KR20190014448A - Motion assistance apparatus - Google Patents

Abstract

The present invention relates to an exercise assistance apparatus which assists the elderly or patients with uncomfortable joints. The exercise assistance apparatus comprises: a proximal support part for supporting a proximal portion of a user; a first drive link and a second drive link which are translationally movable at different speeds with respect to the proximal support part; a support joint rotatably connected to the second drive link; a support body which is coupled between the first drive link and the support joint and which is simultaneously translated and rotated with respect to the proximal support part; a distal support part which is coupled to the support body and which supports a distal portion of the user; and a torque providing means capable of providing a torque for rotating the support joint.

Description

[0001] MOTION ASSISTANCE APPARATUS [0002]

The following description relates to exercise aids.

As the aging society becomes more widespread, people who are suffering from pain and discomfort due to joint problems are increasing, and there is a growing interest in exercise aids to assist the elderly or patients with uncomfortable joints.

According to one embodiment, an exercise assisting device comprises: a proximal support for supporting a proximal portion of a user; A first drive link and a second drive link that are translationally movable with respect to the proximal support at different speeds; A support joint rotatably connected to the second drive link; A support body coupled between the first drive link and the support joint to simultaneously translate and rotate the proximal support; A distal support coupled to the support body for supporting a distal portion of the user; And torque providing means capable of providing a torque for rotating the support joint.

Wherein the motion assisting device comprises: a coupling link rotatable about the proximal support and rotatably connected to the first driving link and the second driving link; And a connection link rotatable about the proximal support and rotatably connected to the second drive link, wherein for the proximal support, the first drive link is rotated at a faster speed than the second drive link It is possible to translate.

The torque providing means may include an elastic body that is deformed as the support joint rotates about the second drive link.

The motion assisting device may further include an upward projecting portion protruding upward from the support joint, and the elastic body may connect the upward projecting portion and the second drive link.

The motion assisting device may further include an inversion protrusion formed to protrude from the support joint in an inward direction of the user, and the elastic body may include an inner elastic body connecting the inner protrusion and the second drive link.

The exercise assisting apparatus may further include an external protrusion protruding from the support joint in an outward direction of the user, and the elastic body may further include an external elastic body connecting the external protrusion and the second drive link.

The elastic modulus of the elastic elastomer may be greater than the elastic modulus of the elastic elastomer.

The torque providing means may include a sub-actuator that rotates the support joint by applying rotational power to the support joint.

The support joint may include a first sub-bevel gear, and the sub-actuator may include a second sub-bevel gear engaged with the first sub-bevel gear.

The sub-actuator may be disposed in parallel to the longitudinal direction of the proximal support.

The angle between the axes of the first sub-bevel gear and the second sub-bevel gear may be greater than 90 degrees.

The exercise assisting device includes: a sensor for sensing movement state information of a user; And a controller for controlling the sub-actuator based on the motion state information sensed by the sensor.

The motion assisting device comprising: an actuator rotatably connected to the proximal support; And a power transmission rod for transmitting power from the actuator to the support body.

The actuator comprising: a drive housing rotatably connected to the proximal support; A driving motor fixed to the driving housing; And a guide extending in the longitudinal direction from the drive housing and guiding the sliding of the power transmission rod.

The support body is rotatable about a remote rotation center in the vicinity of the ankle joint of the user.

The support body may be positioned in front of the user based on a state in which the user wears the exercise assisting device.

The exercise assisting device includes a proximal support; A first drive link and a second drive link that are translationally movable with respect to the proximal support at different speeds; A support body including both ends rotatably connected to the first drive link and the second drive link, the support body simultaneously performing translational motion and rotational motion with respect to the proximal support; A distal support rotatably coupled to the support body; And a torque providing means capable of providing a torque for rotating the distal supporting portion.

The torque providing means may include an elastic body that connects the supporting body and the distal supporting portion and deforms as the distal supporting portion rotates about the supporting body.

Wherein the motion assisting device further comprises a projection protruding from the supporting body toward an inner portion of the user's foot and supporting one end of the elastic body, the distal supporting portion covers an outer portion of the user's foot, And a connecting portion for supporting the other end of the elastic body.

1A is a diagram showing the operation of a user's talocalground joint.
FIG. 1B is a diagram showing the operation of a subtalar joint of a user. FIG.
2 is a perspective view of an exercise assisting apparatus according to an embodiment.
3 is a rear view of the exercise assisting apparatus according to an embodiment.
FIG. 4 is a front view partially showing an exercise assisting device for assisting a dorsi-flexion of an ankle joint of a user according to an embodiment.
5 is a side view illustrating an exercise assisting apparatus for assisting a user in bending the foot and foot of an ankle joint according to an embodiment.
FIG. 6 is a front view partially showing an exercise assisting device for assisting a plantar-flexion of an ankle joint of a user according to an embodiment.
FIG. 7 is a side view illustrating an exercise assisting apparatus for assisting the user in flexing the soles of the ankle joint according to an embodiment.
8 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.
9 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.
10 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.
11 is a perspective view of an exercise assisting apparatus according to an embodiment.
12 is a front view of an exercise assisting apparatus according to an embodiment.
13 is a side view showing a state in which a user wears the exercise assisting apparatus according to an embodiment.
FIG. 14 is a side view showing a state in which a user wearing the exercise assisting apparatus according to the embodiment has a sole bend.
15 is a side view showing a state in which a user wearing the exercise assisting apparatus according to an embodiment has undergone foot bending.
16 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.
17 is a plan view showing a state in which the distal support portion according to the embodiment is in a neutral state.
18 is a plan view showing a support link and a distal support according to an embodiment, with the user's foot inverted.
19 is a plan view showing a support link and a distal support according to an embodiment with the user's feet eversion.
20 is a perspective view of an exercise assisting apparatus according to an embodiment.
21 is a front view of the exercise assisting apparatus according to an embodiment.
22 is a side view of the exercise assisting apparatus according to an embodiment.
23 is a partially enlarged perspective view showing a state in which the sub-bevel gears of the support link and the sub-actuator of the exercise assisting apparatus according to the embodiment are engaged with each other.
24 is a block diagram schematically showing a control process of a sub-actuator of the exercise assisting apparatus according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments, detailed description of known functions and configurations incorporated herein will be omitted when it may make the best of an understanding clear.

In describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; may be "connected," "coupled," or "connected. &Quot;

The components included in any one embodiment and the components including common functions will be described using the same names in other embodiments. Unless otherwise stated, the description of any one embodiment may be applied to other embodiments, and a detailed description thereof will be omitted in the overlapping scope.

FIG. 1A is a diagram showing the operation of a user's talocalural joint, and FIG. 1B is a diagram illustrating an operation of a subtalar joint of a user.

Referring to FIGS. 1A and 1B, it can be understood that the ankle of the user moves based on two axes. The first axis (A1) and the second axis (A2) conceptually show the ankle joint and the throat joint, respectively. The user's ankle can be dorsi-flexion or plantar-flexion around the ankle joint. In addition, the user's ankle can eversion or inversion around the neck joint. When the ankle moves with respect to any one of the first axis A1 and the second axis A2, the position or angle of the other axis can be changed. The motion assisting device according to the embodiment described below enables movement of the ankle based on the first axis A1 and / or the second axis A2.

FIG. 2 is a perspective view of an exercise assisting apparatus according to an embodiment, and FIG. 3 is a rear view of an exercise assisting apparatus according to an embodiment.

Referring to FIGS. 2 and 3, the exercise assisting device 1 can be worn by the user to assist the user's movement. The user may be a human body, an animal, a robot, or the like, but is not limited thereto. The exercise assisting apparatus 1 includes a proximal support 91, a supporting link 10, a first driving link 11, a second driving link 12, a coupling link 13, A connecting link 14, a power transmission rod 15, a first elastic body 16a, and an actuator 80. As shown in Fig.

The proximal support 91 supports the proximal portion of the user and the distal support 92 supports the distal portion of the user. The exercise assisting device 1 can assist the user's joint movement in such a manner as to adjust the angle between the proximal support 91 and the distal support 92. [ For example, the proximal support 91 supports the user's shank and the distal support 92 supports the user's foot. For example, the exercise assisting device 1 may assist in plantar flexion and / or dorsi flexion of the user's talocalground joint. As another example, with the proximal support 91 supporting the forearm of the user and the distal support 92 supporting the metacarpal of the user, the exercise assisting device 1 may be positioned on the user's wrist joint and / or stretching motion of the wrist joint. Hereinafter, a case where the exercise assisting apparatus 1 assists the movement of the ankle joint will be exemplarily described. It is noted that the joints assisted by the exercise assisting device (1) are not limited to the ankle joints.

The proximal support 91 is detachable to the shank of the user. For example, the proximal support 91 may have a calf mounting portion (not shown) surrounding the calf. The calf mount can be adjusted in length around the calf according to the size of the user's calf. For example, the calf mount may be an elastic band. The proximal support 91 may be mounted in front of the shank of the user.

The distal support 92 is detachable to the user's feet. As shown, the distal support portion 92 may have a structure that can be inserted into the inside of the shoe as well as mounted to the outside of the shoe that the user wears. For example, the distal support portion 92 includes an insole portion 921 that supports the bottom of the user's foot, and a connecting portion 922 that surrounds the side of the user's foot and is connected to the support link 10 can do.

The power of the actuator 80 is transmitted in the order of the power transmitting rod 15, the supporting link 10, the first driving link 11, the coupling link 13 and the second driving link 12 in this order Lt; / RTI > The first driving link 11 and the second driving link 12 can move at a different speed with respect to the proximal support portion 91 at the same time, The support link 10 connected to the second drive link 12 can simultaneously perform translational motion and rotational motion with respect to the proximal support portion 91. [

The exercise assisting device 1 may include a proximal joint 91a that rotatably supports the actuator 80 on the proximal support 91 in two degrees of freedom. The proximal joint 91a may be a universal joint or a ball joint. The proximal joint 91a may be disposed on the upper side of the proximal support 91. [

The actuator 80 may be rotatably connected to the proximal support 91. The actuator 80 may generate power to drive the exercise assisting device 1. [ The actuator 80 may include a drive housing 81, a drive motor 82, and a guide 83.

The drive housing 81 can be rotated in two degrees of freedom with respect to the proximal support 91 by the proximal joint 91a. For example, the drive housing 81 can pivot about two axes that intersect the longitudinal direction of the proximal support 91. For example, the drive housing 81 can be pivoted about an axis perpendicular to the front surface of the proximal support portion 91 and an axis parallel to the front surface of the proximal support portion 91, respectively. For example, the axis perpendicular to the front surface of the proximal support portion 91 and the axis parallel to the front surface of the proximal support portion 91 are parallel to the sagittal axis and the coronal axis, respectively, can do.

The drive motor 82 may be fixed to the drive housing 81. The drive motor 82 can generate power for sliding the power transmission rod 15. The drive motor 82 is interchangeable. The driving motor 82 is fixed to the driving housing 81 to perform rigid body motion.

The guide 83 may extend from the drive housing 81 in the longitudinal direction. For example, on the basis of the standing state of the user, the guide 83 may extend downwardly from the drive housing 81, that is, in the direction toward the distal support portion 92. The guide 83 can guide the sliding of the power transmission rod 15. For example, the guide 83 can assist the power transmission rod 15 to slide.

The power transmission rod 15 can receive power from the actuator 80 and slide. The power transmission rod 15 is slidable along the guide 83. For example, the power transmission rod 15 and the actuator 80 may be connected by a ball screw method. The actuator 80 can slide the power transmission rod 15 upward or downward. The power transmission rod 15 may include a power transmission body 151 and an extension 152.

The power transmission body 151 can be in direct contact with the guide 83. [ The power transmission body 151 can slide along the longitudinal direction of the guide 83. [

The extension portion 152 may be a longitudinal member extending from one side of the power transmission body 151. One end of the extension 152 may be connected to the power transmission body 151 and the other end may be connected to one side of the support link 10. The support link (10) is rotatable about two degrees of freedom relative to the extension (152). For example, a universal joint or ball joint may be provided between the extension 152 and the support link 10.

The first drive link 11 can translationally move with respect to the proximal support portion 91. For example, the coupling link 13 may connect the proximal support 91, the first drive link 11, and the second drive link 12 (see FIG. 3). One end of the first driving link 11 may be connected to one end of the coupling link 13 so as to be rotatable by two degrees of freedom. For example, a universal joint or a ball joint may be provided between the first drive link 11 and the coupling link 13. The other end of the first drive link 11 may be connected to the support link 10 so as to be rotatable by two degrees of freedom. For example, a universal joint or a ball joint may be provided between the first drive link 11 and the support link 10. On the other hand, it is found that the first drive link 11 can simultaneously perform translational motion as well as translational motion with respect to the proximal support portion 91.

The second drive link 12 can translationally move relative to the proximal support 91. For example, the proximal support 91 and the second drive link 12 may be connected by a coupling link 13. The second drive link 12 is positioned closer to the proximal support 91 than the first drive link 11 so that the translational speed of the second drive link 12 is lower than the translational speed of the first drive link 11 slow.

The proximal support portion 91, the second driving link 12, the coupling link 13 and the connecting link 14 constitute a four-bar linkage structure, thereby realizing a movement of one degree of freedom. One end of the connecting link 14 may be rotatably connected to the proximal support 91 and the other end may be rotatably connected to the second driving link 12. [ One end of the coupling link 13 may be rotatably connected to the proximal support 91 and the middle portion may be rotatably connected to the second drive link 12 and the other end may be connected to the first drive link 11 And may be rotatably connected.

For example, the coupling link 13 and the connecting link 14 may be parallel. The distance between the axis of the coupling link 13 that is rotatably connected to the proximal support 91 and the axis that is rotatably connected to the second drive link 12 is a distance from the proximal support 91 of the connection link 14 And may be the same as the distance between the axis rotatably connected and the axis of the connecting link 14 rotatably connected to the second driving link 12. [ According to this structure, the second driving link 12 can slide while maintaining parallelism with respect to the proximal support portion 91.

The length of the coupling link 13 may be longer than the length of the connecting link 14. For example, the turning radius of the coupling link 13 may be longer than the turning radius of the connecting link 14. For example, the second driving link 12 may be rotatably connected to an intermediate portion of the lower link 116, and the first driving link 11 may be rotatably connected to an end of the lower link 116. [ According to this structure, when the coupling link 13 rotates, the speed of the first driving link 11 can be faster than that of the second driving link 12. [ In other words, the relative movement between the first drive link 11 and the second drive link 12 can be realized.

The support link 10 can simultaneously translate and rotate relative to the proximal support 91. The support link 10 is rotatable about a remote center of rotation (RCM) near the ankle joint of the user connecting the shin and foot of the user. The support link 10 can be positioned in front of the user based on the state in which the user wears the exercise assisting device 1. [ For example, the support link 10 may be located above the user's feet and in a space in front of the shin. The support link 10 may include a support body 101, a support joint 102, and a plurality of projections 103a, 103b, and 103c.

A first portion of the support body 101 may be connected to the power transmission rod 15 and the first drive link 11. [ The second portion of the support body 101 may be connected to the support joint 102. The third portion of the support body 101 may be connected to a distal support 92 that surrounds the foot and footpad in front of the ankle. According to this structure, the support link 10 can be connected to the distal center of the user's orbital joint without being connected to a configuration located on the user's < RTI ID = 0.0 > , RCM). Thus, the support link 10 can exhibit a motion similar to the motion of the ankle joint of the actual user, but also enables the user to easily perform the operation of putting on or taking off the shoe while wearing the exercise assisting apparatus 100 .

The support joint 102 can connect the support body 101 and the second drive link 12 so that the support body 101 is rotatable on the second drive link 12. [

The plurality of protrusions 103a, 103b, and 103c protrude from the support joint 102 and can support one end of the elastic bodies 16a and 16b described later. The plurality of projections 103a, 103b, and 103c may include an upward projecting portion 103a, an inner projecting portion 103b, and an outer projecting portion 103c.

The inner projecting portion 103b and the outer projecting portion 103c can be protruded from the support joint 102 in the direction crossing the longitudinal direction of the second drive link 12. [

The first elastic body 16a connects the support link 10 and the second drive link 12 and can be deformed as the support link 10 rotates with respect to the second drive link 12. [ 2, the exercise assisting apparatus 1 is shown to include the first elastic body 16a connecting the upper projecting portion 103a and the second drive link 12. However, in the embodiment shown in Fig. 2, The first elastic member 16c connecting the second driving link 12 and the second driving link 12 and / or the third driving elastic member 16c connecting the second driving link 12 and / ). ≪ / RTI > Details related to this will be described later in FIGS. 8 to 10. FIG. The first elastic body 16a may be formed of various materials such as, for example, a compression spring, a tension spring, a leaf spring, a rubber band, or an elastic fiber.

For example, the first elastic body 16a may be in an initial state based on a standing state of the user, and may be stretched when the user's ankle is inward or outward. The first elastic body 16a may apply a force to the distal support 92 to restore the distal support 92 to its initial position when the distal support 92 rotates about the support link 10. [ In other words, when the ankle of the wearer wearing the exercise assisting apparatus 1 is inner or outer, the first elastic body 16a can restore the user's ankle to the initial state. By such assist force, it is possible to prevent the user's ankle from accidentally turning in or out, thereby preventing the user from falling.

FIG. 4 is a partially enlarged front view of an exercise assisting apparatus for assisting a dorsi-flexion of a user's ankle joint according to an embodiment, and FIG. 5 is a front view FIG. 6 is a partially enlarged front view of the exercise assisting device for assisting the plantar-flexion of the ankle joint of the user according to an embodiment of the present invention, and FIG. FIG. 6 is a side view illustrating an exercise assisting apparatus for assisting a user in flexing the sole of an ankle joint according to an embodiment. FIG.

Referring to Figs. 4 to 7, the mechanism by which the exercise assisting device 1 assists the sole bending of the user is as follows. The power transmission rod 15 can move the support link 10 downward by the actuator 80. [ In this case, the first drive link 11 connected to the support link 10 can move downward. Since the first drive link 11 and the second drive link 12 are connected to each other by the coupling link 13, the second drive link 12 can move downward. Since the amount of displacement of the second drive link 12 is smaller than the amount of displacement of the first drive link 11, a difference in descending speed occurs between the two drive links 11 and 12, And can rotate forward about the joint 102. Here, "front side" means a direction in which the user's sole bends. By this process, the support link 10 can simultaneously perform translational motion and rotational motion with respect to the proximal support portion 91.

The mechanism by which the exercise assisting device 1 assists the user's foot bending is as follows. The power transmission rod 15 can move the support link 10 upward by the actuator 80. [ In this case, the first drive link 11 connected to the support link 10 can move upward. Since the first drive link 11 and the second drive link 12 are connected to each other by the coupling link 13, the second drive link 12 can be moved upward. The amount of displacement change of the second drive link 12 is smaller than the amount of displacement of the first drive link 11 so that a difference in the speed of elevation occurs between the two drive links 11 and 12, And can rotate backward about the joint 102. Here, "rear" means a direction in which the user's foot is bent.

8 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.

Referring to FIG. 8, the support link 10 may include a support body 101 and a support joint 102. The second drive link 12 may be a longitudinal member parallel to the proximal support 91 (see Fig. 2). The second driving link 12 includes a link body 121, a link bending portion 122 bent forward from the link body 121, a link projection 123 protruding forward from the link body 121, . ≪ / RTI >

The support joint 102 may be rotatably connected to the second drive link 12. For example, the support joint 102 may be rotatably connected to the bend 122 of the second drive link 12. The third axis A3, which is the rotation axis of the support joint 102, is connected to the second axis A2, which is the rotation axis of the user's underarm joint, on the basis of the state in which the user wears the exercise assisting device 1 (see Fig. 2) 1b) of the present invention. According to this structure, the distal support 92 (see FIG. 2) can rotate in accordance with the motion of the user's hypoglossal joint.

The upper projecting portion 103a is formed to protrude upward from the support joint 102 toward the link projection 123 and the first elastic body 16a can be connected to the upper projecting portion 103a. According to this structure, as compared with the case where the first elastic body 16a is directly connected to the support joint 102, the length variation of the first elastic body 16a according to the rotation angle of the support joint 102 can be increased Therefore, even if the first elastic body 16a having a relatively low elastic modulus is used, a larger elastic force can be provided.

The inner protrusion 103b and the outer protrusion 103c may protrude from the support joint 102 in a direction perpendicular to the third axis A3. The inner projecting portion 103b and the outer projecting portion 103c may protrude from the support joint 102 in a direction intersecting the longitudinal direction of the second drive link 12. [ For example, the inner projecting portion 103b and the outer projecting portion 103c may be formed on the left and right sides of the support joint 102, respectively. For example, the inner projecting portion 103b and the outer projecting portion 103c may be parallel to the fourth axis A4 as the rotation axis of the support body 101.

The inner projecting portion 103b can be formed to project from the support joint 102 in the inner direction of the user. Here, the "inner direction of the user" can be understood as a direction toward a longitudinal axis passing through the cusp of the user, or a direction toward a sagittal plane passing through the center of the user.

The outside projecting portion 103c can be formed to protrude from the support joint 102 in the outward direction of the user. Here, the "outer direction of the user" can be understood as a direction away from the longitudinal axis passing through the cusp of the user, or a direction away from the sagittal plane passing through the center of the user.

The support body 101 includes a first portion 1011 rotatably connected to the support joint 102 and a second portion 1011 rotatably connected to the power transmission rod 15 and the first drive link 11, 1012 and a third portion 1013 connected to the distal support 92. The fourth axis A4, which is the rotation axis of the support body 101, may be orthogonal to the third axis A3. The support body 101 is rotatable about the fourth axis A4 and at the same time is translational relative to the proximal support 91 (see FIG. 2), consequently the support body 101 and the distal support 92 Can be rotated around the center of the user's ankle joint as a remote rotation center.

The first elastic body 16a can connect the support joint 102 and the second drive link 12. For example, one end of the first elastic body 16a is supported by the upward projecting portion 103a of the support joint 102, and the other end of the first elastic body 16a is supported by the link projection 123 of the second drive link 12. [ As shown in FIG.

The first elastic body 16a can be compressed or elongated according to the angle at which the support joint 102 rotates about the third axis A3. For example, when the user's neck joint is in an initial state, the length of the first elastic body 16a may be an initial state. When the user's inferior or inferior joint is operated, the support joint 102 is rotated with respect to the second drive link 12, and the first elastic body 16a can be stretched. According to the first elastic body 16a, the elastic force acting to return the support joint 102 to the initial state can be increased as the inner or outer working angle of the user's neck joint is increased. According to this structure, the exercise assisting device 1 can solve the problem of tilting the foot in the course of the user's walking.

9 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.

9, the exercise assisting apparatus 1 may include an inversion elastic body 16b that connects the inner projecting portion 103b and the second drive link 12. As shown in Fig. Further, in a state in which the support body 101 is in a neutral state, the elastic elastomer 16b may have an initial length.

On the other hand, it is possible to assume a hypothetical plane perpendicular to the rotation axis A4 (see Fig. 8) of the support body 101 including the rotation axis A3 (see Fig. 8) of the support joint 102 on the basis of the initial state . 9, the distance from the hypothetical surface to the portion of the elastic resilient body 16b connected to the inward projecting portion 103b is set such that the distance from the hypothetical surface to the driving link 12 among the elastic resilient members 16b May be longer than the distance to the connected portion. According to this structure, the change in length of the elastic resilient member 16b becomes larger when the inner elastic member 16b is inverted at the same angle. In other words, the elastic resilient body 16b can provide a greater elastic restoring force when the user performs the inner operation more than when performing the outer operation. Therefore, since the elastic restoring force provided during the inner operation and the outer operation can be set to be different from each other, it is possible to prevent the patients who have a tendency to undergo abnormally inward movement during the swing phase, such as a stroke patient, You can give. 10 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment.

Referring to Fig. 10, the exercise assisting apparatus 1 may include an outermost elastic body 16b and an externally elongated elastic body 16c, which are coupled to different portions of the support link 10. For example, one end of the elastic resilient body 16b may be supported by the inner projecting portion 103b and the other end may be supported by the second drive link 12. For example, one end of the externally-elastomeric body 16c may be supported by the outward projecting portion 103c and the other end may be supported by the second drive link 12. [

The elastic resilient body 16b and the resilient elastic body 16c can adjust the magnitude of the elastic force applied to the foot rotating around the neck joint. On the other hand, for example, by setting the elastic modulus of the elastic resilient body 16b to be higher than the elastic modulus of the elastic elastic body 16c, it is possible to effectively prevent unintentional inner resisting action. Of course, it is to be noted that the elastic modulus of the elastic resilient body 16b and the elastic elastic body 16c may be the same or the elastic modulus of the externally elastic body 16c may be higher than the elastic modulus of the elastic elastic body 16c. The modulus of elasticity of the inner elastic body 16b and the outer elastic body 16c can be appropriately selected in accordance with the state of the user.

On the other hand, it is noted that either the elastic resilient body 16b or the externally resilient body 16c may be omitted if necessary.

FIG. 11 is a perspective view of an exercise assisting apparatus according to an embodiment, FIG. 12 is a front view of the exercise assisting apparatus according to an embodiment, FIG. 13 is a side view showing a state in which a user wears the exercise assisting apparatus according to an embodiment to be.

FIG. 14 is a side view showing a state in which a user wearing the exercise assisting apparatus according to an embodiment bends his sole, FIG. 15 is a side view showing a state in which a user wearing the exercise assisting apparatus according to an embodiment has undergone foot bending to be.

11 to 15, the exercise assisting device 2 includes a proximal support portion 91, a distal support portion 92, a support link 20, a first drive link 21, a second drive link 22, A coupling link 23, a connecting link 24, a power transmission rod 25, an elastic body 26, and an actuator 80. [

The distal support portion 92 may include an insole portion 921 and a connection portion 922.

The connecting portion 922 may be rotatably connected along the circumferential direction of the support link 20. In this case, the user may perform an inversion of the talocalcaneal joint while wearing the exercise assisting device 2. [ And / or eversion.

The support link 20 can simultaneously translate and rotate relative to the proximal support 91. The support link 20 is rotatable about a remote center of motion (RCM). The support link (20) may deliver power to the distal support (92). When the support link 20 rotates about the remote rotation center RCM, the distal support 92 connected to the support link 20 likewise can rotate about the remote rotation center RCM.

Both ends of the support link 20 are rotatably connected to the first drive link 21 and the second drive link 22, respectively. 13, one end of the support link 20 is connected to the first drive link 21 by the first joint J1 and the other end is connected to the second drive link 22 by the second joint J2, . At least one or more of the first joint J1 and the second joint J2 may be a joint implementing a two degree of freedom rotational motion. For example, as shown, the first joint J1 may be a universal joint or a ball joint that causes the support link 20 and the first drive link 21 to rotate in two degrees of freedom, and the second joint J2 May be a joint, for example a hinge, which causes the support link 20 and the second drive link 22 to rotate in one free direction. According to such a connection relationship, the first driving link 21 (see FIG. 3) projected on each of the frontal plane (see FIG. 2) and the sagittal plane And the second drive link 22 can be simultaneously changed.

The support link 20 is formed in a cylindrical shape, and a connection portion 922 can be rotatably connected to the cylindrical peripheral surface. For example, at both ends of the support link 20, an outer flange may be provided to prevent the connection portion 922 from being detached from the support link 20. [

The first driving link 21 can connect the supporting link 20 and the coupling link 23. [ The first drive link 21 is rotatably connected to the support link 20 by a first joint J1 and rotatably connected to the coupling link 23 by a third joint J3. The third joint J3 may be a joint implementing two degrees of freedom rotational motion. For example, the third joint J3 may be a universal joint or a ball joint.

The second driving link 22 can connect the supporting link 20, the coupling link 23, and the connecting link 24. The second drive link 22 is rotatably connected to the support link 20 by a second joint J2 and is rotatably connected to the coupling link 23 by a fourth joint J4, 5 joint J5 to the connecting link 24. [0050]

The coupling link 23 may couple the first driving link 21 and the second driving link 22. The coupling link 23 is rotatable about a first point P1 provided in the proximal support portion 91. [ The coupling link 23 is rotatably connected to the first drive link 21 by a third joint J3 and rotatably connected to the second drive link 22 by a fourth joint J4. have. When the coupling link 23 rotates, each of the first drive link 21 and the second drive link 22 may translate relative to the proximal support 91. The distance between the third joint J3 and the first point P1 may be greater than the distance between the fourth joint J4 and the first point P1. In other words, the turning radius of the third joint J3 around the first point P1 may be larger than the turning radius of the fourth joint J4. When the coupling link 23 rotates, the first driving link 21 can translate at a higher speed than the second driving link 22. On the other hand, it is revealed that the first drive link 21 can perform not only translational motion but also rotational motion with respect to the proximal support portion 91.

For example, the coupling link 23 can be installed to be rotatable on a plane parallel to the coronal plane of the user, based on the state in which the user wears the exercise assisting device 2. [ In this case, the height of the exercise assisting device 2 projecting from the shank of the user can be reduced.

On the other hand, unlike the illustration, the coupling link 23 may be provided so as to be rotatable on a plane parallel to the sagittal plane of the user. In this case, at least one of the first joint J1 and the third joint J3 may be composed of a joint having a rotational degree of freedom of one degree of freedom, for example, a hinge.

The connecting link 24 is rotatable about a second point P2 provided on the proximal support 91. [ The connecting link 24 may be rotatably connected to the second driving link 22 by a fifth joint J5. For example, the connection link 24 may be disposed parallel to the coupling link 23, and the distance from the first point P1 to the fourth joint J4 may range from the second point P2 to the fifth joint P1, J5). ≪ / RTI > In this case, the second driving link 22 can move in parallel with the virtual line connecting the first point P1 and the second point P2.

For example, the connection link 24 may be installed to be rotatable on a plane parallel to the coronal plane of the user, based on the state in which the user wears the exercise assisting device 2. [ According to such a structure, it is possible to reduce the height at which the entire exercise assisting device 2 protrudes from the shank of the user.

Alternatively, if the coupling link 23 is provided so as to be rotatable on a plane parallel to the sagittal plane of the user, the connecting link 24 may likewise be installed so as to be rotatable on a plane parallel to the sagittal plane of the user .

The first joint J1 may be located in front of the second drive link 22. In other words, the first driving link 21 may be located in front of the second driving link 22, based on the state in which the side view of the exercise assisting device 2 is taken as shown in Fig. According to this structure, even if the coupling link 23 and the connecting link 24 are rotating on a plane parallel to the tubular surface of the user, the supporting link 20 can be rotated in the remote rotation And can rotate around the center (RCM).

The supporting link 20, the first driving link 21, the second driving link 22, the coupling link 23 and the connecting link 24 can move in one freedom. In other words, by operating a link of either the support link 20, the first drive link 21, the second drive link 22, the coupling link 23, and the link link 24, the distal support 92 Can be driven.

The actuator 80 can move the link of any one of the supporting link 20, the first driving link 21, the second driving link 22, the coupling link 23 and the connecting link 24 . For example, the actuator 80 may assist the user's foot bending motion by pulling the first drive link 21 in the direction approaching the actuator 80, or pushing the first drive link 21 in the direction away from the actuator 80, It can assist the foot bending exercise of the foot. The actuator 80 includes a drive shaft 81 that rotates by a drive force of the drive motor 82, a drive motor 82, a guide 83, a drive shaft 82 that rotates by the drive force of the drive shaft 82, And a power receiving portion 86 for receiving the power from the power transmitting member 85 and moving the power transmitting rod 25 in the vertical direction by a ball screw method.

The power transmission rod 25 may include a power transmission body 251 and an extension 252. [ In the extension portion 252, the coupling link 23 can be rotatably connected by the sixth joint J6. The sixth joint J6 may be a joint, for example a hinge, which causes the coupling link 23 to rotate with respect to the extension 252 by one degree of freedom.

The elastic body 26 can be deformed as it connects the support link 20 and the distal support 92 and the distal support 92 rotates about the support link 20. [ The elastic body 26 may apply a restoring force to return the distal supporting portion 92 to its initial state when the distal supporting portion 92 is out of the initial state and inversely or externally around the supporting link 20. [

FIG. 16 is a partially enlarged perspective view of an exercise assisting apparatus according to an embodiment, FIG. 17 is a plan view showing a state in which a distal support part according to an embodiment is in a neutral state, FIG. 18 is a state in which a user's foot is inversion 19 is a plan view showing a support link and a distal support according to an embodiment in a state in which the user's feet are eversion; FIG. 19 is a plan view showing a support link and a distal support according to an embodiment;

16 to 19, the support link 20 includes a support body 201 connecting the first drive link 21 and the second drive link 22, (Not shown). The support body 201 and the protrusion 202 may have an integrally fixed shape. For example, the protrusion 202 may protrude toward an inner portion of the user's foot, based on a state in which the wearer wears the exercise assisting device 2. The projecting portion 202 can support one end of the elastic body 26.

The connection portion 922 of the distal support portion 92 (see FIG. 11) can rotate around the support body 201. For example, the connection 922 may include a shape that surrounds the support body 201. The connection portion 922 can cover the outer portion of the user's foot based on the state in which the user wears the exercise assisting device 2. [ The connecting portion 922 can support the other end of the elastic body 26.

The elastic body 26 is connected between the protruding portion 202 and the connecting portion 922 so that it can be stretched or contracted when the connecting portion 922 rotates about the supporting body 201. [ The elastic body 26 may contract when the user's foot dislocates around the neck of the throat, and may extend when the user exits.

FIG. 20 is a perspective view of an exercise assisting apparatus according to an embodiment, FIG. 21 is a front view of the exercise assisting apparatus according to an embodiment, FIG. 22 is a side view of the exercise assisting apparatus according to an embodiment, FIG. 24 is a partially enlarged perspective view showing a state in which the sub-bevel gears of the support link and the sub-actuator of the exercise assisting apparatus according to the example are engaged with each other. FIG. FIG.

20-24, the exercise assisting device 3 includes a proximal support 91, a distal support 92, a support link 30, a first drive link 31, a second drive link 32, A coupling link 34, a power transmission rod 35, a sensor S, a control portion C, a sub-actuator 70, and a main actuator 80. [

The support link 30 is rotatable about the remote rotation center RCM by simultaneously translating and translating the proximal support 91. The support link 30 may include a support body 301 and a support joint 302.

The support joint 302 may be rotatably connected to the second drive link 32 about the first rotation axis R1. For example, the first rotation axis R1 may be the same as or parallel to the second axis A2 (see FIG. 2), which is an axis in which inner and outer margins of the user's neck joint are performed. The support joint 302 can be rotated by receiving power from the sub-actuator 70. [ The power transmission structure between the sub-actuator 70 and the support joint 302 may employ various known types of power transmission structures such as various types of gears, wires, rolling friction structures, or universal joints. For example, the support joint 302 may include a first sub-bevel gear 302a protruding upward.

The support body 301 may be rotatably connected to the support joint 302 about the second rotation axis R2. For example, the second rotation axis R2 may intersect with the first rotation axis R1, and the second rotation axis R2 may be perpendicular to the first axis A1, i.e., the axis on which the foot flexion and foot bending of the user's ankle joint is performed, See Fig. 1A).

The sub-actuator 70 can rotate the support joint 302 about the first rotation axis R1. The sub-actuator 70 may be connected to the second drive link 32. For example, the sub-actuator 70 may include a sub-drive source 71 and a second sub-bevel gear 72.

The sub-drive source 71 can generate power for rotating the support joint 302. [ For example, the sub-drive source 71 may rotate the second sub-bevel gear 72 engaged with the first sub-bevel gear 302a of the support joint 302. [ The second sub-bevel gear 72 can be engaged with the first sub-bevel gear 302a.

For example, as shown in FIG. 23, the axis of each of the first sub-bevel gear 302a and the second sub-bevel gear 72 may be greater than 90 degrees. In this case, since the sub-actuator 70 can be disposed in parallel to the longitudinal direction of the proximal support portion 91, the height at which the sub-actuator 70 protrudes from the proximal support portion 91 can be reduced to reduce the moment of inertia, The exercise assisting device 3 can be configured compactly.

The sensor S may sense the user's motion state information. For example, the sensor S can sense the external or internal operation of the user by sensing the angle the support joint 302 makes with respect to the second drive link 32. [ The sensor S may be, for example, an encoder disposed between the support joint 302 and the second drive link 32. In another example, the sensor S is an encoder for measuring the angle between an inertial sensor (IMU sensor) mounted on the proximal support 91 or a pair of links rotatably connected in the vicinity of the user ' s hip joint, It may detect whether the user's leg is a swing phase or a stance phase. The types of the sensors S are only a part of examples, and various types of sensors known for measuring the user's motion state information may be used.

The control unit C can control the sub-actuator 70 based on the user's motion state information sensed by the sensor S. For example, when it is detected that the user's foot is inward or outward at a certain angle or more, the control unit C can control the sub-actuator 70 to restore the user's foot posture. As another example, when the leg of the user is a stance, the control unit C can control the sub-actuator 70 to make the feet of the user become neutral. On the other hand, it is generally known that the user's foot is in an inverted state at a certain angle in a swinging state, and the foot of a stroke patient is known to be excessively over a certain angle. Therefore, when the leg of the user is a diaphragm, the control unit C can control the sub-actuator 70 so that the feet of the user are in the as-inverted state by the set angle.

On the other hand, the elastic members 16a, 16b, 16c, and 26 and the sub-actuator 70 described above may collectively be referred to as "torque providing means ". The torque providing means can provide a torque to rotate the support joint passively or actively.

Although the preferred embodiments of the present invention have been disclosed for illustrative purposes, those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims. For example, it is contemplated that the techniques described may be performed in a different order than the described methods, and / or that components of the described structures, devices, and the like may be combined or combined in other ways than the described methods, Appropriate results can be achieved even if they are replaced or replaced. Therefore, other implementations, equivalents to other embodiments and the claims are also within the scope of the following claims.

Claims (19)

A proximal support for supporting a proximal portion of the user;
A first drive link and a second drive link that are translationally movable with respect to the proximal support at different speeds;
A support joint rotatably connected to the second drive link;
A support body coupled between the first drive link and the support joint to simultaneously translate and rotate the proximal support;
A distal support coupled to the support body for supporting a distal portion of the user; And
And torque providing means capable of providing a torque for rotating the support joint. The method according to claim 1,
A coupling link rotatable about the proximal support and rotatably connected to the first drive link and the second drive link, respectively; And
Further comprising a connection link rotatable about the proximal support and rotatably connected to the second drive link,
Wherein the first drive link is translationally movable at a faster speed than the second drive link relative to the proximal support. The method according to claim 1,
Wherein the torque providing means comprises:
And an elastic body deformed as the support joint rotates about the second drive link. The method of claim 3,
Further comprising an upward projecting portion formed upwardly from the support joint,
And the elastic body connects the upper projecting portion and the second drive link. The method of claim 3,
Further comprising an inversion projection protruding from the support joint in an inward direction of the user,
The elastic body may be,
And an inner elastic body connecting the inner projecting portion and the second driving link. 6. The method of claim 5,
Further comprising an externally projecting portion protruding from the support joint in an outward direction of the user,
The elastic body may be,
And an external elastic body connecting the external projecting portion and the second drive link. The method according to claim 6,
Wherein the elastic modulus of the elastic elastomer is larger than the elastic modulus of the elastic elastomer. The method according to claim 1,
Wherein the torque providing means comprises:
And a sub-actuator for rotating the support joint by providing rotational power to the support joint. 9. The method of claim 8,
Wherein the support joint comprises a first sub-bevel gear,
And the sub-actuator includes a second sub-bevel gear engaged with the first sub-bevel gear. 10. The method of claim 9,
And the sub-actuator is disposed in parallel with the longitudinal direction of the proximal support. 11. The method of claim 10,
Wherein an angle between the axes of the first sub-bevel gear and the second sub-bevel gear is greater than 90 degrees. 9. The method of claim 8,
A sensor for sensing motion state information of a user; And
And a controller for controlling the sub-actuator based on the motion state information sensed by the sensor. The method according to claim 1,
An actuator rotatably connected to the proximal support; And
And a power transmission rod for transmitting power from the actuator to the support body. 14. The method of claim 13,
The actuator includes:
A drive housing rotatably connected to the proximal support;
A driving motor fixed to the driving housing; And
And a guide extending in the longitudinal direction from the drive housing and guiding sliding of the power transmission rod. The method according to claim 1,
Wherein the support body is rotatable about a remote rotation center in the vicinity of a user's ankle joint. The method according to claim 1,
Wherein the support body is positioned in front of the user based on a state in which the user wears the exercise assisting device. Proximal support;
A first drive link and a second drive link that are translationally movable with respect to the proximal support at different speeds;
A support body including both ends rotatably connected to the first drive link and the second drive link, the support body simultaneously performing translational motion and rotational motion with respect to the proximal support;
A distal support rotatably coupled to the support body; And
And torque providing means capable of providing a torque to rotate the distal support. 18. The method of claim 17,
Wherein the torque providing means comprises:
And an elastic body connecting the support body and the distal support portion and deforming as the distal support portion rotates about the support body. 19. The method of claim 18,
Further comprising a protrusion formed to protrude from the support body toward an inner portion of the user's foot, the protrusion supporting one end of the elastic body,
Wherein the distal support portion includes a connection portion that covers an outer portion of the user's foot and supports the other end of the elastic body.

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