KR102486707B1 - A frame assembly and a motion assist apparatus comprising thereof - Google Patents

Abstract

According to one embodiment, the frame assembly includes a first longitudinal member; a second longitudinal member spaced apart from the first longitudinal member; a third longitudinal member connected in an oblique direction between the first longitudinal member and the second longitudinal member; a plurality of first distance maintaining members connected between the first longitudinal member and the second longitudinal member; and a plurality of second distance maintaining members connected between the second longitudinal member and the third longitudinal member.

Description

Frame assembly and exercise assisting device including the same {A FRAME ASSEMBLY AND A MOTION ASSIST APPARATUS COMPRISING THEREOF}

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

BACKGROUND ART Exercise assisting devices capable of facilitating walking of the elderly or patients with joint discomfort and devices for assisting muscle strength of the human body for military purposes have been developed.

According to an embodiment, the frame assembly includes a first longitudinal member; a second longitudinal member spaced apart from the first longitudinal member; a third longitudinal member connected in an oblique direction between the first longitudinal member and the second longitudinal member; a plurality of first distance maintaining members connected between the first longitudinal member and the second longitudinal member; and a plurality of second distance maintaining members connected between the second longitudinal member and the third longitudinal member.

The rigidity of both ends of the frame assembly may be greater than that of a middle region of the frame assembly.

A distance between the first longitudinal member and the second longitudinal member may increase from one end to the other end of the second longitudinal member.

A distance between the second longitudinal member and the third longitudinal member may decrease from one end to the other end of the second longitudinal member.

The intermediate region of the first longitudinal member and the intermediate region of the second longitudinal member may be relatively movable, and the intermediate region of the second longitudinal member and the intermediate region of the second longitudinal member may be relatively movable. .

The first distance maintaining member may be rotatable with respect to the first longitudinal member or the second longitudinal member.

Both ends of the first distance maintaining member may be more flexible than the middle region.

Both ends of the first distance maintaining member may have a cross section smaller than that of the middle region.

A thickness of the first distance maintaining member may be greater than a thickness of two adjacent longitudinal members.

The first distance maintaining member may include a first slider and a second slider that are slidable to each other.

The first slider may include: a first slider body connected to the first longitudinal member and extending toward the second longitudinal member; and a first hooking portion formed on the first slider body, wherein the second slider includes: a second slider body connected to the second longitudinal member and extending toward the first longitudinal member; and a second hooking part formed on the second slider body and caught on the first hooking part.

The first hooking portion may include a portion whose width increases as the distance from the first slider body increases.

The first distance maintaining member may further include a separation prevention member for preventing the first slider and the second slider from being separated from each other.

Lengths of the plurality of first distance maintaining members may be shorter than lengths of the first longitudinal member and the second longitudinal member, respectively.

A distance between two adjacent first distance maintaining members among the plurality of first distance maintaining members may be shorter than a length of a shorter one of the two adjacent first distance maintaining members.

The plurality of first distance maintaining members may be formed of a material stronger than the first longitudinal member and the second longitudinal member.

Both ends of at least some of the first distance maintaining members among the plurality of first distance maintaining members may be fixed to the first longitudinal member and the second longitudinal member, respectively.

At least one end of both ends of the first distance maintaining member may be rotatably fixed to the first longitudinal member or the second longitudinal member. According to an embodiment, the exercise assistance device includes a back support for supporting a user's back; A drive module provided on one side of a user's joint; and a frame assembly connecting the back support unit and the driving module, wherein stiffness of both ends against force is greater than stiffness of the middle region.

The frame assembly may include a first longitudinal member and a second longitudinal member connecting the back support and the driving module; a plurality of first distance maintaining members connected between the first longitudinal member and the second longitudinal member and allowing the second longitudinal member to maintain a constant distance with respect to the first longitudinal member; a third longitudinal member connecting the back support and the driving module; and a plurality of second distance maintaining members connected between the second longitudinal member and the third longitudinal member and maintaining a constant distance between the third longitudinal member and the second longitudinal member. there is.

A longitudinal direction of the plurality of first distance maintaining members and a longitudinal direction of the second distance maintaining member may cross each other.

The frame assembly may include a first longitudinal member and a second longitudinal member that connect the back support and the driving module and are spaced apart from each other; and a third longitudinal member connecting the first longitudinal member and the second longitudinal member in an oblique line.

At least one of the first longitudinal member and the second longitudinal member may be installed to have an adjustable insertion length with respect to the back support.

1 is a view showing a frame assembly according to an embodiment.
2 is a graph illustrating an exemplary method for determining the shape of a frame assembly according to one embodiment.
3 is a view illustrating an operation when force is applied to an end portion of a frame assembly according to an exemplary embodiment.
4 is a view illustrating an operation when force is applied to a middle region of a frame assembly according to an exemplary embodiment.
5 to 7 are views illustrating frame assemblies according to an exemplary embodiment.
8 is a view showing a frame assembly according to another embodiment.
9 is a view illustrating an operation when force is applied to a middle region of a frame assembly according to another embodiment.
10 to 12 are views illustrating distance maintaining members according to another embodiment.
13 is a front view of an exercise assistance device according to an embodiment.
14 is a side view of an exercise assistance device according to an embodiment.
15 is a perspective view of a fixing mechanism according to an embodiment.
16 is an exploded perspective view showing a part of a rear fixing module according to an embodiment.
17 is a front view showing a part of a rear fixing module according to an embodiment.
18 is a side view showing a part of a rear fixing module according to an embodiment.
19 is a top view showing a part of a rear fixing module according to an embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same numerals have been given to the same components as much as possible even though they are displayed on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function hinders understanding of the embodiment, the detailed description will be omitted.

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

Components included in one embodiment and components having common functions will be described using the same names in other embodiments. Unless stated to the contrary, descriptions described in one embodiment may be applied to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

1 is a diagram illustrating a frame assembly according to an embodiment, and FIG. 2 is a graph illustrating an exemplary method of determining a shape of a frame assembly according to an embodiment.

1 and 2, the frame assembly includes at least three longitudinal members L1, L2, and L3 connecting the first object O1 and the second object O2, and three longitudinal members ( It may include a plurality of first distance maintaining members (D1) and a plurality of second distance maintaining members (D2) connecting two adjacent longitudinal members of L1, L2, and L3 to each other. The intermediate region of any one of the three longitudinal members L1, L2, and L3 is relatively movable with respect to the intermediate region of the other adjacent longitudinal member. The distance maintaining member may have a certain shape according to the degree of bending of two adjacent longitudinal members. In other words, the distance keeping member can prevent the two adjacent longitudinal members from buckling.

The three longitudinal members (L1, L2, L3) may be formed of a flexible material. The three longitudinal members L1, L2, and L3 may be formed of a flexible material, such as synthetic resin, while having sufficient rigidity so that buckling does not occur due to their own weight. The stiffness of the three longitudinal members (L1, L2, L3) may have, for example, a flexural stiffness of 10% or less compared to the longitudinal stiffness (longitude stiffness). there is.

Both ends of the first longitudinal member L1 are fixed to the first object O1 and the second object O2, respectively, and both ends of the second longitudinal member L2 and the third longitudinal member L3 are respectively fixed. The ends may also be fixed to the first object O1 and the second object O2, respectively. The distance between the first longitudinal member L1 and the second longitudinal member L2 decreases from the first object O1 to the second object O2, so that the overall initial shape of an inverted triangle is obtained as shown in FIG. can have Conversely, the distance between the second longitudinal member L2 and the third longitudinal member L3 increases from the first object O1 to the second object O2 so that the overall shape may have an initial triangle. there is. In other words, the first longitudinal member L1 and the third longitudinal member L3 connect the first object O1 and the second object O2 while being spaced apart from each other, and the second longitudinal member (L2) connects the first longitudinal member (L1) and the third longitudinal member (L3) in an oblique direction so that the overall frame assembly may have an initial parallelogram shape.

The distance between two adjacent longitudinal members among the three longitudinal members L1 , L2 , and L3 as they move away from the connected object may be determined as shown in the graph of FIG. 2 . Hereinafter, the distance between the second longitudinal member L2 and the third longitudinal member L3 will be exemplarily described, and unless otherwise stated, the first longitudinal member L1 and the second length The spacing between the direction members L2 can likewise be explained. A y-intercept in the graph of FIG. 2 denotes a portion where the second object O2 comes into contact with the third longitudinal member L3 and the second longitudinal member L2, respectively. According to the graph of FIG. 2 , when a force F is applied to the first object O1, the third longitudinal member L3 and the second longitudinal member prevent the third longitudinal member L3 from buckling. The interval h(x) of (L2) can be determined. In other words, it is possible to determine the condition of the distance h(x) such that the sum of the moments applied to the third longitudinal member L3 becomes zero.

A point of the third longitudinal member L3 that meets the normal at a point (x ₁ , y ₁ ) of the second longitudinal member L2 may be referred to as (x ₂ , y ₂ ). The moment acting on (x ₂ , y ₂ ) is a moment M ₁ due to the force F and a moment M ₂ due to the tension T applied to the second longitudinal member L2. On the other hand, the tension applied to the third longitudinal member L3 does not have a moment acting on (x ₂ , y ₂ ), so there is no need to consider it. Moments M ₁ and M ₂ are as shown in Equations 1 and 2 below.

And h(x ₁ ), which makes the sum of the moments acting on (x ₂ , y ₂ ) become 0, can be determined as in Equation 3 below. In other words, if the moments M ₁ and M ₂ use the same condition, h(x ₁ ) can be determined as in Equation 3 below.

Here, Ф means an angle formed by a tangent to a point of the second longitudinal member L2 with respect to the x-axis. On the other hand, if the height of the second longitudinal member L2 is p(x), y=p(x) can be said to be a function defining the shape of the second longitudinal member L2. Similarly, it can be said that c(x) is the height of the third longitudinal member L3, and y=c(x) is a function defining the shape of the third longitudinal member L3. Ф and p(x) have a relationship of Equation 4 below.

Using Equation 4, Equation 3 can be expressed as Equation 5 below.

Generalizing Equation 5 as an equation for an arbitrary point (x, y) of the second longitudinal member L2 is as Equation 6 below.

Here, the relationship between the T value and the F value can be calculated given a function y=p(x) for the shape of the second longitudinal member L2. In the case of the F value, the force applied to the first object O1 can be determined in advance by a user or a designer. Therefore, given the function y=p(x), it is possible to determine the shape of the third longitudinal member L3 spaced apart from the second longitudinal member L2 by an interval of h(x). Equation 6 above determines the distance between the third longitudinal member L3 and the second longitudinal member L2 in proportion to the distance in a direction perpendicular to the direction of the force acting on the first object O1. can be understood as being

Meanwhile, FIG. 2 may be understood as a two-dimensional shape in which the frame assembly is projected onto a plane in a direction perpendicular to the direction in which force is applied. According to the frame assembly determined in the above method, when force is applied to the first object O1, the frame assembly can transmit the force intact without being bent. Since the plurality of distance maintaining members for maintaining the distance between the frame assemblies determined in the above manner can cause the frame assembly to receive only tension and compression, the rigidity of the end of the frame assembly can be increased.

If the frame assembly is determined according to Equation 6, theoretically the frame assembly should transfer force intact without bending, but in practice, deformation due to various other factors such as manufacturing tolerances and assembly tolerances between parts of the frame assembly Considering that, a slight displacement may occur when force is applied to the first object O1. Even considering the above effects, it can be seen that the stiffness of both ends of the frame assembly with respect to the force will be greater than that of the middle region.

On the other hand, the above description is only one method for determining the distance between two adjacent longitudinal members among the three longitudinal members L1, L2, and L3, and the embodiments are not necessarily limited as above. .

The first distance maintaining member D1 can be rotated, bent or slid with respect to the first longitudinal member L1 and the second longitudinal member L2. According to the above structure, the middle region of the first longitudinal member (L1) and the middle region of the second longitudinal member (L2) can move relative to each other. The first distance maintaining member D1 can prevent the first longitudinal member L1 and/or the second longitudinal member L2 from buckling.

The length of the first distance maintaining member (D1) may be shorter than the lengths of the first longitudinal member (L1) and the second longitudinal member (L2), both ends are respectively the first longitudinal member (L1) and the second longitudinal member (L1) and the second It can be fixed to the longitudinal member (L2). In order to improve the flexural rigidity of the frame assembly, the distance d between two adjacent first distance maintaining members D1 may be shorter than the relatively short length of the first distance maintaining members D1. Also, the plurality of first distance maintaining members D1 may be formed of a material that is stronger than the first longitudinal member L1 and the second longitudinal member L2.

Both ends of the plurality of second distance maintaining members D2 may also be fixed so that the second longitudinal members L2 and the third longitudinal members L3 are movable relative to each other. Unless otherwise stated, the description of the first distance maintaining member D1 may be applied to the second distance maintaining member D2.

FIG. 3 is a view illustrating an operation when force is applied to an end portion of a frame assembly according to an exemplary embodiment, and FIG. 4 is a view illustrating an operation when force is applied to a middle region of the frame assembly according to an exemplary embodiment. 3 and 4 illustratively show a case where the first object O1 is a free end and the second object O2 is a fixed end.

As shown in FIG. 3 , since the frame assembly is rigid against the force acting on the end portion, deformation may not substantially occur even when the force F is applied to the first object O1 .

As shown in FIG. 4, since the frame assembly is flexible against the force acting on the middle region, when a lateral force F acts on the middle region of the frame assembly, the first longitudinal member L1, the second longitudinal member L2, and The third longitudinal member L3 can bend in response to the force F. In this case, two adjacent longitudinal members among the three longitudinal members L1, L2, and L3 are relatively separated from each other while maintaining the distance between them by the distance maintaining members D1 and D2 connected between the two adjacent longitudinal members. can move Meanwhile, even when deformed as above, according to the first distance maintaining member D1 and the second distance maintaining member D2, the relative angle between the first object O1 and the second object O2 is maintained the same. It can be. In other words, the first longitudinal member L1 and the third longitudinal member L3 can be bent into the same shape.

5 to 7 are views illustrating frame assemblies according to an exemplary embodiment.

Referring to FIG. 5 , the frame assembly includes a first object O11, a second object O21, a first longitudinal member L11, a second longitudinal member L21, and a third longitudinal member L31. , a first distance maintaining member D11 and a second distance maintaining member D21 may be included.

The first distance maintaining member D11 may be formed of a rigid structure and material, and both ends or one end are attached to the first longitudinal member L11 and/or the second longitudinal member L21. It can be rotatably fixed. According to the above structure, the middle region of the first longitudinal member (L11) and the middle region of the second longitudinal member (L21) can be moved relative to each other. Similarly, the second distance maintaining member D21 may also be formed of a rigid structure and material, and both ends or one end may be the second longitudinal member L21 and/or the third longitudinal member L31 ) can be rotatably fixed to 5 shows a state in which both ends of each of the distance maintaining members D11 and D21 are rotatably hinged to two adjacent longitudinal members.

The longitudinal direction of the first distance maintaining member D11 and the longitudinal direction of the second distance maintaining member D21 may be determined according to a desired force support direction. For example, the longitudinal direction of the first distance maintaining member D11 and the longitudinal direction of the second distance maintaining member D21 may be the same.

Referring to FIG. 6 , the frame assembly includes a first object O12, a second object O22, a first longitudinal member L12, a second longitudinal member L22, and a third longitudinal member L32. , a first distance maintaining member D12 and a second distance maintaining member D22 may be included.

The longitudinal direction of the first distance maintaining member D12 and the longitudinal direction of the second distance maintaining member D22 may be determined according to a desired force support direction. As shown in the drawing, the longitudinal direction of the first distance maintaining member D12 and the longitudinal direction of the second distance maintaining member D22 may cross each other, and the first longitudinal member L12 and the second longitudinal member L22 ) and the third longitudinal member L32 may have various initial shapes as needed.

Referring to FIG. 7 , the frame assembly includes a first object O13, a second object O23, a first longitudinal member L13, a second longitudinal member L23, and a third longitudinal member L33. , a first distance maintaining member D13 and a second distance maintaining member D23 may be included.

A portion of the first distance maintaining member D13 may be bent with respect to the first longitudinal member L13 and the second longitudinal member L23 by having a flexible material or structure. According to the above structure, the middle region of the first longitudinal member (L13) and the middle region of the second longitudinal member (L23) can move relative to each other. For example, both ends of the first distance maintaining member D13 may have a cross section 1/5 to 1/10 smaller than the middle area. The middle region may have any material or structure as long as it is not rigid.

Meanwhile, the thickness of the first distance maintaining member D13 may be greater than the thickness of the adjacent two longitudinal members L1 and L2. The thickness of the first distance maintaining member D13 is a thickness sufficient to prevent buckling of the first longitudinal member L13 and the second longitudinal member L23, for example, 10 to 100 times the thickness. can have

Similarly, the second distance member D23 has a flexible material or structure, so that it can be bent with respect to the second longitudinal member L23 and the third longitudinal member L33.

8 is a view showing a frame assembly according to another embodiment, and FIG. 9 is a view showing an operation when force is applied to a middle region of the frame assembly according to another embodiment.

8 and 9 , a frame assembly according to another embodiment includes a first object O3, a second object O4, a first longitudinal member L4, a second longitudinal member L5, It may include a third longitudinal member (L6), a first distance maintaining member (D3) and a second distance maintaining member (D6).

The first distance maintaining member D3 includes a first slider D4 and a second slider D5 that can slide with each other, and the second distance maintaining member D6 includes a third slider D7 that can slide with each other and A fourth slider D8 may be included.

As shown in FIG. 8 , since the frame assembly is rigid against the force acting on the end portion, deformation may not substantially occur even when the force F is applied to the first object O3 .

As shown in FIG. 9, since the frame assembly is flexible against the force acting on the middle region, when a lateral force F acts on the middle region of the frame assembly, the first longitudinal member L4, the second longitudinal member L5 and The third longitudinal member L6 can bend in response to the force F. In this case, two adjacent longitudinal members of the three longitudinal members (L4, L5, L6) maintain a distance between each other by the distance maintaining members (D3, D6) connected between the two adjacent longitudinal members, partially can be slid to. Meanwhile, even when deformed as above, according to the first distance maintaining member D3 and the second distance maintaining member D6, the relative angle between the first object O3 and the second object O4 is maintained the same. It can be. In other words, the first longitudinal member L4 to the third longitudinal member L6 can be bent into the same shape.

10 to 12 are views illustrating first distance maintaining members according to another embodiment. 10 to 12 may be understood as showing a view of part A of FIG. 9 viewed from top to bottom (in a negative direction of the y-axis). The structure of the first distance maintaining member described in FIGS. 10 to 12 may be equally applied to the second distance maintaining member.

Referring to FIG. 10 , the first distance maintaining member D31 may include a first slider 41 and a second slider D51 slidable with respect to the first slider 41 .

The first slider D41 includes a rigid first slider body D411 connected to the first longitudinal member L4 and extending toward the second longitudinal member L5, and a first slider body ( A first hooking portion D412 formed in D411 may be included.

The second slider D51 includes a rigid second slider body D511 connected to the second longitudinal member L5 and extending toward the first longitudinal member L4, and a second slider body ( A second hooking part D512 formed on the D511 and caught on the first hooking part D412 may be included.

According to the first slider body D411 and the second slider body D511, buckling in the direction in which the first longitudinal member L4 and the second longitudinal member L5 come closer to each other can be prevented.

One of the first catching portion D412 and the second catching portion D512 may protrude and the other may be recessed. The first slider D41 and the second slider D51 can be slid without being separated from each other by the engagement of the first hooking part D412 and the second hooking part D512. The first hooking portion D412 may include a portion whose width increases as the distance from the first slider body D411 increases. For example, the first hooking part D412 has a dove tail shape whose cross section widens in the protruding direction, and the second hooking part D512 has a cross section of the groove in the recessed direction. This widening shape may be included.

Referring to FIG. 11, the first distance maintaining member D32 includes a first slider D42 including a rigid first slider body D421 and a first hooking portion D422, rigid) may include a second slider D52 including a second slider body D521 and a second hooking portion D522.

The first hooking portion D422 may include a portion whose width increases as the distance from the first slider body D421 increases. For example, the cross section of the first hooking part D422 may be circular, and the cross section of the second hooking part D422 may be a groove with two corners bent inward.

Referring to FIG. 12, the first distance maintaining member D33 includes a first slider D43 including a rigid first slider body D431 and a first hooking portion D432, rigid) may include a second slider D53 including a second slider body D531 and a second hooking portion D532, and a separation preventing member D331.

The detachment prevention member D331 may prevent the first slider D43 and the second slider D53 from being separated from each other. One side of the separation preventing member D331 may be coupled to the first hooking part D432 and slide with respect to the first hooking part D432. For example, one side of the separation preventing member D331 may have an inverted trapezoidal shape including a portion whose width increases toward the direction in which the first slider D43 is located. Similarly, the other side of the separation preventing member D331 may be coupled to the second hooking portion D532. In other words, one side and the other side of the separation preventing member D331 may be formed by combining two inverted trapezoidal shapes including a portion whose width increases from the center toward the two sliders D43 and D53.

13 is a front view of an exercise assistance device according to an embodiment, FIG. 14 is a side view of the exercise assistance device according to an embodiment, and FIG. 15 is a perspective view of a fixing mechanism according to an embodiment. 13 to 15 show the exercise assistance device in a state in which the distance maintaining member is omitted.

Referring to FIGS. 13 to 15 , the exercise assistance device 1 may include a pelvis fixing mechanism 10 , a driving module 3 and a support module 5 .

The pelvic fixation mechanism 10 includes a rear fixation module 110 that surrounds the side and back of the user's waist, a front fixation module 120 that surrounds the front of the user's waist, a battery 160, and a rear fixation module ( 110) and the iliac crest pad 170 connected between the front fixing module 120.

The rear fixing module 110 is connected to the back support 112 for supporting the user's back and is connected to the back support 112 and extends from the back support 112 to both sides to support the back support 112 and the driving module 3 ) It may include a first frame assembly 114 and a second frame assembly 115 for connecting. A description of the first frame assembly 114 will be described later.

The driving module 3 includes an actuator 3a for generating power and a joint assembly 3b disposed at a position corresponding to the hip joint and transmitting the power generated by the actuator 3a to the support module 5 can do.

The support module 5 may support the user's lower limbs, for example, the thighs, and assist the exercise of the lower limbs. The support module 5, which can be rotated by the rotational force of the drive module 3, includes a joint assembly 3b and a connecting member 5a hinged, and a force transmission frame 5b slidingly coupled to the connecting member 5a. , an action member 5c that is connected to the force transmission frame 5b and transmits force to a portion of the user, and is connected to one side of the action member 5c to prevent the user's thigh from being separated from the force transmission frame 5b. It may include a support member (5d) for.

16 is an exploded perspective view showing a part of a rear fixing module according to an embodiment. 16 shows a part of the rear fixing module in a state in which the distance maintaining member is omitted.

Referring to FIG. 16 , the back support 112 may include a support plate 1121 , an adjusting clamp 1122 and a cover 1125 . The adjusting clamp 1122 is provided between the support plate 1121 and the cover 1125 and can adjust the insertion length of the frame assembly 114 into the back support part 112 . For example, the adjustment clamp 1122 can selectively lock or release the frame assembly 114 in a snap-on fashion. The adjustment clamps 1122 allow the same frame assembly 114 to be adapted to users of various builds.

The frame assembly 114 includes a first longitudinal member 1141, a second longitudinal member 1142, a third longitudinal member 1143, a first fixing clip 1144 and a second fixing clip 1145. can include

In the frame assembly 114, stiffness of both ends against force may be greater than stiffness of the middle region. In other words, the distance between any two longitudinal members among the plurality of longitudinal members 1141, 1142, and 1143 may be determined by [Equation 6] described in FIG. 2 .

The first longitudinal member 1141 and the third longitudinal member 1143 are spaced apart from each other, and may connect the back support 112 and the driving module 3 . One side of the first longitudinal member 1141 may be fixed to the driving module 3 and the other side may be fastened to the adjusting clamp 1122 .

The second longitudinal member 1142 may connect the first longitudinal member 1141 and the third longitudinal member 1143 in an oblique line. The first fixing clip 1144 may fix the first longitudinal member 1141 and the second longitudinal member 1142 to each other. The second fixing clip 1145 may fix the second longitudinal member 1142 and the third longitudinal member 1143 to each other.

The first longitudinal member 1141 to the third longitudinal member 1143 may be made of, for example, a hollow tube-shaped flexible material. Using the above structure, the pelvic fixation mechanism 10 can have sufficient rigidity while reducing the weight of the pelvis fixation mechanism 10 .

17 is a front view showing a part of a rear fixing module according to an embodiment, FIG. 18 is a side view showing a part of the rear fixing module according to an embodiment, and FIG. 19 is a part of the rear fixing module according to an embodiment. It is a top view showing

17 to 19, the frame assembly 114 further includes distance maintaining members 1148 and 1149 connecting between two adjacent longitudinal members among a plurality of longitudinal members 1141, 1142, and 1143. You may. In order to improve the rigidity of the rear fixing module 110, the designer considers the direction of various forces F acting on the rear fixing module 110, the first distance maintaining member 1148 or the second distance maintaining member ( 1149) can be installed in different length directions.

According to the above structure, both ends of the frame assembly 114 have high rigidity against force and moment, so that the user can be stably supported, and the middle region of the frame assembly 114 has a flexible property and adheres to the body. Even if it is, the friction is not large, so it is possible to achieve miniaturization and improvement in comfort at the same time. In addition, since it is not necessary to design the frame assembly away from the body in order to prevent friction problems, as a result, the volume required for installation of the frame assembly can be reduced, and furthermore, it is possible to wear the entire motion assistance device inside clothing can do.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Claims (23)

In the frame assembly,
a first longitudinal member;
a second longitudinal member obliquely connected to the first longitudinal member;
a third longitudinal member spaced apart from the first longitudinal member and diagonally connected to the second longitudinal member;
a plurality of first distance maintaining members connected between the first longitudinal member and the second longitudinal member; and
And a plurality of second distance maintaining members connected between the second longitudinal member and the third longitudinal member,
The frame assembly of claim 1 , wherein the stiffness of both ends of the frame assembly is greater than that of a middle region of the frame assembly. delete According to claim 1,
The frame assembly of claim 1 , wherein a distance between the first longitudinal member and the second longitudinal member increases from one end to the other end of the second longitudinal member. According to claim 3,
The frame assembly of claim 1 , wherein a distance between the second longitudinal member and the third longitudinal member decreases from the one end to the other end of the second longitudinal member. According to claim 1,
the intermediate region of the first longitudinal member and the intermediate region of the second longitudinal member are relatively movable;
The middle region of the second longitudinal member and the middle region of the third longitudinal member are relatively movable. According to claim 1,
The first distance maintaining member is rotatable with respect to the first longitudinal member or the second longitudinal member. According to claim 1,
Both ends of the first distance maintaining member are more flexible than the middle region of the frame assembly. According to claim 1,
Both ends of the first distance maintaining member have a smaller cross section than the middle region of the frame assembly. According to claim 1,
A frame assembly wherein the thickness of the first distance maintaining member is thicker than that of two adjacent longitudinal members. According to claim 1,
The first distance maintaining member includes a first slider and a second slider that are slidable to each other. ◈Claim 11 was abandoned when the registration fee was paid.◈ According to claim 10,
The first slider,
a first slider body connected to the first longitudinal member and extending toward the second longitudinal member; and
A first engaging portion formed on the first slider body,
The second slider,
a second slider body connected to the second longitudinal member and extending toward the first longitudinal member; and
A frame assembly comprising a second hooking part formed on the second slider body and hooked on the first hooking part. ◈Claim 12 was abandoned when the registration fee was paid.◈ According to claim 11,
The first hooking portion includes a portion whose width increases as the distance from the first slider body increases. According to claim 10,
The first distance maintaining member,
The frame assembly further comprises a separation prevention member for preventing the first slider and the second slider from being separated from each other. According to claim 1,
A frame assembly in which lengths of the plurality of first distance maintaining members are shorter than lengths of the first longitudinal member and the second longitudinal member, respectively. According to claim 1,
A distance between two adjacent first distance maintaining members among the plurality of first distance maintaining members is shorter than a length of a shorter one of the two adjacent first distance maintaining members. According to claim 1,
The plurality of first distance maintaining members are formed of a material stronger than the first longitudinal member and the second longitudinal member. According to claim 1,
Both ends of at least some of the first distance maintaining members among the plurality of first distance maintaining members are fixed to the first longitudinal member and the second longitudinal member, respectively. According to claim 1,
At least one end of both ends of the first distance maintaining member is rotatably fixed to the first longitudinal member or the second longitudinal member. a back support for supporting a user's back;
A drive module provided on one side of a user's joint; and
A motion assistance device comprising a frame assembly connecting the back support and the driving module, wherein rigidity of both ends against force is greater than rigidity of an intermediate region. According to claim 19,
The frame assembly,
a first longitudinal member and a second longitudinal member connecting the back support and the driving module;
a plurality of first distance maintaining members connected between the first longitudinal member and the second longitudinal member and maintaining a constant distance between the second longitudinal member and the first longitudinal member;
a third longitudinal member connecting the back support and the driving module; and
A motion assistance comprising a plurality of second distance maintaining members connected between the second longitudinal member and the third longitudinal member and maintaining a constant distance between the third longitudinal member and the second longitudinal member. Device. 21. The method of claim 20,
A longitudinal direction of the plurality of first distance maintaining members and a longitudinal direction of the second distance maintaining member intersect each other. According to claim 19,
The frame assembly,
first longitudinal members and second longitudinal members that connect the back support and the driving module and are spaced apart from each other; and
and a third longitudinal member connecting the first longitudinal member and the second longitudinal member in an oblique line. 21. The method of claim 20,
At least one of the first longitudinal member and the second longitudinal member is installed to be adjustable in insertion length with respect to the back support.

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