KR102512343B1 - Strength Assist apparatus and system for supporting muscle strength including the same - Google Patents

Abstract

The present embodiments are a wearable muscle strength assisting system worn on the upper part of the user's body and connected to the upper limb muscle strength assisting device and the upper limb muscle strength assisting device to assist the muscle strength of the upper body and worn on the lower part of the user's body. A lower extremity muscle strength assisting device including a lower extremity muscle strength assisting device, wherein the upper extremity muscle strength assisting device and the lower extremity muscle strength assisting device assist the user's muscle strength by realizing a degree of freedom of the joint as the exoskeleton of the user's body is simulated propose a system

Description

Lower extremity muscle strength assist device and muscle strength assist system including the same {Strength Assist apparatus and system for supporting muscle strength including the same}

The present invention relates to a lower extremity muscle strength assisting device for assisting a user's muscle strength and a muscle strength assisting system including the same, and in particular, a lower extremity muscle strength assisting device effective for preventing a user's musculoskeletal disorders, carrying heavy objects, and assisting lower extremity muscle strength, and a muscle strength assisting system including the same It is about.

The contents described in this part merely provide background information on the present embodiment and do not constitute prior art.

In the case of carrying a heavy weight or a large amount of weight for a long time, fatigue of muscle strength increases, and when continuing to work for a long time in an incorrect posture, it can be expanded to an accident or injury. In addition, recently, with the growth of the e-commerce market, the workload has increased significantly due to the increase in the volume of logistics and parcel delivery, and industrial accidents and manpower loss caused by injuries or accidents of related workers are currently emerging as a major issue in society. .

Recently, the issue of musculoskeletal disorders caused by the increase in the workload of industrial workers has emerged. Due to policy changes, safety laws such as the Severe Accident Business Punishment Act and Occupational Safety and Health Standards are being strengthened, and the demand for wearable devices is increasing as a countermeasure. In addition, in the military that handles combat missions and heavy loads, equipment that individuals must bear is increasing in accordance with changes in individual combat systems.

Conventionally, wearable robots have been developed in various ways according to the field of application or auxiliary parts, and in the case of a lower extremity muscle support system, a power source such as a motor, hydraulic pressure, pneumatic pressure, or spring is used by mimicking the shape of an exoskeleton of the human body. For example, Cyberdyne's HAL Lower Limb product uses a motor to assist the hip and knee joints and was developed for rehabilitation purposes, and SuitX's LegX supports the thigh muscle and knee joint using a spring. and was developed for use in industrial work.

However, most lower extremity strength support systems are designed with a single point for the knee joint. In this case, it is difficult to implement flexible movements of the human body, and if the joint points are not precisely matched, a burden on the musculoskeletal system may be imposed on the wearer. In addition, most of them have a problem that once the power source is determined, it is difficult to change other than the corresponding power source.

In the embodiments of the present invention, the knee joint joint is designed with multiple points to implement flexible movement of the human body, and a wire-composite pulley mechanism interlocked with the multi-joint knee link is applied to provide various power sources such as motors, springs, as well as hydraulic and pneumatic pressure. There is a main purpose of the invention to apply.

Other non-specified objects of the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

According to one aspect of the present embodiment, the present invention provides a lower extremity muscle strength assisting device worn on a user's lower body, comprising: a hip joint assisting unit having three rotational degrees of freedom; a lower extremity muscle strength assisting unit that is connected to the hip joint assisting unit and is connected to a power source by configuring a power transmission mechanism; a multi-joint knee link unit connected to the lower extremity muscle strength assist unit through a wire and limiting the angle of the knee joint; and an ankle support unit connected to the multi-joint knee link unit, located on the ankle of the user and connected to shoes worn by the user, and transmitting a load to the ground.

Preferably, the multi-joint knee link unit, through which the wire passes, a stroke by bending the knee occurs through the wire, the sok link limiting the bending of the knee; And an outer link assembled and fixed to both side surfaces of the inner link, wherein the inner link and the outer link are assembled in plurality by crossing each other, and have 1 degree of rotational freedom.

Preferably, the sok link, formed at one end of the sok link, a wire hole for providing a guide through which the wire moves; connecting holes respectively formed at upper and lower ends of the inner link so as to be connected and fixed to the outer link at the center of the inner link; and a rotation hole inclined at a predetermined angle between the wire hole and the connection hole.

Preferably, the outer link is formed at the center to correspond to the connection hole, and the connection shaft assembled and fixed to the connection hole; and a rotation stopper formed at a position corresponding to the rotation hole and tilted at the predetermined angle and fixed to the rotation hole to limit the angle of the knee joint.

Preferably, the multi-joint knee link part, on both sides of the link, the connection shaft and the rotation stopper are assembled and fixed to the connection hole and the rotation hole, respectively, and the connection formed at the top of the link The hole, the rotation hole, and the connection hole and the rotation hole formed at the lower end of the inner link are connected to the connection shaft of the outer link and the rotation stopper, so that a plurality of them are assembled to cross each other.

Preferably, the multi-joint knee link part changes the knee bending angle according to the number of the outer link and the inner link and the angular design variable of the rotation stopper, and determines the stroke of the wire according to the design variable, The rotation hole and the rotation stopper are implemented in a shape inclined at a predetermined angle, and the bending angle of the knee joint is limited according to the inclined angle.

Preferably, the lower extremity muscle strength assisting unit is interlocked with the multi-joint knee link unit through a wire fixed to the lower end of the multi-joint knee link unit, and includes a composite pulley using the wire as a connecting medium, and through the composite pulley It is connected to the power source, and the complex pulley includes at least one movable pulley and at least one fixed pulley to reduce the force required for the load and increase the stroke to adjust the resolution required for the power source.

Preferably, the ankle auxiliary unit, a fastening ring coupled to a fastening pin formed in the shoe worn by the user; A fixing clamp including a clamp ring fastened to the fastening pin and fixed to the fastening pin by pressing it in a rotational direction when fastened with the fastening pin; and a screw formed at an upper end of the fixing clamp and fixed to the fixing pin to limit movement of the fixing clamp by rotation after the fixing clamp and the fixing pin are fixed, wherein the ankle auxiliary part rotates in two axes. It is characterized by having degrees of freedom.

Preferably, the lower extremity muscle strength assisting device may further include a fastening harness that adheres to and binds the lower body of the user, wherein the fastening harness is connected to the hip joint auxiliary unit and binds the hip of the user; a thigh harness connected at a thigh position where the lower extremity muscle strength assisting unit and the multi-joint knee link unit are provided and binding the thighs of the user; and at least one shin harness connected to the shin position where the multi-joint knee link unit and the ankle support unit are provided and binding the shin of the user.

In addition, according to another aspect of the present embodiment, the present invention is a wearable muscle strength assisting system by a user, which is worn on the upper body of the user, and the upper limb muscle strength assisting device for assisting the muscle strength of the upper body; and a lower extremity muscle strength assisting device connected to the upper extremity muscle strength assisting device and worn on a lower portion of the user's body to assist muscle strength of the lower body, the upper extremity muscle strength assisting device and the lower extremity muscle strength assisting device comprising the user's lower extremity muscle strength assisting device We propose a muscle strength assistance system characterized in that it assists the user's muscle strength by implementing the degree of freedom of the joint as it simulates the exoskeleton of the.

Preferably, the upper extremity muscle strength assisting device includes an upper extremity muscle strength assisting connection unit fixed to and in close contact with the user's shoulder and including at least a portion of both sides of the user's shoulder; a climbing auxiliary unit connected to the upper extremity muscle strength assisting connection unit and provided to support the user's back to assist muscle strength; and an upper and lower extremity connection part connected at a lower end of the climbing aid part and connected to the lower extremity muscle strength assistance device.

Preferably, the upper limb muscle strength assisting device may include a vest-type harness connected to the upper limb muscle strength assisting connection unit and worn on the front of the user's upper body; a backboard pad connected to the backboard assisting unit and located on the user's back; and at least one waist harness connected to the upper and lower extremity connecting parts and worn on the user's waist, characterized in that it is fastened to the upper part of the user's body.

Preferably, the lower extremity muscle strength assisting device includes: a hip joint assisting unit having 3-axis rotation degrees of freedom; a lower extremity muscle strength assisting unit that is connected to the hip joint assisting unit and is connected to a power source by configuring a power transmission mechanism; a multi-joint knee link unit connected to the lower extremity muscle strength assist unit through a wire and limiting the angle of the knee joint; And an ankle auxiliary part connected to the multi-joint knee link part, located on the ankle of the user and connected to a shoe worn by the user, and transmitting a load to the ground, wherein the multi-joint knee link part includes the wire a link that passes through the wire to generate a stroke by bending the knee and limits the bending of the knee; And it is characterized in that a plurality of outer links assembled and fixed to both sides of the inner link are intersected with each other and assembled.

As described above, according to the embodiments of the present invention, the present invention has the effect of flexibly responding to the physical condition of the wearer according to the adjustment of the number of links and design variables of the articulated link.

In addition, according to the embodiments of the present invention, the present invention has an effect of enabling all power sources to be interlocked without limitations such as springs, pneumatics, hydraulic pressures, and motors using the wire and the complex pulley included in the lower extremity muscle strength assisting device.

In addition, according to the embodiments of the present invention, the present invention has the effect of assisting walking, running, bending and straightening the knee by using the multi-joint link unit and the lower extremity muscle strength auxiliary unit located on the knee.

Even if the effects are not explicitly mentioned here, the effects described in the following specification expected by the technical features of the present invention and their provisional effects are treated as described in the specification of the present invention.

1 is a block diagram showing a muscle strength assistance system according to an embodiment of the present invention.
2 and 3 are views showing in detail the muscle strength assistance system according to an embodiment of the present invention.
4 to 7 are views showing the multi-joint knee link of the lower extremity muscle strength assisting device according to an embodiment of the present invention.
8 and 9 are diagrams illustrating an ankle auxiliary unit of a lower extremity muscle strength assisting device according to an embodiment of the present invention.
10 is an exemplary view of lifting a box-shaped heavy object for transport and transport work using a muscle strength assistance system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and the common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Terms including ordinal numbers such as second and first may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a second element may be termed a first element, and similarly, a first element may be termed a second element, without departing from the scope of the present invention. The terms and/or include any combination of a plurality of related recited items or any of a plurality of related recited items.

The present invention relates to an auxiliary device for assisting a user's muscle strength and a muscle power assistance system including the same.

According to one embodiment of the present invention, the muscle strength assistance system 10 is a work environment in which a large amount of goods are handled in a field work such as a courier loading / unloading and distribution center with a large amount of transport work, a large mart, a post office, a conveyor line, etc. It can be used by military units performing combat, special missions, follow-up logistics support missions, and agricultural workers who harvest or transport crops, but are not necessarily limited thereto.

1 is a block diagram showing a muscle strength assistance system according to an embodiment of the present invention.

Referring to FIG. 1 , a muscle strength assisting system 10 includes an upper limb muscle strength assisting device 100 and a lower limb muscle strength assisting device 200 . The muscular strength assistance system 10 may omit some components or additionally include other components among the various components exemplarily shown in FIG. 1 .

The muscle strength assistance system 10 can effectively prevent musculoskeletal disorders, carry heavy objects, and assist lower extremities.

The muscle strength assistance system 10 can overcome limitations by applying a wire-composite pulley mechanism interlocked with the multi-joint knee link unit 230 and applying various power sources such as hydraulic and pneumatic pressure as well as motors and springs.

The muscle strength assistance system 10 may assist the user's muscle strength by implementing the degree of freedom of the joints by simulating the exoskeleton of the user's body.

The upper limb muscle strength assisting device 100 is worn on the upper part of the user's body and can assist the muscle strength of the upper part of the body.

The upper extremity muscle strength assisting device 100 includes an upper extremity muscle strength assisting connection unit 110 , a climbing assistance unit 120 and an upper and lower extremity connection unit 130 .

The upper limb muscle strength auxiliary connection unit 110 is fixed in close contact with the user's shoulder, and may include at least a portion of both sides of the user's shoulder.

The climbing assisting unit 120 is connected to the upper limb muscle strength assisting connection unit 110 and is provided to support the user's back to assist muscle strength.

The upper and lower extremity connection unit 130 is connected at the lower end of the climbing aid unit 120 to connect the lower extremity muscle strength assistance device 200 .

The lower extremity muscle strength assisting device 200 is connected to the upper extremity muscle strength assisting connector 110 and is worn on the user's lower body, and can assist muscle strength in the lower body.

The lower extremity muscle strength assisting device 200 includes a hip joint auxiliary unit 210, a lower extremity muscle strength assisting unit 220, a multi-joint knee link unit 230, and an ankle auxiliary unit 240. The lower extremity muscle strength assisting device 200 may omit some of the various components exemplarily shown in FIG. 1 or may additionally include other components.

The hip joint auxiliary unit 210 may have 3-axis rotation degrees of freedom.

The lower extremity muscle strength auxiliary unit 220 is connected to the hip joint auxiliary unit, and may be connected to a power source by configuring a power transmission mechanism.

The lower extremity muscle strength auxiliary unit 220 is interlocked with the multi-joint knee link unit 230 through a wire 250 fixed to the lower end of the multi-joint knee link unit 230, and includes a composite pulley using the wire 250 as a connecting medium. and can be connected to a power source through a complex pulley.

The composite pulley includes at least one movable pulley and at least one fixed pulley to reduce the force required for the load and increase the stroke to adjust resolution required for the power source.

The multi-joint knee link unit 230 is connected to the lower extremity muscle strength auxiliary unit 220 through a wire, and may limit the angle of the knee joint.

The multi-joint knee link unit 230 includes an inner link 232 and an outer link 234.

In the link 232, the wire 250 passes through, and a stroke occurs due to bending of the knee through the wire 250, and it is possible to limit the bending of the knee.

The inner link 232 includes a wire hole 2320, a connection hole 2322 and a rotation hole 2324.

The wire hole 2320 is formed at one side end of the sok link 232 and may provide a guide through which the wire 250 moves.

Connection holes 2322 may be formed at upper and lower ends of the inner link 232 so as to be connected to and fixed to the outer link 234 at the center of the inner link 232 .

The rotation hole 2324 may be formed to be inclined at a certain angle between the wire hole 2320 and the connection hole 2322 .

The outer link 234 may be assembled and fixed to both sides of the inner link 232, respectively.

The outer link 234 includes a connecting shaft 2342 and a rotation stopper 2344.

The connection shaft 2342 is formed at the center to correspond to the connection hole 2322, and may be assembled and fixed to the connection hole 2322.

The rotation stopper 2344 is formed in an inclined state at a predetermined angle at a position corresponding to the rotation hole 2324, and is assembled and fixed to the rotation hole 2324 to limit the angle of the knee joint.

The inner link 232 and the outer link 234 are intersected with each other, assembled in plurality, and may have one axis of rotational freedom.

In the multi-joint knee link unit 230, on both sides of the link 232, the connection shaft 2342 and the rotation stopper 2344 are assembled and fixed to the connection hole 2322 and the rotation hole 2324, respectively. .

The multi-joint knee link unit 230 includes a connection hole 2322 and a rotation hole 2324 formed at the top of the sok link 232 and a connection hole 2322 and a rotation hole formed at the bottom of the sok link 232 ( 2324 may be assembled in plurality by being connected to the connecting shaft 2342 and the rotation stopper 2344 of different external links and crossing each other. Specifically, the connection hole 2322 and the rotation hole 2324 formed at the top of each inner link 232 are assembled with the connection shaft 2342 and the rotation stopper 2344 formed at the bottom of the outer link 234 And, a plurality of them may be assembled by crossing each other.

In the multi-joint knee link unit 230, the knee bending angle is changed according to the number of outer links 234 and inner links 232 and the angle design variables of the rotation stopper 2344, and the stroke of the wire is determined according to the design variables can

The rotation hole 2324 and the rotation stopper 2344 are implemented in a shape inclined at a predetermined angle, and the bending angle of the knee joint may be limited according to the inclined angle.

At least one movable pulley and at least one fixed pulley are included to reduce the required force for the load and increase the stroke to adjust the required resolution of the power source.

The ankle auxiliary unit 240 is connected to the multi-joint knee link unit 230, is located on the user's ankle, and is connected to the shoe 20 worn by the user, and can transmit a load to the ground.

The ankle auxiliary part 240 includes a fastening ring 242, a fixing clamp 244 and a screw 246.

Ankle auxiliary unit 240 may have a two-axis rotation degree of freedom.

The fastening ring 242 may be coupled with the fastening pin 22 formed on the shoe 20 worn by the user.

The fixing clamp 244 includes a clamp ring fastened with the locking pin 22, and can be fixed with the locking pin 22 by pressing it in a rotational direction when fastened with the locking pin 22.

The screw 246 is formed at the top of the fixing clamp 244, and after the fixing clamp 244 and the fixing pin 22 are fixed, the fixing pin 22 is rotated to limit the movement of the fixing clamp 244. can be fixed

The muscle strength assisting system 10 may further include a fastening harness that closely adheres to and binds the upper limb muscle strength assisting device 100 and the lower limb muscle strength assisting device 200 to the user's body.

The fastening harness may include a harness connected to the upper limb muscle strength assisting device 100 and a harness connected to the lower limb muscle strength assisting device 200 .

The fastening harness connected to the upper limb muscle strength assisting device 100 includes a vest-type harness 30 and a waist harness 34 . In addition, the upper limb muscle strength assisting device 100 further includes a backing pad 32 provided in the climbing aid 120 .

The upper limb muscle strength assisting device 100 includes at least one vest-type harness 30, a back pad 32, and a waist harness 34, and may be fastened to the upper part of the user's body.

The vest-type harness 30 is connected to the upper limb muscle strength auxiliary connection unit 110 and can be worn on the front of the user's upper body.

The backboard pad 32 is connected to the backboard assisting unit 120 and may be provided to be located on the user's back.

The waist harness 34 is connected to the upper and lower extremity connectors 130 and can be worn on the user's waist.

The fastening harness connected to the lower extremity muscle strength assisting device 200 includes at least one of a hip harness 36, a thigh harness 38, and a shin harness 39.

The hip harness 36 is connected to the hip joint auxiliary unit 210 and may bind the user's hip.

The thigh harness 38 is connected at a thigh position where the lower extremity muscle strength auxiliary unit 220 and the multi-joint knee link unit 230 are provided, and can bind the user's thighs.

The shin harness 39 is connected at the shin position where the multi-joint knee link part 230 and the ankle auxiliary part 240 are provided, and can bind the user's shin.

2 and 3 are views showing in detail the muscle strength assistance system according to an embodiment of the present invention.

Figure 2 is an exemplary view showing the overall shape of the muscle strength assistance system 10 according to an embodiment of the present invention. The muscle strength assisting system 10 can be largely divided into an upper extremity muscle strength assisting device 100 and a lower extremity muscle strength assisting device 200 .

The muscle strength assistance system 10 simulates the exoskeleton of the human body and can realize ergonomic joint freedom. Accordingly, the muscle strength assisting system 10 may assist muscle strength by using mechanical mechanisms such as the upper limb muscle strength assisting device 100 and the lower limb muscle strength assisting device 200 .

The muscle strength assist system 10 includes a body joint freedom in the form of a full-body exoskeleton, and further includes shoes interlocked with the lower extremity muscle strength assist device 200 in addition to the upper limb muscle strength assist device 100 and the lower limb muscle strength assist device 200. It can be. At this time, the shoes are shoes worn by the user, and may be connected to and fixed to the lower extremity muscle strength assisting device 200 .

The muscle strength assisting system 10 may have lower extremity strength assisting effects in a user's knee bending and straightening motion, walking or running motion, and standing motion through the lower extremity muscle strength assisting device 200 .

As the muscle strength assisting system 10 includes the upper limb strength assisting device 100 in addition to the lower extremity muscle strength assisting device 200, it is possible to effectively carry out a carrying operation by distributing the load of the front heavy object to the ground. In addition, the muscle strength assistance system 10 can effectively carry out a carrying operation by distributing the load of the weight to the ground when the weight is connected to the climbing assistance part 120 of the upper extremity muscle strength assistance part 100 as well as the front.

The upper extremity muscle strength assisting device 100 includes an upper extremity muscle strength assisting connection unit 110 , a climbing assistance unit 120 and an upper and lower extremity connection unit 130 .

Referring to FIG. 2 , the upper limb muscle strength assisting device 100 may be formed to be provided on the back of a user's upper body, but is not necessarily limited thereto.

The upper limb muscle strength auxiliary connection unit 110 may be fixed at the user's shoulder, and at least a portion thereof may be formed in a curved shape so as to span both shoulders.

The climbing aid 120 is formed to be positioned on the back of the user and may be connected to the upper extremity muscle strength assisting connection unit 110 .

The upper and lower extremity connection units 130 may be connected to the lower extremity muscle strength assistance device 200 by being connected at both sides of the lower end of the climbing assistance unit 120 .

Therefore, the upper limb muscle strength assisting device 100 is formed so that the climbing aid 120 is positioned on the back of the user, and is connected to the upper limb muscle strength assisting connector 110 at both sides of the top of the climbing aid 120, and the climbing aid 120 It can be connected to the upper and lower limb connection part 130 at both sides of the lower end of.

The lower extremity muscle strength assisting device 200 includes a hip joint auxiliary unit 210, a lower extremity muscle strength assisting unit 220, a multi-joint knee link unit 230, and an ankle auxiliary unit 240.

The lower extremity muscle strength assisting device 200 may be formed to be provided on the side of the user's lower body, but is not necessarily limited thereto.

Referring to FIG. 2 , the lower extremity muscle strength assisting device 200 is illustrated as being provided on both sides of the user's lower body, but is not necessarily limited thereto and may be provided on at least one leg. For example, the lower extremity muscle strength assisting device 200 may be provided only on one of the user's left leg or right leg.

The hip joint auxiliary unit 210 has 3 rotational degrees of freedom, and may be coupled with the upper and lower extremity connector 130 to interlock with the upper extremity muscle strength assistance device 100 .

The lower extremity muscle strength assisting unit 220 is connected to the hip joint assisting unit 210 and may be provided on the side of the user's thigh.

The multi-joint knee link unit 230 is connected to the lower extremity muscle strength auxiliary unit 220 and may be formed to be provided on the side of the user's knee.

The ankle auxiliary unit 240 is connected to the multi-joint knee link unit 230 and may be formed to be provided on the side of the ankle in the user's calf.

Therefore, the lower extremity muscle strength assisting device 200 is formed to be provided on the side of the user's leg in order of the hip joint auxiliary unit 210, the lower extremity muscle strength auxiliary unit 220, the multi-joint knee link unit 230, and the ankle auxiliary unit 240, The hip joint auxiliary part 210 may be connected to the upper limb muscle strength assistance device 100 and the ankle auxiliary part 240 may be connected to shoes worn by the user.

Figure 3 (a) is an exemplary diagram showing a shape including a harness for fastening the muscle strength assistance system according to an embodiment of the present invention to the human body, Figure 3 (b) is an exemplary view according to an embodiment of the present invention It shows the working shape of the multi-joint knee link part.

Specifically, FIG. 3 (a) shows the initial shape of the muscle strength assistance system when the user wears the muscle strength assistance system, and FIG. 3 (b) shows the user wearing the muscle strength assistance system when the knee is bent. Indicates the shape of the muscle strength support system.

The muscle strength assistance system 10 may be fixed in close contact with the user's body through a separate fastening harness.

Referring to FIG. 3 , the fastening harness may include a vest-type harness 30 , a waist harness 34 , a hip harness 36 , a thigh harness 38 and a shin harness 39 . Here, the vest-type harness 30 and the waist harness 34 are connected to the upper limb muscle strength assisting device 100, and the hip harness 36, thigh harness 38, and shin harness 39 are the lower limb muscle strength assisting device 200. ) and can bind each part of the user's body.

According to one embodiment of the present invention, the fastening harness may be formed of rubber to compensate for the degree of freedom, and may be fastened to at least one part of the user's body to distribute the load of the weight to the fastened part.

In addition, when the user bends the knee, the multi-joint knee link unit 230 may move as shown in (b) of FIG. 3, and the angle due to the bending may be limited. At this time, the limited bending angle of the multi-joint knee link unit 230 may vary according to the design of the multi-joint knee link unit 230 .

4 to 7 are views showing the multi-joint knee link of the lower extremity muscle strength assisting device according to an embodiment of the present invention.

Figure 4 is a view showing the outer link and the inner link constituting the multi-joint knee link unit according to an embodiment of the present invention.

Referring to FIG. 4 , the multi-joint knee link unit 230 may have two outer links 234 assembled to one inner link 232 .

The inner link 232 includes a wire hole 2320, a connection hole 2322 and a rotation hole 2324. Among the various components exemplarily shown in FIG. 4 , the link 232 may omit some components or may additionally include other components.

The wire hole 2320 is a hole through which the wire 250 passes, and may have a cross section wider than that of the wire 250 . At this time, the multi-joint knee link unit 230 may provide power by passing one wire 250 along the wire hole 2320 of the plurality of links 232, the link 232 and the outer link (234) can be moved to limit the knee angle.

The connection hole 2322 and the rotation hole 2324 are fixing holes connected to the outer link 234, and at least two holes may be formed.

The connection hole 2322 may be formed at the center of the sok link 232 . Specifically, the connection hole 2322 may be formed as one hole at each of the top and bottom of the center of the link 232, and is shown as a circular hole, but is not limited thereto and may also be formed as a polygonal hole.

The rotation hole 2324 may be formed between the wire hole 2320 of the link 232 and the connection hole 2322 . Specifically, the rotation hole 2324 may be formed with one hole on each of the top and bottom of the side surface assembled with the outer link 234, and is shown as a square hole, but is not necessarily limited thereto, and is a polygonal hole or a circular hole. can also be formed.

The outer link 234 includes a connecting shaft 2342 and a rotation stopper 2344, and further includes an end portion 2340. The outer link 234 may omit some of the various components exemplarily shown in FIG. 4 or may additionally include other components.

The connection shaft 2342 is assembled with the connection hole 2322 of the inner link 232 and may be formed at the center of the outer link 234 . Specifically, the connecting shaft 2342 may be formed with one hole at the top and bottom of the center of the outer link 234, and although a circular shape is shown as an axis, it is not necessarily limited thereto and may also be formed as a polygonal axis . At this time, the connection shaft 2342 is formed in the same shape as the connection hole 2322 of the sok link 232 to be assembled with the sok link 232, and may be formed to fit into the connection hole 2322 without gaps. .

The rotation stopper 2344 is assembled with the rotation hole 2324 of the inner link 232 and may be formed on one side of the outer link 234. Specifically, the rotation stopper 2344 may be formed as one stopper on each of the upper and lower ends of one side of the outer link 234, and is shown as a square stopper, but is not necessarily limited thereto, and may be a polygonal hole or a circular hole can also be formed. At this time, the rotation stopper 2344 is formed in the same shape on the side surface of the outer link 234 corresponding to the part where the rotation hole 2324 of the inner link 232 is located so as to be assembled with the inner link 232, and the rotation hole (2324) can be formed to fit without gaps.

The end portion 2340 is formed at both ends of the outer link 234, and when the two outer links 234 are assembled at one inner link 232 and both sides, the two outer links 234 They may be formed so as to come into contact with each other. For example, the end portion 2340 may be formed to have the same length as the length of the connecting shaft 2342, and specifically, when the outer link 234 is assembled with the inner link 232, the inner link so as to abut each other ( 232) may be formed with a length equal to half of the length from the side to the side assembled with the outer link 234, but is not necessarily limited thereto.

5 shows the mechanical mechanism of the multi-joint knee link unit 230, showing an initial state and a bent knee state.

When the multi-joint knee link unit 230 is fastened for assembly, the connecting hole 2322 of the inner link 232 is connected to the connecting shaft 2342 of the outer link 234. At this time, the connecting hole 2322 formed at the upper end of the inner link 232 and the connecting shaft 2342 formed at the lower end of the outer link 234 so that the inner link 232 and the outer link 234 are crossed and assembled with each other can be assembled. Therefore, the inner link 232 and the outer link 234 are assembled by crossing each other, which can be implemented as a structure that can flexibly respond to various physical conditions of the user. In addition to this, the wire stroke can be determined by varying the design variables. Here, the wire stroke will be described with reference to FIG. 6 below.

Referring to FIG. 5, the multi-joint knee link unit 230 may limit the joint bending angle (X _pitch ), and may be implemented in a structure capable of withstanding loads as well as limiting angles for stretching and bending operations. .

Referring to (b) of FIG. 5 , the inner link 232 may further include a bending limiting unit 236 to limit bending at a portion in contact with different inner links during bending. Here, the bending limiting portion 236 is formed in a partially cut shape and can withstand a load during bending.

Accordingly, design variables such as the wire hole 2320, the connection hole 2322, and the rotation hole 2324 of the inner link 232 and the connection shaft 2342 and the rotation stopper 2344 of the outer link 234 are different. Knee bending angle, wire stroke, load bearing area, etc. can be adjusted.

According to one embodiment of the present invention, the rotation stopper 2344 may limit the bending and unfolding angles. Referring to FIG. 4 , the rotation stopper 2344 and the rotation hole 2324 may be formed in a shape inclined at a certain angle, and the angle may be limited by varying the above-described inclination angle.

In FIG. 5, L represents the length of the wire determined according to the number and configuration of the multi-joint knee link unit 230, and S represents the stroke generated by bending the knee.

6 is a view showing the wire mechanism of the multi-joint knee link unit. Here, a represents a case where the multi-joint knee link unit 230 is bent, and b represents a stroke caused by bending.

The wire stroke may be caused by the joint bending angle (X _pitch ). Specifically, when the multi-joint knee link unit 230 is bent as shown in a, the length of the wire 250 may increase by a certain length, and a stroke may occur as much as the lengthened length.

In addition, one end of the wire 250 may be fixed to the inner fixing end 252 of the ankle auxiliary part 240, and the other end may be fixed to the lower extremity muscle strength auxiliary part 220.

In addition, the lower extremity muscle strength assistance device 200 may form a degree of freedom for joint rotation. Specifically, the hip joint auxiliary unit 210 forms a 3-axis degree of freedom 2102 for the hip joint, the multi-joint knee link unit 230 forms a 1-axis degree of freedom 2302 for the knee joint, and the ankle auxiliary unit 240 forms an ankle joint 1-axis degree of freedom 2302 . A joint 2-axis degree of freedom 2402 may be formed.

7 is a diagram illustrating a lower extremity muscle strength assisting device mechanism according to an embodiment of the present invention.

7A is a diagram showing an internal system of a lower extremity muscle strength assisting device mechanism according to an embodiment of the present invention, and FIG. 7B is a diagram showing an external shape of the lower extremity muscle strength assisting device mechanism according to an embodiment of the present invention.

According to one embodiment of the present invention, the mechanism of the lower extremity muscle strength assisting device 200 is a muscle strength assisting mechanism using a complex pulley 254, but is not necessarily limited thereto.

Referring to FIG. 7A , the complex pulley 254 may be provided in the lower extremity muscle strength auxiliary unit 220, but is not necessarily limited thereto.

According to one embodiment of the present invention, the composite sheave 254 may be formed by combining a fixed sheave and a movable sheave, and each of the fixed sheave and the movable sheave may be combined using the wire 250 as a connecting medium.

The lower end of the wire 250 may be connected to the ankle auxiliary part 240 of the lower end of the multi-joint knee link part 230, but is not necessarily limited thereto.

Referring to FIG. 7A , the composite pulley 254 may include a wire 250, a groove bearing 2542, and linear motion parts 2540 and 2541. Here, the linear motion unit may be implemented as a passive power pack 2540 or a hydraulic cylinder 2541, but is not necessarily limited thereto. Here, the passive power pack 2540 indicates that the engine and the transmission are united, and the hydraulic cylinder 2541 indicates that a piston or plunger is reciprocally linearly moved by hydraulic pressure to perform mechanical work.

The passive power pack 2540 or the hydraulic cylinder 2541 are interchangeable with each other, and the wire 250 can be adjusted according to movement.

The load due to the entire mechanism and weight may appear at the top of the wire to the bottom of the bearing 2542.

The composite pulley 254 may be designed in a complex manner according to load and stroke. For example, one fixed pulley and one movable pulley may be included. At this time, in the initial state, K represents the stiffness and represents the degree of resistance to deformation. In this case, S represents the degree of resistance according to deformation, and may represent the maximum movement degree when the user bends the knee. Accordingly, S may represent the extent to which the wire 250 is stretched when the user bends the knee.

Accordingly, S represents the stroke generated by bending the knee, and K represents the force generated by the power source.

According to one embodiment of the present invention, the structure of the composite pulley 254 can be flexibly changed to change specifications such as load and stroke, and the type of power source to which the wire is connected to the end can be changed.

The lower extremity muscle strength auxiliary unit 220 interlocks with the multi-joint knee link unit 230 and the wire 250 as a medium, configures a power transmission mechanism using a complex pulley 254, and can be connected to a power source. Here, the power source may be implemented as a spring, hydraulic pressure, pneumatic pressure, electric motor, etc., but is not necessarily limited thereto.

According to one embodiment of the present invention, the composite pulley 254 can add additional movable pulleys and fixed pulleys according to the required specifications, and according to the configuration, the required force for the load can be reduced by 1/n times, The stroke can be increased n times to adjust the required resolution of the power source. At this time, n may represent twice the number of moving pulleys. For example, n is 2 when one movable pulley is provided, and n is 8 when four pulleys are provided.

A fixed pulley has no force gain and only changes the direction of force, while a movable pulley can benefit from force. Therefore, the composite pulley 254 can change direction while reducing the force by half by using both the movable pulley and the fixed pulley.

Referring to FIG. 7B , a bearing stop screw 2544 may be further included on the outer side.

The bearing set screw 2544 may move along the slide slit and may be connected to the complex pulley 254 provided in the lower extremity muscle strength assisting unit 220 .

Referring to FIG. 7B, the wire 250 passes through the wire hole 2320 formed in the inner link 232 coupled to the outer link 234 of the multi-joint knee link unit 230, and the groove bearing 2542 can be connected with At this time, the bearing set screw 2544 passes through the groove bearing 2542, and is formed by the fixing groove 2548 and the fixing plate 2546 formed on the opposite side of the side of the lower extremity muscle strength assisting part 220 where the slide slit is formed. can be fixed

Specifically, when the bearing stop screw 2544 is rotated, the fixing plate 2546 may be fixed at a specific position while being in close contact with the fixing groove 2548. Through this, it is possible to implement a free swing and a fixed method.

The groove bearing 2542 may be formed as a V-groove bearing, but is not necessarily limited thereto.

8 and 9 are diagrams illustrating an ankle auxiliary unit of a lower extremity muscle strength assisting device according to an embodiment of the present invention.

The ankle auxiliary part 240 is a connecting medium between the multi-joint knee link part 230 and the shoe 20, and can transmit the entire weight of the muscle strength assistance system 10 and the load of the transport weight to the ground.

Ankle auxiliary unit 240 may be positioned on the user's ankle to implement a degree of freedom of the ankle. In this case, the degree of freedom implemented may be a two-axis degree of freedom.

The ankle auxiliary part 240 includes a fastening ring 242, a fixing clamp 244 and a screw 246.

The shoe 20 includes a fastening pin 22 to be fastened with the ankle auxiliary part 240 .

According to one embodiment of the present invention, the fastening pin 22 may be provided at the bottom of the outer side of the shoe 20, but is not necessarily limited thereto.

The fastening ring 242 is coupled in a state of contact with the fastening pin 22 and may be fixed through a fixing clamp 244 .

The fastening of the ankle auxiliary part 240 and the shoe 20 will be described in detail with reference to FIG. 9 .

9 is a view showing a fastening mechanism of an ankle auxiliary part and a shoe according to an embodiment of the present invention.

The ankle auxiliary part 240 may be detachably formed using the shoe 20 and a clamp fixing method.

Referring to (a) of FIG. 9, the fastening of the ankle auxiliary part 240 and the shoe 20 combines the fastening ring 242 of the ankle auxiliary part 240 with the fastening pin 22 formed in the shoe 20, Fasten the fixing clamp 244 and the fastening pin 22.

Referring to (b) of FIG. 9, when the fastening of the ankle auxiliary part 240 and the shoe 20 is completed, the fastening clamp 244 is locked in the X direction when the fastening of the fastening clamp 244 and the fastening pin 22 is completed. can At this time, X represents the rotation locking direction. Therefore, by locking in the X direction, the ankle auxiliary part 240 and the shoe 20 are fixed, and can be unlocked in the opposite direction of X.

Referring to (c) of FIG. 9, the fastening of the ankle auxiliary part 240 and the shoe 20 is locked by pressing the fixing clamp 244 in the X direction indicating the rotation locking direction, and then completely fixed using the screw 246. can do.

Therefore, the fastening of the ankle auxiliary part 240 and the shoe 20 may be performed in the order of (a), (b) and (c) of FIG. 9, and the opposite of the illustrated description is performed to release the fastening. Specifically, the release of the coupling between the ankle auxiliary unit 240 and the shoe 20 is performed in the order of (c), (b) and (a) of FIG. 9 .

10 is an exemplary view of lifting a box-shaped heavy object for transport and transport work using a muscle strength assistance system according to an embodiment of the present invention.

The muscle strength assisting system 10 can distribute the load to shoes and the ground when carrying heavy objects through the interlocking of the upper extremity strength assisting device 100 and the lower extremity strength assisting device 200, and can maintain balance through knee strength assisting. .

Referring to FIG. 10 , the upper limb muscle strength assisting device 100 may carry a heavy object by further connecting a separate wire to the upper limb muscle strength assisting connection unit 110 .

The lower extremity muscle strength assisting device 200 is not limited to a user's simple sitting and rising motion, and can improve physical performance by assisting the user in walking or running motions.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art can make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. . The protection scope of the present invention should be construed according to the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: strength support system
100: upper extremity muscle support device
110: upper extremity muscle strength auxiliary unit
120: climbing aid
130: Upper and lower extremity connection
200: Lower extremity muscle strength assist device
210: hip joint auxiliary unit
220: lower extremity muscle strength auxiliary unit
230: multi-joint knee link
240: ankle auxiliary unit

Claims (13)

In the lower extremity muscle strength assist device worn on the user's lower body,
Hip joint auxiliary unit having three-axis rotational freedom;
a lower extremity muscle strength assisting unit that is connected to the hip joint assisting unit and is connected to a power source by configuring a power transmission mechanism;
a multi-joint knee link unit connected to the lower extremity muscle strength assist unit through a wire and limiting the angle of the knee joint; and
An ankle auxiliary unit connected to the multi-joint knee link unit, located on the ankle of the user and connected to shoes worn by the user, and transmitting a load to the ground;
The ankle auxiliary part, a fastening ring coupled with a fastening pin formed on the outer side of the shoe worn by the user; a fixing clamp for fixing the fastening pin and the fastening ring by pressing the fastening pin and the fastening ring in a rotational direction when fastened in a state in which the fastening pin and the fastening ring are in contact with each other; and formed at a portion pressing in the direction of rotation of the fixing clamp, and after the fixing pin and the fixing ring are fixed through the fixing clamp, the fixing clamp rotates in a direction in which the shoes worn by the user are positioned, It includes a screw for fixing the side of the ankle auxiliary part to limit the movement of the fixing clamp by rotation in a state in contact with the side surface of the ankle auxiliary part connected to the joint knee link part, characterized in that it has a two-axis rotational freedom lower extremity strength aids. According to claim 1,
The multi-joint knee link part,
a sock link through which the wire passes, a stroke caused by bending the knee through the wire, and limiting the bending of the knee; and
Includes an outer link that is assembled and fixed to both sides of the inner link,
The lower extremity muscle strength assisting device, characterized in that the inner link and the outer link are intersected with each other and assembled in plurality, and have one axis rotational degree of freedom. According to claim 2,
The link in the above is
a wire hole formed at one end of the link and providing a guide through which the wire moves;
connecting holes respectively formed at upper and lower ends of the inner link so as to be connected and fixed to the outer link at the center of the inner link; and
Lower extremity muscle strength assisting device comprising a rotation hole formed in a state inclined at a predetermined angle between the wire hole and the connection hole. According to claim 3,
The above link is
a connection shaft formed at the center to correspond to the connection hole and assembled and fixed to the connection hole; and
A lower extremity muscle strength assisting device comprising a rotation stopper formed at a position corresponding to the rotation hole and inclined at the predetermined angle, assembled and fixed to the rotation hole to limit the angle of the knee joint. According to claim 4,
The multi-joint knee link part,
On both sides of the link, the connection shaft and the rotation stopper are assembled and fixed to the connection hole and the rotation hole, respectively,
The connection hole and the rotation hole formed at the top of the inner link and the connection hole and the rotation hole formed at the bottom of the inner link are connected to the connection shaft of the outer link and the rotation stopper to cross each other and assemble a plurality of Lower extremity muscle strength assist device, characterized in that. According to claim 4,
The multi-joint knee link part,
The knee bending angle is changed according to the number of the outer link and the inner link and the angular design variable of the rotation stopper, and the stroke of the wire is determined according to the design variable,
The lower extremity muscle strength assisting device, characterized in that the rotation hole and the rotation stopper are implemented in a form inclined at a predetermined angle, and a bending angle of the knee joint is limited according to the inclined angle. According to claim 1,
The lower extremity muscle strength auxiliary unit,
Interlocks with the multi-joint knee link through a wire fixed to the lower end of the multi-joint knee link, includes a composite pulley using the wire as a connecting medium, and is connected to the power source through the composite pulley,
The lower extremity muscle strength assisting device, characterized in that the complex pulley includes at least one movable pulley and at least one fixed pulley to reduce the force required for the load and increase the stroke to adjust the resolution required for the power source. delete According to claim 1,
Further comprising a fastening harness for closely contacting and binding the lower extremity muscle strength assist device to the user's lower body,
The fastening harness,
a hip harness connected to the hip joint auxiliary unit and binding the user's hip;
a thigh harness connected at a thigh position where the lower extremity muscle strength assisting unit and the multi-joint knee link unit are provided and binding the thighs of the user; and
The lower extremity muscle strength assisting device comprising at least one shin harness connected at a shin position where the multi-joint knee link unit and the ankle support unit are provided and binding the shin of the user. In the muscular support system wearable by the user,
an upper limb muscle strength assisting device that is worn on the upper body of the user and assists muscle strength of the upper body; and a lower extremity muscle strength assisting device connected to the upper extremity muscle strength assisting device and worn on the lower body of the user to assist muscle strength of the lower body,
The upper extremity muscle strength assisting device and the lower extremity muscle strength assisting device assist the user's muscle strength by realizing a degree of freedom of the joint by simulating the exoskeleton of the user's body,
The lower extremity muscle strength assisting device includes a hip joint assisting unit having 3-axis rotation degrees of freedom; a lower extremity muscle strength assisting unit that is connected to the hip joint assisting unit and is connected to a power source by configuring a power transmission mechanism; a multi-joint knee link unit connected to the lower extremity muscle strength assist unit through a wire and limiting the angle of the knee joint; And an ankle auxiliary part connected to the multi-joint knee link part, located on the user's ankle, connected to the shoe worn by the user, and transmitting a load to the ground;
The ankle auxiliary part, a fastening ring coupled with a fastening pin formed on the outer side of the shoe worn by the user; a fixing clamp for fixing the fastening pin and the fastening ring by pressing the fastening pin and the fastening ring in a rotational direction when fastened in a state in which the fastening pin and the fastening ring are in contact with each other; and formed at a portion pressing in the direction of rotation of the fixing clamp, and after the fixing pin and the fixing ring are fixed through the fixing clamp, the fixing clamp rotates in a direction in which the shoes worn by the user are positioned, It includes a screw for fixing the side of the ankle auxiliary part to limit the movement of the fixing clamp by rotation in a state in contact with the side surface of the ankle auxiliary part connected to the joint knee link part, characterized in that it has a two-axis rotational freedom strength support system. According to claim 10,
The upper limb muscle support device,
an upper limb muscle strength auxiliary connection unit fixed to and in close contact with the user's shoulder, including at least a portion of both sides of the user's shoulder;
a climbing auxiliary unit connected to the upper extremity muscle strength assisting connection unit and provided to support the user's back to assist muscle strength; and
A muscle strength assistance system comprising an upper and lower extremity connection portion connected at a lower end of the climbing assistance unit and connected to the lower extremity muscle strength assistance device. According to claim 11,
The upper limb muscle support device,
a vest-type harness connected to the upper limb muscle strength auxiliary connector and worn on the front of the user's upper body;
a backboard pad connected to the backboard assisting unit and located on the user's back; and
Muscular strength assistance system, characterized in that fastened to the upper part of the user's body, including at least one waist harness connected to the upper and lower body connection portion and worn on the user's waist. According to claim 10,
The multi-joint knee link part,
a sock link through which the wire passes, a stroke caused by bending the knee through the wire, and limiting the bending of the knee; and a plurality of external links assembled and fixed to both sides of the inner link, which are intersected with each other, and assembled in plurality.

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