KR20220040443A - Wearable assisting device - Google Patents

Abstract

The present invention relates to a wearable assisting device which can adjust the size and shape thereof by corresponding to a wearer's lower leg thigh length, lower leg length, thigh position, lower leg position or ankle position, and can allow an ankle to naturally turn, so that a more natural gait motion is possible.

Description

WEARABLE ASSISTING DEVICE

The present invention relates to a wearable assistive device. More specifically, the present invention enables the size of the wearable auxiliary device and the shape of the wearable auxiliary device to be adjusted in response to the wearer's thigh length, lower leg length, thigh position, lower leg position or ankle position, It relates to a wearable assistive device that allows a natural rotation of an ankle to enable a more natural walking motion.

Recently, the development of wearable assistive devices for the disabled, patients, or the elderly with physical abilities that are impossible for daily living, or industrial or military wearable assistive devices to enhance physical strength or physical ability is in progress.

In the case of wearable assistive devices for the disabled, patients, or the elderly, they are classified into wearable assistive devices for the paralyzed disabled and wearable assistive devices for the elderly or partially paralyzed or disabled depending on their physical ability and the size or role of assistive force required. can be

In the case of such a wearable auxiliary device, a main body equipped with a battery and a controller and mounted on the wearer's back, a joint actuator mounted on the hip and knee joints for driving each joint, and connected to each joint actuator and the wearer's thigh or lower leg A form including a support unit for supporting the .

The length of the thigh of the wearer's lower extremities, the length of the lower leg, the position of the thigh, the position of the lower leg or the position of the ankle are different for each wearer, and in general, in the case of an assistive device for the disabled or recyclable, it plays the role of the robot's skeleton in response to the wearer's body size. In many cases, the cost is greatly increased, and the burden of separately managing parts of various sizes is high in terms of maintenance of robot manufacturers.

Also, in the case of wearable assistive devices that provide active assistive power, assistive devices have been introduced to assist the wearer in walking independently by providing an assist torque for the hip or knee joint. In many cases, the movement of the ankle is not used without a separate actuator to provide joint support. However, there is a problem in that it is difficult to implement a natural gait motion when the movement of the ankle itself is not allowed separately from the provision of the active assisting force of the ankle.

According to the present invention, the size of the wearable auxiliary device and the shape of the wearable auxiliary device can be adjusted in response to the wearer's thigh length, lower leg length, thigh position, lower leg position or ankle position, and natural rotation of the ankle It is a task to be solved to provide a wearable assistive device that allows a more natural walking motion.

In order to solve the above problems, the present invention provides a controller for providing a control signal and a main body including a battery for providing power; a body unit mounted on the rear side of the main body, wrapped around the wearer's waist region, and extending to the wearer's hip joint side region; a pair of hip joint actuators mounted on both ends of the body unit extending to the side area of the wearer's hip joint; a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs; a pair of knee joint actuators mounted on the end of the femoral support unit; a lower leg support unit driven by the knee joint actuator and providing rotational assistance to the wearer's thigh; and a foot unit mounted on an end of the lower leg support unit to support the wearer's foot; And, at least one is mounted on the thigh support unit and the lower leg support unit, respectively, and wraps around the rear of the wearer's thigh or lower leg to transmit the assisting force of the thigh support unit and the lower leg support unit to the thigh or lower leg of the wearer. At least one wearable unit; includes, wherein the thigh support unit or the lower leg support unit is a wearable auxiliary, characterized in that it has a core portion and a sliding portion that can be changed by sliding with respect to the core portion so that the length can be adjusted. device can be provided.

In addition, the thigh support unit or the lower leg support unit is provided with a screw rotatably mounted to the core portion, the sliding portion is provided with a screw nut driven by the screw, according to the rotation of the screw of the core portion The sliding part may be slid with respect to the core part so that the length of the femoral support unit or the lower leg support unit may be adjusted.

In this case, the core part may further include a rotation knob having a rotation shaft fastened to the screw via a bevel gear, and rotate the rotation knob to rotate the screw.

And, the wearing unit may be capable of changing the mounting height of the thigh support unit or the lower leg support unit.

Here, the wearing unit may be capable of changing the mounting position in the inner direction of the thigh support unit or the lower leg support unit.

In addition, the femoral support unit and the lower leg support unit are each provided with a plurality of wearing units, at least one wearing unit can change the mounting height of the thigh support unit or the lower leg support unit, at least one other wearing unit It may be possible to change the mounting position in the inner direction in the thigh support unit or the lower leg support unit.

Here, the wearing unit is fastened to a mount member, the mount member is mounted to the support unit,

The mount member has a positioning structure of a shape to be fitted at various positions in a horizontal direction with a positioning member mounted on the support unit, and the position of the wearing unit according to the mating position of the positioning structure to the positioning member. An inward horizontal position of the support unit may be determined.

In addition, an elastic lever member for elastically supporting a state in which the positioning structure of the mount member is fitted to the positioning member of the support unit may be provided in the support unit.

In addition, the thigh support unit and the lower leg support unit are each provided with a plurality of wearing units, at least one wearing unit is mounted on the core portion, at least one wearing unit is mounted on the sliding portion, the core portion When the sliding part is slidably displaced with respect to , the distance between the wearing units mounted on one support unit may be changed.

In this case, the foot unit may include a footrest member for supporting the wearer's foot and an ankle shaft for mounting the footrest member to the lower end of the lower leg support unit rotatably based on the y-axis corresponding to the rotation axis direction of the ankle. .

And, the ankle shaft may be rotatably mounted to a C-ring-shaped mounting member mounted on the lower end of the sliding unit constituting the lower leg support unit.

Here, the ankle shaft is mounted on the mounting member to be slidable in a direction parallel to the y-axis direction, and a sliding stopper for limiting the sliding range and a rotation stopper for limiting the rotation range may be provided at both ends of the ankle shaft. there is.

According to the wearable auxiliary device according to the present invention, the size of the lower structure of the wearable auxiliary device corresponding to the thigh length, the lower leg length, the position of the thigh, the position of the lower leg or the position of the ankle of the wearer of the wearable auxiliary device and shape can be adjusted.

In addition, according to the wearable auxiliary device according to the present invention, since the size and shape of the lower structure of the wearable auxiliary device can be adjusted, the burden and cost of manufacturing, maintaining, and repairing the wearable auxiliary device for each body size of the wearer is greatly increased. It can be lowered, and since the size of the wearable auxiliary device can be finely adjusted while the wearer's auxiliary device is in use, it is possible to provide an optimal fit for each wearer.

In addition, the present invention can enable a more natural walking motion by allowing the wearable auxiliary device to rotate the ankle joint within a predetermined range.

1 shows a front perspective view of a wearable auxiliary device according to the present invention, and FIG. 2 shows a rear perspective view of the wearable auxiliary device shown in FIG. 1 .
3 and 4 show a size adjustment state of the wearable auxiliary device according to the present invention.
5 shows a perspective view of the femoral support unit in a contracted state and an extended state of the wearable auxiliary device of the present invention, and FIG. 6 is a perspective view of the femoral support unit in a contracted state and an extended state of the femoral support unit do.
7 shows a front view of the left lower extremity support structure of the wearable auxiliary device according to the present invention.
8 is a view showing a position adjustment structure of the sliding unit and the wearing unit for horizontal position adjustment of the wearing unit mounted on the thigh support unit or the lower leg support unit.
9 illustrates a process in which the position of the lower wearable unit mounted on the lower leg support unit of the wearable auxiliary device according to the present invention is adjusted in the direction of the rotation axis in the left and right directions.
10 is a perspective view of the foot unit of the wearable auxiliary device according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed subject matter may be thorough and complete, and the spirit of the invention may be sufficiently conveyed to those skilled in the art. Like reference numbers refer to like elements throughout.

1 shows a front perspective view of the wearable auxiliary device according to the present invention, Figure 2 shows a rear perspective view of the wearable auxiliary device shown in FIG.

1 and 2 , in the present specification, the wearable assistive device 1000 may be a robot that assists gait motion by being worn on the lower body of a disabled person, the elderly, or a patient (hereinafter referred to as a 'wearer'). . Here, assisting the gait motion means providing a driving force for preserving muscle strength that is lacking in the hip and knee joints to enable independent walking of the wearer who has some movement function of the lower body. The present invention includes a controller for providing a control signal and a main body 500 including a battery for providing power; a body unit 400 that is mounted on the rear of the main body, wraps around the waist area of the wearer, and extends to the hip joint side area of the wearer; a pair of hip joint actuators (100a, 100b) mounted on both ends of the body unit extending to the side area of the wearer's hip joint; a femoral support unit (200a, 200b) which is driven by the hip actuator and provides rotational assistance to the wearer's thighs; A pair of knee joint actuators (100c, 100d) mounted on the end of the femoral support unit; Lower leg support units (200c, 200d) that are driven by the knee joint actuator and provide rotational assistance to the wearer's thighs; And, it is mounted on the end of the lower leg support unit, a pair of foot units (300a, 300b) for supporting the wearer's feet; may be configured to include.

The wearable auxiliary device 1000 may include a body part 500 disposed behind the wearer's back plate, and a pair of leg units extending downward from the body part 500 to support each leg of the wearer. can

The body part 500 is mounted on the body unit 400 , and a pair of leg units may also be mounted on both ends of the body unit 400 .

Here, the leg unit may be provided at the hip joint and the knee joint, respectively, and provide auxiliary torque to the thigh and lower leg to assist the wearer's independent walking.

Accordingly, a driving device for providing a driving torque may be provided in a region corresponding to the hip joint and the knee joint of each leg unit. Each driving device may be composed of a joint actuator 100 having a driving motor, respectively.

Each leg unit is connected to a pair of hip joint actuators (100a, 100b), respectively, a pair of hip joint actuators (100a, 100b) to support or assist the wearer's thigh (200a, 200b), A pair of knee joint actuators (100c, 100d) connected to the bottom of a pair of femoral support units (200a, 200b), a pair of knee joint actuators (100c, 100d) connected to a pair of supporting or assisting the lower leg of the wearer The lower leg support unit (200c, 200d) and each lower leg support unit (200c, 200d) is connected to the lower end and may be configured to include a pair of foot units (300a, 300b) for supporting the wearer's feet.

The joint actuators 100a, 100b, 100c, and 100d may be installed in the hip joint and the knee joint region of the wearer, respectively, and the hip joint actuators 100a and 100b are installed at the site where the pelvis and the thigh meet, and the knee between the thigh and lower thigh The knee joint actuators (100c, 100d) may be installed in the region. Although the wearable auxiliary device shown in FIGS. 1 and 2 is an example in which the joint actuator 100 is provided only in the hip and knee joints of the wearer, a separate driving device may also be provided in the ankle joint if necessary.

And, each of the femoral support units (200a, 200b) and the lower leg support units (200c, 200d) has the wearer's thighs and lower thighs at least for fixing to the femoral support units (200a, 200b) and the lower leg support units (200c, 200d). One wearing unit 600 may be provided, and the driving force provided from each joint actuator 100 is eventually transmitted to the thigh or lower leg of the wearer through the wearing unit 600 to assist in independent walking.

Such a pair of leg units is arranged along the side of the wearer, and since the above-mentioned main body part 500 is arranged behind the wearer's upper body back plate, the main body part is mounted to the rear through the body unit 400, The body unit 400 may be mounted to surround the wearer's waist region or hip joint region, and both ends of the body unit 400 may be configured to extend to the wearer's hip joint lateral region.

3 and 4 show a size adjustment state of the wearable auxiliary device according to the present invention.

The present invention includes a controller for providing a control signal and a main body 500 including a battery for providing power; The body unit 500 is mounted to the rear, is mounted to surround the wearer's waist region, the body unit 400 extending to the wearer's waist side region; a pair of hip joint actuators (100a, 100b) mounted on both ends of the body unit (400) extending to the side area of the wearer's hip joint; a femoral support unit (200a, 200b) which is driven by the hip actuator (100a, 100b) and provides rotational assistance to the wearer's thigh; A pair of knee joint actuators (100c, 100d) mounted on the femoral support unit (200a, 200b) end; Lower leg support units (200c, 200d) that are driven by the knee joint actuators (100c, 100d) and provide rotational assistance to the wearer's thighs; And, it is mounted on the end of the lower leg support unit (200c, 200d), the foot unit (300a, 300b) for supporting the wearer's feet; And, at least one is mounted on the thigh support unit (200a, 200b) and the lower leg support unit (200c, 200d), respectively, the wearer's thigh or the rear of the lower leg is worn, the thigh support unit (200a, 200b) and the At least one wearing unit 600 for transmitting the auxiliary force of the lower leg support unit (200c, 200d) to the thigh or lower leg of the wearer; includes, the thigh support unit (200a, 200b) or the lower leg support unit (200c) , 200d) may be configured to include a core part 210 and a sliding part 230 capable of changing a position with respect to the core part 210 so that the length can be adjusted.

The state shown in FIG. 3 is a state in which the thigh support units 200a and 200b and the lower thigh support units 200c and 200d are extended for wear by a wearer with a long thigh and lower thigh, in this case each support unit It is a state in which the length of the support unit is enlarged by slidingly displaced the sliding part 230 from the core part 210 of (200a, 200b) and the lower leg support units (200c, 200d) in a contracted state, in this case, sliding so that the core portion (210, see Fig. 5) and the sliding portion (230, see Fig. 5) of each support unit overlap It shows a state in which the length of the support unit 200 is reduced by sliding and displacing the part 230 .

3 and 4, each of the femoral support unit (200a, 200b) and the lower leg support unit (200c, 200d) is independently adjustable in its length, as will be described later, the femoral support unit (200a, 200a, 200b) and the lower leg support unit (200c, 200d) mounted on the wearer's thigh and lower leg, the position of the wearing unit 600 to transmit the auxiliary torque provided by the joint actuator 100 can also be changed, so that the wearer's lower leg Since the size and shape of the wearable assistive device can be finely tuned in response to the thigh length, lower leg length, thigh position, and lower leg position, it is possible to obtain the effect of responding to various body sizes of wearable assistive device wearers .

Figure 5 shows a perspective view of the femoral support unit (200a, 200b) of the wearable auxiliary device of the present invention in an extended state and a contracted state, Figure 6 is the femoral support in the contracted state and the extended state of the femoral support unit A perspective view of the unit is shown.

In the wearable auxiliary device according to the present invention, the position of the thigh support unit 200a, 200b or the lower leg support unit 200c, 200d can be adjusted with respect to the core part 210 and the core part 210 so that the position is changed. It can be configured by having a sliding part 230 that can do this.

The core part 210 of the femoral support unit 200a, 200b or the lower leg support unit 200c, 200d constituting the wearable auxiliary device according to the present invention is a hip joint actuator 100a, 100b and a knee joint actuator 100c, respectively. , 100d) and rotationally driven, the sliding part 230 is slidably fastened to the core part 210 . The core part 210 and the sliding part 230 are each configured in a frame structure, and the sliding part 230 slides with respect to the core part 210 in a limited range to adjust the length of the support unit.

Specifically, as shown in Figure 5 (a), when the sliding part 230 in the core part 210 constituting the femoral support unit (200a, 200b) to the downward sliding of the femoral support unit (200a, 200b) of the entire It is possible to adjust the length to expand the length, so it can correspond to a wearer with a long thigh, and as shown in FIG. 210) and sliding upward in the overlapping direction can be adjusted to reduce the overall length of the thigh support units (200a, 200b), it is possible to respond to a wearer with a short thigh length. Such a length adjustment mechanism may be commonly applied to the femoral support unit and the lower leg support unit.

As shown in Figure 5, the core portion 210 and the sliding portion 230 of the thigh support unit (200a, 200b) or the lower leg support unit (200c, 200d) is at least one wearing unit 600, respectively. It is mounted, and the interval of the wearing unit 600 is also adjusted in response to a change in the length of the support unit, so that the thigh or lower leg of the wearer having a length proportional to the length of the support unit can be stably supported.

In addition, at least one of each of the wearing units 600 may be separately positioned within the core part 210 or the sliding part 230 to allow additional shape modification or fitting to fit the wearer's body type.

6, with respect to the structure of the core part 210 and the sliding part 230 constituting each of the thigh support units, the thigh support units 200a, 200b or the lower leg support unit is the core part ( A screw 215 that is rotatably mounted on the 210 is provided, the sliding part 230 is provided with a screw nut 235 that is fastened with the screw 215 , and a screw ( According to the rotation of 215), the sliding part 230 slides with respect to the core part 210 so that the length of the femoral support units 200a and 200b or the lower leg support units 200c and 200d can be adjusted.

That is, a ball screw driving type screw 215 is rotatably mounted on the core part 210 , and a screw nut 235 driven by the screw 215 is provided on the sliding part 230 to provide the core. When the screw 215 is driven in the unit 210, a structure in which the sliding unit 230 is driven up and down is applied.

In addition, the core part 210 further includes a rotation knob 211 having a rotation shaft fastened to the screw 215 via a bevel gear 213 , and by rotating the rotation knob 211 , the screw (215) can be rotated.

Of course, the positions of the screw nut 235 of the screw 215 may be mutually changed. That is, a screw nut may be provided on the core part 210 connected to each joint actuator, and a screw, a bevel gear and a rotary knob may be provided on the sliding part 230 .

In addition, the screw may be rotated by directly connecting a rotary knob or the like to the screw to directly drive the screw without using a bevel gear.

5 and 6, the rotation knob 211 provided in the core part 210 of each of the thigh support units 200a, 200b and the lower leg support units 200c, 200d is the front of the wearable auxiliary device. It is installed so as to be exposed as a wearable auxiliary device, and it is possible to improve work convenience when the wearer of the wearable auxiliary device adjusts the length of the support unit by himself/herself.

7 shows a front view of the left lower extremity support structure of the wearable auxiliary device according to the present invention.

Wearable auxiliary device according to the present invention is provided with at least one wearing unit 600 in each of the thigh support unit (200a, 200b) and the lower leg support unit (200c, 200d), respectively, the wearing unit 600 is the wearer's thigh It wraps around the hip joint actuator (100a, 100b) and the knee joint actuator (100c, 100d), respectively, and transmits the auxiliary torque of the actuator.

In the case of the wearable auxiliary device according to the present invention, as described above, in response to the length of the thigh and lower leg of the wearer's lower extremities, the length of the femoral support units 200a and 200b and the lower leg support units 200c and 200d is adjusted. function can be provided.

However, there are many cases in which the wearer's body shape requires a change in the position of the wearing unit 600 due to the specificity of the thigh or lower leg body shape in addition to the length of the thigh or lower leg.

As described above, the core part 210 and the sliding part 230 constituting each of the thigh support units 200a and 200b or the lower leg support units 200c and 200d are each equipped with one wearing unit 600 at the same time. As described above, the length of the thigh support units 200a and 200b or the lower leg support units 200c and 200d can be adjusted by interlocking the spacing of each wearing unit 600 in the process of adjusting the length.

However, the wearable auxiliary robot according to the present invention provides an additional position adjustment function of the wearing unit 600 in addition to the position adjustment function of the wearing unit 600 interlocked in the length adjustment process of the thigh support unit or the lower leg support unit.

The upper wearing units 600(1), 600(3) mounted on the thigh support units 200a, 200b or the lower leg support units 200c, 200d shown in FIG. 7 are the core part 210 of each support unit. The lower wearing units 600(2) and 600(4) mounted on the thigh support unit 200a or the lower leg support unit 200c are mounted on the sliding part 230 of each support unit.

And, the upper wearing unit 600(1), 600(3) of the femoral support unit 200a or the lower leg support unit 200c of the state shown in Fig. 7(a) is the state shown in Fig. 7(b). It shows that it can be mounted in a position higher than the position of the upper wearing unit (600 (1), 600 (3)).

That is, in order to fasten the wearing unit 600 to the support unit 200, a fastening structure such as a fastening hole for fastening of the fastening block 610 constituting the wearing unit 600 is formed of the core part 210 of the support unit. By forming a plurality of them at different heights, it is possible to provide an additional height adjustment function to the height adjustment function of the wearing unit 600 generated during the length adjustment process of the support unit.

Therefore, in the process of adjusting the length of the support unit, the height of the wearing unit 600 is individually adjusted for the wearer who feels discomfort or pain in the wearing unit 600 whose height is adjusted, and the wearing unit 600 according to the wearer's body characteristics. ) position optimization is possible.

And, the lower wearing unit (600(2), 600(4)) mounted on the thigh support unit 200a or the lower leg support unit 200c shown in Fig. 7(a) is a sliding part 230 of each support unit ), the lower wearing units 600 (2), 600 (4) of the femoral support unit (200a, 200b) or the lower leg support unit (200c, 200d) of the state shown in Fig. 7 (a) is The position eccentric to the outside than the position of the lower wearing units 600 (2), 600 (4) of the femoral support unit (200a, 200b) or the lower leg support unit (200c, 200d) of the state shown in Figure 7 (b) (b) It shows that it can be mounted on

That is, the at least one wearing unit 600 mounted on the support unit is positioned so that the position in the horizontal or left and right directions is adjustable so as to wrap the thigh and lower leg at an appropriate position according to the bending or characteristics of the wearer's thigh or lower leg skeleton. can be adjusted.

The structure and method related to horizontal or left-right position adjustment of the wearing unit 600 with respect to the support unit will be described with reference to FIGS. 8 and 9 .

Figure 8 is a position adjustment structure of the sliding unit 230 and the wearing unit 600 for adjusting the horizontal position of the wearing unit 600 mounted on the thigh support unit (200a, 200b) or the lower leg support unit (200c, 200d) shows

The sliding part 230 of each support unit is a sliding frame 233 that is slidably fastened to the core part 210 and the wearing unit 600 to the sliding frame ( 233 may be provided with a mount member 250 mounted to.

The mount member 250 is a mounting part 255 mounted so that the position can be changed on the sliding frame 233 constituting the fastening part 251 to which the wearing unit 600 is fastened and the sliding part 230 of the support unit. It may be composed of As shown in FIG. 8 , the fastening part 251 and the mount part 255 of the mount member 250 may be configured to have a T-shape.

A positioning member 239 having at least one protrusion and at least one concave groove may be mounted on the inner circumferential surface of the sliding frame 233, and the positioning member ( 239) and a positioning structure 257 for determining the horizontal position of the wearing unit 600 may be formed.

As shown in FIG. 6 , the positioning member 239 is mounted on the sliding frame 233 and may be a member in which a plurality of protrusions and grooves are formed in a wavy shape in the position adjustment direction of the wearing unit 600 , and the The positioning structure 257 is formed on the inner circumferential surface of the mount part 255 of the mounting member 250, and the grooves and projections corresponding to the projections and the shape of the grooves of the positioning member 239 are repeatedly formed in a wave shape. means Of course, the positioning member may be mounted on the inner circumferential surface of the mount portion of the mount member, and the positioning structure may be provided on the sliding frame.

The shape and size of the grooves and projections of the positioning member 239 of the sliding frame 233 and the positioning structure 257 of the mount 255 are the same, so that the sliding frame 233 of the sliding part 230 is the same. ) and the mount part 255 of the mount member 250 are fixed to a determined position in a closely-fitted state, and the sliding frame 233 of the mount part 255 is proportional to the number of grooves and protrusions formed in the mount part 255 . ), the range of adjustment of the mounting position can be increased.

That is, when it is necessary to change the position of the wearing unit 600 in the horizontal direction or outward in the horizontal direction according to the degree of bending of the skeleton of the wearer's thigh or lower leg, the positioning member 239 of the sliding frame 233 is By adjusting the mating position of the positioning structure 257 of the mounting unit 255 of the mounting member 250 to which the wearing unit 600 is fastened, it is possible to respond to wearers of various body conditions.

Adjustment of the mating position and the adjusted position of the mounting portion 255 of the mounting member 250 to which the wearing unit 600 is fastened to the positioning member 239 of the sliding frame 233 and the positioning structure 257 The fixing structure will be described.

9 shows a process in which the position of the lower wearing unit 600 (4) mounted on the lower leg support unit 200c of the wearable auxiliary device according to the present invention is adjusted in the left and right direction in the direction of the rotation axis. The same method may be applied to the case of adjusting the horizontal position of the lower wearing unit mounted on the thigh support unit, and it is self-evident that the left and right or horizontal position adjustment structure may be employed even in the case of the upper wearing unit mounted on each support unit. Do.

First, Fig. 9 (a) shows a state in which the lower wearing unit 600 (4) is mounted in a first position biased in the inner direction of the support unit, and Fig. 9 (b) is a lower wearing unit 600 (4)) It shows a process and method of changing the position of, the state shown in Fig. 9 (c) shows a state in which the lower wearing unit 600 (4) is displaced to the outside of the support unit and the position is changed to the second position .

As shown in FIG. 8 , the mount member 250 can be positioned on the sliding frame 233 constituting the fastening part 251 to which the wearing unit 600 is fastened and the sliding part 230 of the support unit. The positioning member 239 is mounted on the sliding frame 233 including a mount portion 255 to be mounted so as to constitute the sliding portion 230 of the support unit.

In addition, the repetitive concave-convex structure of the positioning member 239 (refer to FIG. 8 ) is configured in a shape to match the positioning structure 257 formed on the mount part 255 of the mount member 250 , When the mount portion 255 of the mount member 250 is in close contact with the sliding frame 233 on which the member 239 is mounted, the left-right position of the wearing unit 600 may be fixed.

Accordingly, the elastic lever member 236 is attached to the sliding frame 233 so that the mounting portion 255 of the mount member 250 can be maintained in close contact with the sliding frame 233 on which the positioning member 239 is mounted. ) is provided, and the elastic lever member 236 elastically presses the outer surface of the mount part 255 of the mounting member 250 moldedly coupled to the positioning member 239 in the sliding frame 233 direction, and the mount member and the The coupled state of the sliding frame may be maintained to fix the position of the wearing unit 600 .

However, if it is necessary to change the position of the wearing unit in response to the body structure of the wearer, as shown in FIG. 9(b), the lever of the elastic lever member 236 is pressed by pressing the lever of the elastic lever member 236. The other end releases the pressure state of the mount unit 255, and adjusts the position of the mount unit 255 of the mount member 250 on which the wearing unit 600 is mounted in the left-right direction or in the inside and outside directions, and the elastic lever member When the pressing state of the lever part of 236 is released, the other end of the lever of the elastic lever member 236 presses the outer surface of the mount part 255 again to fix the changed position of the wearing unit 600 to the changed position. there is.

In addition, the positioning member 239 is mounted on the lower portion of the elastic lever member 236 mounted on the sliding frame 233 , and supports the lower end of the mount portion 255 of the mounting member on the lower portion of the positioning member 239 . Thus, a guide member 237 forming a slot for preventing the mounting portion 255 from being displaced may be mounted. Therefore, as shown in FIG. 9(b), the guide member 237 can prevent the mount member from being separated and separated in the process of changing the position of the mount member.

In this way, in the present invention, the wearable auxiliary device corresponds to the length of the thigh, the length of the lower leg, the position of the thigh, the position of the lower leg or the position of the ankle of the wearer's lower leg, the length size of the support unit of the wearable auxiliary device and the wear The position of the wearing unit 600 of the type auxiliary device can be adjusted.

10 is a perspective view of the foot unit of the wearable auxiliary device according to the present invention.

The present invention provides a horizontal direction or left/right direction of the foot unit 300 of a wearable auxiliary device for the same purpose as a function of adjusting the horizontal or left/right direction position of a wearable unit mounted on the thigh support unit or lower leg support unit constituting the wearable auxiliary device. It may be configured to enable adjustment of the direction position.

The foot unit 300b shown in FIG. 10 is provided with an ankle shaft 310 of a hinge shaft type, and a C-ring-shaped mounting provided at the lower end of the sliding part 230 constituting the lower leg support units 200c and 200d. It is mounted on the member 238 to provide a structure in which the ankle shaft 310 is rotatable within the mounting member 238 and slidably displaced in a direction parallel to the longitudinal direction of the ankle shaft. In addition, the ankle shaft 310 is configured to be rotatable within the mounting member 238 to provide a more natural walking motion.

In this case, the ankle shaft 310 is provided with a sliding stopper 311 for preventing horizontal deviation from the mounting member 238 and a rotation stopper 313 for limiting the rotation angle is provided, so that the foot unit 300a , 300b) by limiting the horizontal or left-right position adjustment range and the foot unit (300a, 300b) by limiting the ankle rotation range for the lower leg support unit (200c, 200d) can prevent the wearer's ankle injury.

Although the present specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all of them should be considered to be included in the technical scope of the present invention.

1000: wearable auxiliary device
100: joint actuator
200: thigh support unit, lower leg support unit
300: foot unit
400: body unit
500: body part

Claims (12)

a main body including a controller for providing a control signal and a battery for providing power;
a body unit mounted on the rear side of the body part, mounted to surround a wearer's waist region, and extending to a hip joint side region of the wearer;
a pair of hip joint actuators mounted on both ends of the body unit extending to the side area of the wearer's hip joint;
a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs;
a pair of knee joint actuators mounted on the end of the femoral support unit;
a lower leg support unit that is driven by the knee joint actuator and provides rotational assistance to the wearer's thigh; and,
a foot unit mounted on an end of the lower leg support unit to support the wearer's feet; and,
At least one is mounted on the thigh support unit and the lower leg support unit, respectively, and wraps around the rear of the wearer's thigh or lower leg to transmit the assisting force of the thigh support unit and the lower leg support unit to the wearer's thigh or thigh. Including; a wearing unit of
The thigh support unit or the lower leg support unit is a wearable auxiliary device, characterized in that it has a core portion and a sliding portion that can be changed by sliding with respect to the core portion to enable length adjustment. According to claim 1,
The femoral support unit or the lower leg support unit is provided with a screw rotatably mounted to the core part, and a screw nut driven by the screw is provided in the sliding part, and the sliding part according to the rotation of the screw of the core part. Wearable auxiliary device, characterized in that the length of the thigh support unit or the lower leg support unit is adjusted by sliding with respect to the core portion. 3. The method of claim 2,
The core part further includes a rotation knob having a rotation shaft fastened to the screw through a bevel gear, and rotating the rotation knob to rotate the screw. According to claim 1,
The wearing unit is a wearable auxiliary device, characterized in that it is possible to change the mounting height of the thigh support unit or the lower leg support unit. According to claim 1,
The wearing unit is a wearable auxiliary device, characterized in that it is possible to change the mounting position in the inner direction of the thigh support unit or the lower leg support unit. According to claim 1,
The thigh support unit and the lower leg support unit are each provided with a plurality of wearing units, and at least one wearing unit is capable of changing the mounting height of the thigh support unit or the lower leg support unit, and at least one other wearing unit is the Wearable auxiliary device, characterized in that it is possible to change the mounting position in the inner direction in the femoral support unit or the lower leg support unit. 7. The method according to claim 5 or 6,
The wearing unit is fastened to a mount member, the mount member is mounted to the support unit,
The mount member has a positioning structure of a shape to be fitted at various positions in a horizontal direction with a positioning member mounted on the support unit, and the position of the wearing unit according to the mating position of the positioning structure to the positioning member. Wearable auxiliary device, characterized in that the inward horizontal position of the support unit is determined. 8. The method of claim 7,
Wearable auxiliary device, characterized in that the support unit is provided with an elastic lever member for elastically supporting a state in which the positioning structure of the mount member is fitted to the positioning member of the support unit. According to claim 1,
The thigh support unit and the lower leg support unit are each provided with a plurality of wearing units, at least one wearing unit is mounted on the core part, and at least one wearing unit is mounted on the sliding part, with respect to the core part. Wearable auxiliary device, characterized in that when the sliding portion is displaced by sliding, the distance between the wearing units mounted on one support unit is changed. According to claim 1,
The foot unit is characterized in that it comprises a footrest member for supporting the foot of the wearer and an ankle shaft for mounting the footrest member to the lower end of the lower leg support unit rotatably based on the y-axis corresponding to the direction of the rotation axis of the ankle. 11. The method of claim 10,
The ankle shaft is a wearable auxiliary device, characterized in that it is rotatably mounted to a C-ring-shaped mounting member mounted on the lower end of the sliding portion constituting the lower leg support unit. 12. The method of claim 11,
The ankle shaft is mounted on the mounting member to be slidable in a direction parallel to the y-axis direction, and a sliding stopper for limiting the sliding range and a rotation stopper for limiting the rotation range are provided at both ends of the ankle shaft. wearable assistive devices.

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