountain fold, adjacent plates can be folded at a desired angle.

In addition, according to the present invention, one second fold line 220 is formed in the form of a straight line crossing the center of the longitudinal direction of the plate structure 100 to form a valley fold along the second fold line 220 . This makes it possible to fold adjacent plates at a desired angle.

Unlike the first fold line 210 , the second fold line 220 must maintain a folded state at a predetermined angle (approximately 90 degrees), and the first fold line 210 can support the load in the unfolded state. It works in a solidly fixed state.

To this end, the second fold line 220 of the plate structure 100 is installed between the plates facing each other as a center line so that the second fold line 220 can be folded in a bone fold shape to maintain a fixed state to exert a tensile force. A deformable part 300 is provided.

In the first embodiment of the present invention, the deformable part 300 may be an elastic deformable member having elasticity that is installed between the plates facing each other to exert a tensile force, but the second fold line 220 of the plate structure 100 is As a reference, any actuating means may be adopted as long as it is an actuating means that can fold the plates facing each other.

Here, the first fold line 210 and the second fold line 220 are formed in a direction perpendicular to each other and are foldable in opposite directions.

As such, the variable stiffness support device including the plate structure 100 on which the first fold line 210 and the second fold line 220 are formed can change or maintain the degree of freedom and stiffness according to the folding direction.

2, it is possible to support the plate structure 100 between the chest side of the user's body and the upper arm of the arm. At this time, a wearable supporter 1 that assists in the installation of the plate structure 100 may be used so that the plate structure 100 can be stably mounted on the user's body (see FIG. 9 ).

As shown in FIG. 3 , since the folding directions of the first folding lines 210 are formed in parallel in one direction, the folding direction of the arms is also folded in one direction.

Meanwhile, as shown in FIG. 4 , when the second fold line 220 of the variable rigidity support device is folded in the opposite direction to the first fold line 210 as a center line in a bone fold shape, the first fold lines 210 ) and the second fold line 220 in a state in which the adjacent plate materials are spread out in parallel to the first fold line 210 at a predetermined angle, that is, to maintain a vertically folded state, the plate structure 100 can withstand the load possible load-bearing condition.

In this way, when the plate structure 100 is maintained in a load-bearing state, the cross-sectional secondary moment is increased to exhibit greater resistance to compression and bending.

Therefore, by using the plate structure 100 to support the arm after lifting a heavy weight in a state in which the arm is supported, the user can maintain the support state of the heavy object without applying a large force.

Hereinafter, in describing the second embodiment of the variable rigidity support device according to the present invention, the same reference numerals are used for the components having the same configuration and the same functions as those of the first embodiment of the present invention, and in order to avoid repetitive configurations, these components are used. A detailed description of the will be omitted.

5 is an exploded view of the variable rigidity support device according to a second embodiment of the present invention from above, FIG. 6 is an exploded view of the variable stiffness support device according to the second embodiment of the present invention as viewed from below, and FIG. 7 is the present invention is a side view of a variable rigidity support device according to a second embodiment of the present invention. In addition, FIG. 8 is a view showing the use state of the variable rigidity support device according to the second embodiment of the present invention, and FIG. 9 is a photograph showing the use state of the variable rigidity support device according to the second embodiment of the present invention. , FIG. 10 is a view showing another embodiment of the first extension part between the steering plate part and the connecting plate part of the variable stiffness support device according to the second embodiment of the present invention.

As shown in FIGS. 5 to 7 , the variable rigidity support device according to the second embodiment of the present invention is a three-dimensional planar model using origami. It consists of a plate structure 100 provided with a fold line 200 . Here, the shape of the plate structure 100 according to the present invention is not limited to only a rectangle, and various shapes that can match the body to which it is applied can be applied.

The plate structure 100 according to the second embodiment of the present invention includes a steering plate unit ( 110).

In addition, it is provided on both sides of the steering plate part 110 and includes a connecting plate part 150 that is bent in the direction of the user's body. Here, it can be seen that the connecting plate unit 150 is configured to be supported in a curved form with respect to the user's body in the load-bearing state of the plate structure 100 .

Referring to the drawings, the steering plate part 110 is accommodated in the armpit between the chest side of the user's body and the upper arm part of the arm, and the shape change of the plate material corresponding to the multidirectional movement of the arm is the twist of the first fold lines 210 . As generated by motion, a plurality of link portions 120 intersecting each other at the center point of the two-dimensional plane of the plate structure 100 are formed.

The link unit 120 includes first to fourth links 121 to 124 having a plate shape that cross each other in a vertical line and an oblique line at the center point of the two-dimensional plane of the plate structure 100 .

In addition, three hinges 21 that can be folded in the form of a mountain fold along the first fold line 210 are formed on the link unit 120 .

When describing the link unit 120 in detail, the hinge ( 21), since the shape change in multiple directions occurs, the operation of freely folding and unfolding the plate in multiple directions can be easily performed.

Here, the hinge 21 is formed of a plurality of first fold lines 210 for folding the link unit 120 at a desired angle while crossing the link unit 120 with a vertical line and an oblique line at the center point of the two-dimensional plane. At this time, the hinge 21 is formed along the first fold line 210 divided by the first and fourth links 121 to 124 , and the first and fourth links 121 to 124 connect the hinges 21 to each other. Accordingly, it becomes possible to fold in the shape of a mountain fold.

The steering plate unit 110 configured as described above may be a multidirectional movement linkage called a so-called spherical 6-bar linkage.

As shown in FIG. 11 , the link unit 120 of the steering plate unit 110 has three degrees of freedom for simultaneously performing a pitch axis movement and a yaw axis movement, so that the user can can move freely in multiple directions without restrictions.

In addition, the plate structure 100 has a second fold line 220 in the form of a straight line that crosses the center in the longitudinal direction is formed along the second fold line 220 in the form of a valley fold (valley fold) 220) as the center line, it is possible to maintain the fixed state by folding the plates facing each other at a desired angle.

To this end, the second fold line 220 of the plate structure 100 is installed between the plates facing each other as a center line so that the second fold line 220 can be folded in a bone fold shape to maintain a fixed state to exert a tensile force. A deformable part 300 may be provided.

In order to increase the resistance to compression and bending of the variable rigidity support device according to the first and second embodiments of the present invention to firmly support the load, the second fold line 220 is placed at right angles to each other as the center line. In order to automatically fold, an operating means, for example, an actuator (not shown, actuator), may be connected to each side of the plate material facing each other in a bone-folding form.

The actuator, which is an operating means, is connected to the opposite plates when folding the plates facing each other based on the second fold line 220 of the plate structure 100 in the form of a trough, so that each plate is rigidly maintained while maintaining a perpendicular state to each other. Power is transmitted to the plates to be fixed.

8 is a view showing the use state of the variable stiffness support device according to the second embodiment of the present invention, and FIG. 9 is a photograph showing the use state of the variable stiffness support device according to the second embodiment of the present invention.

As shown in Figure 8, the plate structure 100 is supported in the form of a curve on the side of the user's body, arms and chest, is configured to be in a load-bearing state to withstand the load.

In other words, since the plate structure 100 can be closely supported in the direction of the user's body in a folded state, the plate structure 100 relieves the stress concentration due to the support for the user, so that the variable rigidity support device can be worn for a long time. has the effect of making

As described above, the second fold line 220 is a center line crossing the center of the longitudinal direction of the plate structure 100 , and is formed to be foldable in the opposite direction to the first fold line 210 , that is, in a bone fold shape. do.

Referring to the drawings, the connecting plate part 150 is integrally connected to both sides of the steering plate part 110 , and both ends of the first and second side parts 125 and 126 provided on both sides of the link part 120 and the first The extension portion 140 is connected as a medium, and the second folding line 220 of the steering plate unit 110 and the second folding line 220 connected to each other in a straight line are formed.

The first extension 140 is a connecting means connected between the first and second side surfaces 125 and 126 of the steering plate part 110 and the connecting plate part 150 , and a second fold line 220 of the steering plate part 110 . When the plates facing each other with a center line are folded to form a 'V' shape by folding them into a trough, the first and second side parts 125 and 126 of the steering plate part 110 and the connecting plate part 150 are connected to a plurality of expandable It includes a wing surface (141-146).

Hinges 22 are formed on the wing surfaces 141 to 146 to be rotatable along the divided fold lines.

When the steering plate part 110 and the connection plate part 150 are folded in a bone fold shape, the wing surfaces 141 to 146 of the first extension part 140 between the steering plate part 110 and the connection plate part 150 are hinged. As it is fully unfolded by (22), its length increases.

That is, in the plate structure 100 , the wing surfaces 141 to 146 of the first extension 140 maintain a folded pattern and then face each other of the steering plate 110 , for example, the first and second side surfaces 125 and 126 . ) is folded in the form of a bone fold with the second fold line 220 as the center line, the length is extended while the wing surfaces 141 to 146 are changed to an unfolding pattern through the unfolding operation of the first extension 140 .

When the wing surfaces 141 to 146 are changed to the unfolding pattern, the end side of the connecting plate part 150 is bent at a predetermined angle with respect to the steering plate part 110 by the load of the body. At this time, the first and second side parts 125 and 126 of the steering plate part 110 so that the connecting plate part 150 can maintain a rigidly fixed state at a predetermined angle with respect to the first and second side parts 125 and 126 of the steering plate part 110 . A support plate unit 170 for supporting the connecting plate unit 150 is installed between each bottom surface and the bottom surface of the connecting plate unit 150 on both sides.

The support plate 170 has one side connected to the bottom surface of each of the first and second side parts 125 and 126 of the steering plate part 110, and the other side of the support plate part 170 is the bottom surface of the connecting plate part 150 on both sides. is connected to

In addition, the second fold line 220 , which crosses the center in the longitudinal direction of the plate structure 100 and forms a center line, is formed on the connecting plate part 150 and the support plate part 170 . It is foldable in connection with the bone folding operation together with the second folding line 220 of the steering plate unit 110 . In this case, the bone-folding angle of the connecting plate unit 150 and the supporting plate unit 170 may be folded smaller than the folding angle of the steering plate unit 110 .

A second extension ( 180) is provided.

The second extension 180 is a support means supported at both ends of the support plate 170, and when the second fold line 220 of the steering plate part 110 is folded into a trough fold to deform into a 'V' shape, It includes a plurality of spreadable wing surfaces 181 to 184 while supporting the first and second side surfaces 125 and 126 of the steering plate 110 and the connecting plate 150 . A hinge 23 is formed on the wing surfaces 181 to 184 to be rotatable along the divided fold line.

In the second extension part 180, when the steering plate part 110 faces each other with the second fold line 220 as the center line is folded in the form of a bone fold and deformed into a 'V' shape, by the load of the body. Support wing surfaces 185 and 186 for supporting the bottom surface of the curved connecting plate 150 may be further included.

The support wing surfaces 185 and 186 may have a larger area than the other wing surfaces 181 to 184 in order to stably support the connecting plate unit 150 .

The support plate 170 is formed when the plates facing each other with the second fold line 220 of the steering plate part 110 and the connecting plate part 150 as a center line are folded into a trough fold and deformed into a 'V' shape. The wing surfaces 181 to 186 of the second extension part 180 connected between the plate part 110 and the connection plate part 150 are spread out and the length thereof is extended to support the bottom surface of the connection plate part 150 .

As such, when the support wing surfaces 185 and 186 including the wing surfaces 181 to 184 of the support plate 170 stably support the connecting plate 150, the connecting plate 150 is curved without being bent by the load of the body. It becomes a load-bearing state that bears the load while being supported in a shape.

Meanwhile, FIG. 10 is a view showing another embodiment of the first extension 140 between the steering plate part 110 and the connecting plate part 150 of the variable rigidity support device according to the second embodiment of the present invention, the plate structure When the steering plate part 110 of 100 is folded in a bone fold shape along the second fold line 220, the first and second side parts 125 and 126 of the steering plate part 110 and the connecting plate part 150 In order to increase the bending angle of the first extension portion 140, the first extension portion 140 formed between the first and second side portions 125 and 126 of the steering plate portion 110 and the connecting plate portion 150 has an additional wing surface 147 ) may be further included.

Hereinafter, the operation of the variable rigidity support device according to the second embodiment of the present invention will be described.

11 is an operational view showing a free operation state for inducing an increase in freedom through a complex torsional motion of a variable rigidity support device according to a second embodiment of the present invention, and FIGS. 12 and 13 are a second embodiment of the present invention. It is an operation diagram showing the load-bearing state of the variable rigidity support device according to an example.

The plate structure 100 of the variable rigidity support device can be mounted on the shoulder, arm, and the entire chest to support the plate structure 100 between the chest side of the user's body and the upper arm of the arm (see FIG. 9). .

In a state in which the plate structure 100 is mounted on the body part connecting the chest side of the support 1 and the upper arm of the arm, the user's continuous muscle signal induces an increase in the degree of freedom of the thin plate structure 100 to move freely. make it possible

At this time, the plate structure 100 can freely move the arm in multiple directions by increasing the degree of freedom according to the user's intention of operation.

At this time, the shape change of the plate material corresponding to the multidirectional movement of the arm occurs by the torsional movement of the first fold lines 210 of the plate structure 100, and the operation of freely folding and unfolding the plate material in multiple directions is easily performed. can

Specifically, the auxiliary arm 1 has a steering plate part 110 of the plate structure 100 in the user's armpit, and extends from the steering plate part 110 by the first extension part 140 to the chest side and upper arm of the arm. It is possible to install the connecting plate unit 150 to be connected.

The plurality of link units 120 provided in the steering plate unit 110 increases the degree of freedom by the hinge 21 through the mountain fold by the first fold line 210 and implements a rotation operation in multiple directions. The arm can be rotated freely.

On the other hand, in order to assist the work for supporting the load by increasing the rigidity in a curved shape through a simple manipulation of the plate structure 100, the folding direction of the plate structure 100 is made perpendicular to the direction of the external force.

This operation induces the plates facing each other with the second fold line 220 of the plate structure 100 as the center line into trough folds, and the plates are perpendicular to each other using an actuator that is an operating means connected to each of the opposing plates. to make it possible to fold automatically, or to manually manipulate the plates facing each other so that the plates can be folded at a right angle.

The plate structure 100 maintains a vertical state while folding the plates facing each other with the second fold line 220 formed in the longitudinal direction of the steering plate unit 110 as a center line in a bone fold shape.

When the steering plate part 110 maintains a vertical state, the steering plate part 110, the connecting plate part 150 connected through the first extension part 140, and the support plate part 170 are also folded in the same manner to obtain an obtuse-angled bone fold state. will keep

At this time, as the length of the wing surfaces 141 to 146 of the first extension 140 between the steering plate 110 and the connecting plate 150 is extended in an unfolded form, the connecting plate part 150 is caused by the load of the body. The end of the is formed bent at a predetermined angle.

As such, when the steering plate part 110 of the plate structure 100 maintains a vertical state in a bone fold shape, resistance to compression and bending is increased, and thus it is possible to firmly withstand a load.

Therefore, according to the variable rigidity support device according to the present invention, by using the plate structure 100 utilizing the origami principle, the degree of freedom is increased according to the continuous muscle movement to induce free deformation of the plate structure 100. On the other hand, it is possible to support the load by limiting the movement of the body through a simple manipulation of the plate structure (100).

Due to this, not only the user can easily adjust the strength of the muscle strength enhancement, but also it can be manufactured at low cost, has the characteristics of easy operation, and can be applied to various application fields requiring free stiffness change.

In addition, the present invention can be applied to the field of wearable robots of a new concept designed by grafting a method of folding or unfolding a two- and three-dimensional flat model such as origami to a mechanical mechanism, so that it can be directly utilized in various human lives.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the following claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention.

100: plate structure 110: steering plate part
120: link unit 140: first extension
150: connecting plate portion 170: support plate portion
200: fold line 300: deformation part

Claims (9)

A variable rigidity support device that is made of a plate structure using origami, and selectively determines the folding direction of a plurality of fold lines formed on the plate structure in order to change or maintain the degree of freedom and rigidity of an object to be worn,
a plurality of first fold lines formed in a direction crossing the longitudinal direction of the plate structure and foldable in a mountain fold shape;
a second fold line formed as a straight center line crossing the center of the longitudinal direction of the plate structure and capable of folding the plates facing each other based on the center line in a bone fold shape; and
The second fold line of the plate structure is installed between the plates facing each other based on the second fold line so that the second fold line of the plate structure can be folded in the bone fold form to maintain a fixed state,
The plate structure may include: a steering plate part in which a plurality of the first fold lines are formed to cross each other, and for inducing an increase in freedom through torsional movement of the first fold lines;
a connecting plate portion installed on both sides of the steering plate portion to be extendable by a first extension portion; and,
Including; a support plate portion connected to both ends to support the steering plate portion and the bottom surface of the connecting plate portion,
The steering plate unit may include: a plurality of link units having hinges formed along the first fold line that intersects each other in a vertical line and an oblique line with respect to a longitudinal direction at a center point of a two-dimensional plane; and first and second side portions extending from both sides of the link portion.
delete delete delete delete The method of claim 1,
The variable rigidity support device, characterized in that the first extension portion includes a plurality of wing surfaces formed so as to be expandable between the steering plate portion and the connecting plate portion by a hinge formed along the divided fold line.
7. The method of claim 6,
The variable rigidity support device, characterized in that the wing surface of the first extension portion is provided with an additional wing surface to increase the bending angle of the steering plate portion and the connecting plate portion.
The method of claim 1,
The variable rigidity support device, characterized in that at both ends of the support plate part, the first and second side parts of the steering plate part and a second extension part having a plurality of spreadable wing surfaces connected to the connecting plate part are provided.
9. The method of claim 8,
When the wing surface of the second extension part is deformed into a 'V' shape by folding the second fold line of the steering plate part in a trough fold, a surface contact is made with the bottom surface of the connecting plate part bent by the load of the body Variable rigidity support device, characterized in that it comprises a support wing surface for supporting.

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