KR20220055533A - Wearable Apparatus for Assisting Muscle Strength - Google Patents

Abstract

The present invention relates to a wearable apparatus for assisting muscle strength of the spine and legs. According to an embodiment of the present invention, a wearable apparatus for assisting muscle strength comprises: a harness part including an upper harness worn on an upper part of the torso and a lower harness worn on the thighs of the body; and a variable elastic module having an upper end coupled to the upper harness, a lower end coupled to the lower harness, being arranged along the back of the body and elastically expanding and contracting according to the flexion and extension of the spine, the legs and the hips to assist the spine and legs. The variable elastic module includes a plurality of elastic units coupled in series to exert different elastic forces, and elastically expands and contracts along the flexion and extension angles of the spine, the legs, and hips joints. By assisting different magnitudes of force according to the wearer's joint flexion angle, the present invention can reduce the risk of accidents.

Description

Wearable Apparatus for Assisting Muscle Strength

The present invention relates to a wearable strength assistance device, and more particularly, to a wearable strength assistance device for supporting muscle strength in the spine and leg regions.

In order to relieve the burden on patients who have difficulty in moving or lifting heavy objects such as factories or logistics industry workers, firefighters and soldiers, and the like, a muscle support device or an exoskeleton device is being developed.

Such a strength assisting device or exoskeleton device is provided with a motor or an actuator to actively assist the wearer's muscle strength.

However, such an active muscle strength assisting device or exoskeleton device is expensive to manufacture due to a battery and a motor, requires complicated control, is heavy, and has a limitation in operating time due to the battery.

Therefore, an attempt to manufacture a muscle strength assisting device by using the elastic force of the elastic unit without applying a separate power or the like is being studied.

However, the size of the force required to move the joint varies according to the angle of flexion of the body's joints. In this situation, if you do not support the muscle strength but provide a uniform amount of force, the body's muscles will increase the strength of the learned muscles. There is a problem that the wearer may feel a sense of rejection due to the movement different from the pattern, and an accident such as a fall may occur in an unfamiliar state.

Japanese Patent Application Laid-Open No. 2015-190623

The present invention is to solve the above problems, and by assisting the wearer with different magnitudes of force depending on the wearer's joint flexion angle, the wearer can not feel repulsive and the wearable strength assisting device can reduce the risk of safety accidents The purpose is to provide

Another object of the present invention is to provide a wearable strength assisting device that provides assisting force so that a wearer can easily get up with less force when getting up from a sitting position.

Another object of the present invention is to provide a wearable strength assisting device that does not require a separate power when providing assisting force to a wearer.

Objects of the present invention are not limited to the objects mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, according to one aspect of the present invention, a harness unit including an upper harness worn on the upper body of the wearer and a lower harness worn on the thighs of the legs of the wearer; The upper end is coupled to the upper harness, the lower end is coupled to the lower harness, and is arranged along the spine on the back of the body to elastically expand and contract according to the flexion and extension of the spine and the extension of the hip joint of the leg to secure the spine and the legs. an auxiliary variable elastic module; includes, wherein the variable elastic module includes a plurality of elastic units coupled in series to exert different elastic forces, wherein the plurality of elastic units includes a flexion angle of the spine and the hip joint of the leg A wearable strength assisting device is disclosed, which is formed to be elastically stretched along the

The variable elastic module may include: an upper fixing unit coupled to the upper harness; It may include; a lower fixing unit coupled to the lower harness and a plurality of elastic units coupled in series between the upper fixing unit and the lower fixing unit to exert different elastic forces.

The plurality of elastic units may include: a first elastic unit coupled to the upper fixing unit to elastically expand and contract; and a second elastic unit coupled in series to elastically expand and contract below the first elastic unit.

The lower fixing unit may be connected to the lower harness by a tendon or a wire.

The first elastic unit may include: a pair of first plates in which first slits are formed in a vertical direction at positions facing each other; a first connection pin disposed between the pair of first plates; a first fixing pin fixedly installed between the pair of first plates at a position spaced downward from the first connection pin; and a first elastic body that is coupled to the first connecting pin and the upper fixing unit to elastically expand and contract.

The second elastic unit may include a pair of second plates in which second slits are formed in a vertical direction at positions facing each other; a first slide pin disposed between the pair of second plates and slidably installed in the first slit of the first elastic unit in the vertical direction; a second fixing pin fixedly installed between the pair of second plates at a position spaced downward from the first slide pin; and a second elastic body that is coupled to the first fixing pin and the first slide pin of the first elastic unit and elastically expands and contracts, wherein the second elastic body is limited by the movement distance of the first slide pin Stretch length may be limited.

One or more elastic units coupled in series with each other in the same structure as the second elastic unit under the second elastic unit and having an elastic body having an elastic force different from that of the second elastic body of the second elastic unit may be further included. can

The elastic modulus of the elastic body of the plurality of elastic units may be greater as the elastic body is located on the upper side.

As the spine or the hip joint of the leg bends, the elastic body of the plurality of elastic units may be sequentially stretched or contracted from the elastic body having a small elastic modulus.

The lower fixing unit may be coupled to an elastic unit disposed at the lowermost side among the plurality of elastic units.

The length of the slit may be formed differently for each of the plurality of elastic units.

The elastic body may be an elastic band.

The first elastic unit may include a pair of fourth plates having a first hole and a second hole formed at positions facing each other; a second connection pin inserted into the first hole of the pair of fourth plates; It may include; a fourth elastic body coupled to the upper fixing unit and the second connecting pin elastically expandable.

The second elastic unit may include a pair of fifth plates in which a third hole and a fourth hole are formed at positions facing each other; a third connecting pin inserted into the second hole of the fourth plate of the first elastic unit; a fourth connection pin inserted into the third hole of the fifth plate; and a sixth elastic body coupled to the third and fourth connecting pins and elastically stretched.

One end is coupled to the first elastic unit, the other end is coupled to the second elastic unit disposed on the lower side may further include a limit wire for limiting the extension length of the elastic body.

The limit wire may be formed to a length longer than the length before the elastic body is stretched.

The wearable strength assisting device of the present invention has the advantage of being light in weight and not limited in operation time by assisting the wearer's muscular strength as an elastic force without applying electric power.

In addition, by varying the size of the assisting force according to the flexion angle of the hip joint so that it is similar to the movement pattern of the muscles of the body, it provides a familiar feeling and reduces the wearer's reluctance to adapt quickly and reduce the risk of safety accidents. has the effect of reducing it.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

The summary set forth above as well as the detailed description of the preferred embodiments of the present application set forth below may be better understood when read in conjunction with the accompanying drawings. For the purpose of illustrating the invention, there are shown in the drawings preferred embodiments. It should be understood, however, that the present application is not limited to the precise arrangements and instrumentalities shown.
1 is a view showing a state in which a wearable strength assisting device according to an embodiment of the present invention is worn by a wearer;
Figure 2 is a view showing a simple functional concept of the wearable strength assisting device of Figure 1;
FIG. 3 is a view showing a wearer wearing the wearable strength assisting device of FIG. 1 by posture when standing up after sitting down; FIG.
4 is a view showing the wearable strength assisting device that is stretched for each posture of the wearer of FIG. 3 for each section;
5 is a view showing the size of the assisting force worn by the wearer according to the expansion and contraction of the wearable strength assisting device of FIG. 4 for each section;
Figure 6 is a view showing a variable elasticity module of the wearable strength assisting device according to an embodiment of the present invention;
Fig. 7 is a side view of the variable elastic module of Fig. 6;
8 is a view showing a first elastic unit of the variable elastic module of Figure 6;
9 is a view showing a second elastic unit of the variable elastic module of Figure 6;
10 is a view showing a variable elasticity module of the wearable strength assisting device according to another embodiment of the present invention;
11 is a side view of the variable elastic module of FIG. 10;
12 is a view showing a first elastic unit of the variable elastic module of Figure 10;
13 is a view showing a second elastic unit of the variable elastic module of Figure 10;
14 is a view showing a variable elasticity module of a wearable strength assisting device according to another embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention in which the objects of the present invention can be specifically realized will be described with reference to the accompanying drawings. In describing the present embodiment, the same names and the same reference numerals are used for the same components, and an additional description thereof will be omitted.

Hereinafter, a wearable strength assisting device according to a first embodiment of the present invention will be described.

As shown in FIG. 1 , the wearable strength assisting device 100 of this embodiment may include a harness unit 105 and a variable elasticity module 130 .

The harness unit 105 may include an upper harness 110 and a lower harness 120 .

The upper harness 110 may be worn on the upper body of the wearer. At this time, as shown in FIG. 1 , the upper harness 110 may be worn and fixed to the back of the wearer's body by hanging on the shoulder through a string or the like.

The lower harness 120 may be worn on the wearer's leg or thigh as a strap or a belt.

The variable elastic module 130 has an upper end coupled with the upper harness 110 , a lower end coupled with the lower harness 120 , and is arranged along the spine on the wearer's back according to the flexion and extension of the spine and the flexion and extension of the hip joint of the leg. It can be elastically stretched to support the spine and legs.

In addition, the variable elastic module 130 may include a plurality of elastic units 160 coupled in series, and the plurality of elastic units 160 ride together according to the angle of flexion and extension of the spine and leg and hip joints. Can be sexually stretched. At this time, the elastic unit 160 may exert different elastic forces.

The variable elastic module 130 includes an upper fixing unit 140 coupled to the upper harness 110 , a lower fixing unit 150 coupled to the lower harness 120 , and a plurality of elastic units 160 . can do.

The upper fixing unit 140 is fixed to the back of the upper harness 110 , and a pin for coupling with the elastic unit 160 may be provided. If necessary, it may be directly connected to the string of the upper harness 110. For this, a ring for binding the string may be formed on the upper side of the upper fixing unit 140 for this purpose.

In addition, the lower fixing unit 150 may be coupled to the lowermost elastic unit among the plurality of elastic units 160 . In addition, the lower fixing unit 150 may be connected to the lower harness 120 mounted on the thigh with a wire 152 or a tendon. At this time, the wire 152 or the tendon may be coupled in the rear direction of the wearer of the lower harness 120 . In the lower fixing unit 150 , a ring for binding to the wire 152 may be formed at the lower end.

A plurality of the elastic units 160 are coupled in series, and each elastic unit 160 may exert different elastic forces. In this embodiment, four elastic units (160a, 160b, 160c, 160d) will be described as an example in combination.

The elastic unit 160a located at the top of the plurality of elastic units 160 is coupled to the upper fixing unit 140, and the elastic unit 160D located at the bottom of the plurality of elastic units 160 is the It may be coupled to the lower fixing unit 150 .

At this time, as shown in FIG. 2 , the elastic unit 160 may include an elastic part 161 and a limiting part 162 .

The elastic part 161 may be elastically coupled to the elastic unit 160 disposed on the upper side of the upper fixing unit 140 or the elastic units 160 disposed in series so as to be elastically expanded and contracted.

In addition, the limiting part 162 may limit the extension length of the elastic part 161 .

That is, when the elastic unit 160 is an elastic unit 160a disposed at the top of the elastic units 160 disposed in series, the elastic part 161 may be coupled to the upper fixing unit 140 . And, when the elastic unit 160 is any one of the elastic units 160 disposed in series except for the uppermost end, the elastic part 161 is elastically attached to the elastic unit 160 disposed on the upper side. It can be coupled to be stretchable.

Also, the limiting part 162 may limit the length of the elastic part 161 so that it is not extended any more after the elastic part 161 is stretched by a set length.

At this time, the elastic part 161 may be formed to have a different elastic modulus for each elastic unit 160 . For example, the elastic modulus of the elastic part 161 of the elastic unit 160 located on the upper side may be higher, and the elastic modulus of the elastic part 161 of the elastic unit 160 located on the lower side may be smaller.

Accordingly, when the spine or hip joint is bent, such as when the wearer sits, the elastic units 160 of the variable elastic module 130 are stretched. At this time, when each of the elastic units 160 is stretched by a predetermined length, it may be formed so that it is no longer stretched by the limiting part 162 .

Of course, if necessary, the limiting part 162 may also be provided in the elastic unit 160a disposed at the top of the elastic units 160 in which the elastic unit 160 is arranged in series.

The limiting part 162 includes two members positioned at both ends of the elastic part 161 and formed to be in contact with each other according to the elongation of the elastic part 161, and when the two members are in contact with each other, the The extension of the elastic part 161 may be limited by the interference of the two members.

3 to 5 are diagrams illustrating changes in the variable elastic module 130 and changes in the elastic force applied when the wearer wearing the wearable strength assisting device of this embodiment changes his or her posture from a standing posture to a sitting posture. am.

3A is a state in which the wearer is standing, and (d) is a state in which the wearer is squatting. (b) and (c) are intermediate postures during the transition of the wearer from a standing state to a squatting state.

As can be seen from (a) to (d) of Figure 3, when the wearer changes the posture from a standing state to a squatting state, the hip joint is flexed, and accordingly, the wire coupled to the lower harness 120 coupled to the thigh ( 152) is also pulled downward. In addition, the variable elastic module 130 coupled to the wire may also be pulled downward.

In the state in which the wearer is standing as shown in (a) of FIG. 3, as shown in (a) of FIG. 4, each of the elastic units 160 of the variable elastic module 130 may also be in a non-stretched state. there is.

As shown in FIGS. 3 (b) and (c), as the wearer starts to sit and the hip joint is flexed, the elastic unit 160d located at the bottommost side as shown in FIGS. 4 (b) and (c) ) can be extended from At this time, the elastic unit 160d located on the lowermost side reaches its extension limit by the limiting part 162, and the elastic units 160c, 160b, 160a located on the upper side sequentially can be stretched. there is.

When the elastic unit 160 reaches the extension limit, the elastic unit 160 may no longer be elastically stretched and may act as a single rigid body.

And, as shown in (d) of Figure 3, when the wearer sits completely, as shown in Figure 4 (d), all the elastic units 160 can reach the extension limit. Of course, even at this time, the uppermost elastic unit 160 is not provided with the limiter 162 . a) may not reach the elongation limit.

A change in the assisting force applied to the wearer in the above process is shown in FIG. 5 .

That is, as shown in FIGS. 5A and 5B , when the wearer starts to sit in a standing state, the assisting force applied to the wearer gradually and stepwise increases, and then in FIGS. 5B to 5D As shown in Fig., as the flexion angle of the hip joint further increases, the slope of the increase in the assisting force applied becomes larger.

This is because the elastic modulus of the elastic part 161 of the elastic unit 160 disposed on the upper side is greater than the elastic modulus of the elastic unit 160 disposed on the lower side.

When the wearer sits with the knee bent in a standing state (FIG. 3(a)), the wearer's hip joint is also bent accordingly, and the wearer's upper body moves downward, extending from the length of the elastic unit with the smallest elastic force.

When the wearer moves from a standing state to a slightly bent state (FIG. 3 (b)), the length of the elastic unit with the smallest elastic force is increased, so the resistance of the elastic unit is not large while the wearer bends the knee .

While the wearer's knee is slightly bent (FIG. 3(b)) to the knee-bent state (FIG. 3(c)), the elastic unit with the smallest elastic force is stretched to the maximum and the length is no longer extended by the limiter As the length of the elastic unit above the elastic unit is increased without being elongated, the elastic force of the elastic unit is accumulated in the elastic body.

At this time, the elastic force of the plurality of elastic bodies accumulated in the plurality of elastic units becomes the maximum when the wearer is in a sitting state (FIG. 3 (d)).

As described above, the elastic force accumulated in the plurality of elastic units while the wearer sits in a standing state acts as an auxiliary force for allowing the wearer to stand when the wearer stands in a seated state.

Therefore, when the wearer starts to get up from a sitting position, the size of the assisting force that the elastic unit 106 pulls the thigh is maximum, and then the size of the assisting force that pulls the thigh up as the wearer's standing progresses gradually and stepwise. can be reduced to

In general, since the greatest force is required immediately after standing up from sitting and at the end of sitting from a standing state, the force required may gradually decrease thereafter. Therefore, when the greatest force is needed through the wearable strength assisting device, the greatest assisting force is applied, and thereafter, familiarity can be provided to the wearer by gradually decreasing the size of the assisting force.

6 is a view showing a wearable strength assisting device and a variable elasticity module according to a first embodiment of the present invention. 7 is a side view of FIG. 6 ;

FIG. 8 is a view showing a first elastic unit of the variable elastic module of FIG. 6 . FIG. 9 is a view showing a second elastic unit of the variable elastic module of FIG. 6 .

As shown in FIGS. 6 and 7 , the variable elasticity module 130 of the wearable strength assisting device may include an upper fixing unit 140 , a lower fixing unit 150 and a plurality of elastic units 160 . can

The upper fixing unit 140 is coupled to the upper harness 110 . The upper fixing unit 140 is fixed to the back of the upper harness 110 , and a pin for coupling with the elastic unit 160 may be provided. If necessary, it may be directly connected to the string of the upper harness 110. For this, a ring for binding the string may be formed on the upper side of the upper fixing unit 140 for this purpose.

In addition, the lower fixing unit 150 is coupled to the lower harness 120 . The lower fixing unit 150 may be coupled to the lowermost elastic unit among the plurality of elastic units 160 . In addition, the lower fixing unit 150 may be connected to the lower harness 120 mounted on the thigh with a wire 152 or a tendon. At this time, the wire 152 or the tendon may be coupled in the rear direction of the wearer of the lower harness 120 . In the lower fixing unit 150 , a ring for binding to the wire 152 may be formed at the lower end.

The elastic unit 160 may be coupled to the upper fixing unit 140 and the lower fixing unit 150 and may be provided in plurality by being coupled in series to exert different elastic forces.

Since the variable elastic module 130 is disposed along the spine of the wearer's back, the plurality of elastic units 160 may be disposed in the vertical direction.

In this case, the plurality of elastic units 160 may include a first elastic unit 170 , a second elastic unit 180 , and a third elastic unit 190 .

The first elastic unit 170 is an elastic unit 160 disposed at the top of the plurality of elastic units 160 , and may be elastically coupled to the upper fixing unit 140 to expand and contract.

The second elastic unit 180 is an elastic unit 160 coupled to the lower side of the first elastic unit 170 among the plurality of elastic units 160 constituting the variable elastic module 130 . The second elastic unit 180 may be elastically coupled to the lower side of the first elastic unit 170 so as to expand and contract. In addition, one or more or a plurality of third elastic units 190 having the same structure as the second elastic unit 180 on the lower side of the second elastic unit 180 are added in series in the vertical direction to mutually elastically expand and contract. can be combined.

At this time, the number of the third elastic units 190 coupled in the vertical direction may be variously changed according to the wearer's elongation and the size of the required force.

As shown in FIG. 8 , the first elastic unit 170 may include a first plate 171 , a first connection pin 173 , a first fixing pin 177 , and a first elastic body 175 . there is.

The first plate 171 may be formed in the shape of a pair of bars having a longitudinal direction in the vertical direction. The first plates 171 may be spaced apart from each other in parallel, and first slits 179 may be formed at positions facing each other in the vertical direction.

The first connection pin 173 may be disposed between the pair of first plates 171 . The first connection pins 173 may be disposed to cross between the pair of first plates 171 , and both ends may be respectively fixed to the pair of first plates 171 .

The first fixing pin 177 is disposed to cross between the pair of first plates 171 at a position spaced downward from the first connection pin 173, and both ends of the first plate ( 171), respectively.

The first elastic body 175 may be coupled to the first connecting pin 173 and the upper fixing unit 140 to elastically expand and contract according to a load applied thereto. In this embodiment, the first elastic body 175 may be an elastic band wound around the first connecting pin 173 and the upper fixing unit 140 . However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band.

As shown in FIG. 9 , the second elastic unit 180 may include a second plate 181 , a first slide pin 183 , a second fixing pin 187 , and a second elastic body 185 . there is.

The second plate 181 is formed in the shape of a pair of bars extending in the vertical direction and spaced apart from each other in parallel with each other. can be formed.

The first slide pin 183 may be disposed between the pair of second plates 181 , and may be installed slidably in the first slit 179 of the first elastic unit 170 in the vertical direction. there is.

The second fixing pin 187 is disposed to cross between the pair of second plates 181 at a position spaced downward from the first slide pin 183 and both ends of the pair of second plates (181) respectively.

The second elastic body 185 may be elastically coupled to the first fixing pin 177 and the first slide pin 183 of the first elastic unit 170 to be elastically stretched. The elongation length of the second elastic body 185 may be limited as the moving distance of the first slide pin 183 is limited by the first slit 179 .

In this embodiment, the second elastic body 185 may be an elastic band wound around the first fixing pin (177). However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band. In this case, the second elastic body 185 may be formed of the same material as the first elastic body 175 , and may have a narrower width than the first elastic body 175 .

In addition, one or a plurality of separate third elastic units 190 may be serially coupled to a lower side of the second elastic unit 180 to be disposed vertically. In this case, the structure of the third elastic unit 190 located on the lower side may be the same as or similar to that of the second elastic unit 180 located on the upper side.

That is, as shown in FIG. 9 , the third elastic unit 190 may be coupled to the lower side of the second elastic unit 180 . As shown in FIG. 9 , the third elastic unit 190 may include a third plate 191 , a second slide pin 193 , a third elastic body 195 , and a third fixing pin 197 . there is.

The third plate 191 extends in the vertical direction and is formed in the shape of a pair of bars spaced apart from each other, and a third slit 199 is formed in the third plate 191 at positions facing each other. can

The second slide pin 193 may be disposed between the pair of third plates 191 , and may be slidably installed in the second slit 189 of the second elastic unit 180 in the vertical direction. .

The third fixing pin 197 may be disposed and fixed to cross the pair of third plates 191 at a position spaced downward from the second slide pin 193 .

The third elastic body 195 may be elastically coupled to the second fixing pin 187 and the second slide pin 193 of the second elastic unit 180 to be elastically stretched. The elongation length of the third elastic body 195 may be limited as the movement distance of the second slide pin is limited by the second slit 189 . In addition, the third elastic body 195 may have a smaller elastic force than the second elastic body. To this end, the third elastic body 195 may be formed of the same material as the second elastic body 185 , and may have a narrower width than the second elastic body 185 .

In this way, the first elastic unit 170 to the third elastic unit 190 may be coupled in series with each other. In addition, another third elastic body may be coupled in series to the lower side of the third elastic unit 190 .

Accordingly, when the wearer takes an action such as sitting and the lower fixing unit 150 is pulled, the elastic bodies 175, 185, 195 of the first elastic unit 170 to the third elastic unit 190 are burnt. As you sexually elongate, elastic forces can act. In addition, the first slide pin 183 is a first slit 179 formed on the first plate 171 or a second slit 189 or a second slide pin 193 formed on the second plate 181 is It may be coupled to the third slit 199 formed in the third plate 191 so that the elongation length thereof may be limited.

In this case, the elastic modulus of the first elastic unit 170 or the second elastic unit 180 disposed on the upper side of the elastic bodies 175 and 185 may be greater. That is, the elastic force applied by the plurality of elastic bodies 175 and 185 may be greater for the elastic bodies 175 and 185 disposed on the upper side.

Accordingly, as the spine or leg is bent, the elastic unit 160 on the upper side is elastically stretched sequentially from the lower elastic unit 160 with a small elastic modulus, and as the bending angle increases, the upper elastic unit 160 can be sequentially stretched. there is. That is, as the bending angle increases, the magnitude of the elastic force applied may also increase.

At this time, the lower fixing unit 150 may be rotatably coupled to the second fixing pin 187 of the second elastic unit 180 disposed at the lowermost side among the plurality of second elastic units 180 . there is. Accordingly, the movement of the leg and the movement of the hip joint transmitted through the wire 152 or the tendon may be transmitted to the variable elasticity module 130 .

In addition, the lengths of the slits 179 , 189 , and 199 may be different for each elastic unit 160 . That is, the slits (179, 189, 199) of the elastic unit 160 disposed on the lower side have a shorter length, and the more the slits 179, 189, 199 of the elastic unit 160 disposed on the upper side are, the longer the length is. can be long Or vice versa, the slits 179 , 189 , and 199 of the variable elastic module 130 may all have the same length regardless of the position of the elastic unit 160 .

In addition, although not shown in the drawings, it is possible to prevent the wearer's skin, hair, or clothes from being caught between the elastic units 160 by wrapping the variable elastic module 130 with a covering such as elastic fibers.

Hereinafter, a wearable strength assisting device according to a second embodiment of the present invention will be described.

10 is a view showing a variable elasticity module of the wearable strength assisting device according to the second embodiment of the present invention. 11 is a side view of the variable elastic module of FIG. 10 . FIG. 12 is a view showing a first elastic unit of the variable elastic module of FIG. 10 . 13 is a view illustrating a second elastic unit of the variable elastic module of FIG. 10 .

As shown in FIGS. 10 and 11 , the wearable strength assisting device 200 according to the present embodiment may include an upper harness 110 , a lower harness 120 , and a variable elasticity module 230 .

In describing the present embodiment, the upper harness 110 and the lower harness 120 are the same as in the above-described embodiment, and thus detailed description will be omitted.

As shown in FIG. 10 , the variable elastic module 230 according to the present embodiment may include an upper fixing unit 240 , a plurality of elastic units 260 , and a lower fixing unit 250 .

Since the upper fixing unit 240 and the lower fixing unit 250 are substantially the same as the upper fixing unit 140 and the lower fixing unit 150 of the above-described embodiment, a detailed description thereof will be omitted.

The upper fixing unit 240 is coupled to the upper harness 110 .

In addition, the lower fixing unit 250 is coupled to the lower harness 120 .

The elastic unit 260 is coupled to the upper fixing unit 240 and the lower fixing unit 250, and may be provided in plurality by being coupled in series to exert different elastic forces.

Since the variable elastic module 230 is disposed along the spine on the wearer's back, the plurality of elastic units 260 may be disposed in the vertical direction.

In this case, the plurality of elastic units 260 may include a first elastic unit 270 , a second elastic unit 280 , and a third elastic unit 290 .

The first elastic unit 270 is an elastic unit 260 disposed at the top of the plurality of elastic units 260 , and may be elastically coupled to the upper fixing unit 240 to expand and contract.

The second elastic unit 280 is an elastic unit coupled to elastically expand and contract below the first elastic unit 270 among the plurality of elastic units 260 constituting the variable elastic module 230 . In addition, one or more or a plurality of third elastic units 290 having the same structure as the second elastic unit 280 on the lower side of the second elastic unit 280 are added in series in the vertical direction to mutually elastically expand and contract. can be combined.

At this time, the number of the third elastic units 290 coupled in the vertical direction may be variously changed according to the wearer's elongation and the size of the required force.

That is, the elastic unit 260 disposed at the top of the elastic units 260 constituting the variable elastic module 230 may be the first elastic unit 270 , and other elastic units may be the second elastic units 280 . In addition, the first elastic unit 270 is not limited in its elongation length, and the second elastic unit 280 may be limited in its elongation length.

As shown in FIG. 12 , the first elastic unit 270 may include a fourth plate 271 , a second connection pin 277 , and a fourth elastic body 275 .

The fourth plate 271 is formed in the shape of a pair of bars extending in the vertical direction and spaced apart from each other in parallel, and the fourth plate 271 has a first hole 272 and a first hole at positions facing each other, respectively. Two holes 273 may be formed.

The second connection pin 277 may be inserted into the first hole 272 of the pair of fourth plates 271 to cross the pair of fourth plates 271 .

In addition, the fourth elastic body 275 is coupled to the upper fixing unit 240 and the second connecting pin 277 to elastically expand and contract according to a load applied thereto. In this embodiment, the fourth elastic body 275 may be an elastic band wound around the upper fixing unit 240 and the second connecting pin 277 . However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band.

As shown in FIGS. 11 and 13 , the second elastic unit 280 includes a fifth plate 281 , a third connection pin 286 , a fourth connection pin 287 , and a fifth elastic body 285 . may include

The fifth plate 281 extends in the vertical direction and has a pair of bar shapes that are spaced apart from each other in the vertical direction, and may be disposed to face each other. In addition, in the fifth plate 281 , a third hole 282 and a fourth hole 283 may be formed at positions facing each other, respectively.

The third connecting pin 286 is inserted into the second hole 273 of the fourth plate 271 of the first elastic unit 270 to be disposed to cross the pair of fifth plates 281 . can

The fourth connection pin 287 may be inserted into the third hole 282 of the fifth plate 281 to cross the pair of fifth plates 281 .

The fifth elastic body 285 may be coupled to the third connecting pin 286 and the fourth connecting pin 287 so as to be elastically contracted.

In this embodiment, the fifth elastic body 285 may be an elastic band wound around the third connecting pin 286 and the fourth connecting pin 287 . However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band.

In addition, one or a plurality of separate third elastic units 290 may be serially coupled to a lower side of the second elastic unit 280 to be disposed vertically. At this time, the structure of the third elastic unit 290 located on the lower side may be the same or similar to that of the second elastic unit 280 located on the upper side, which will be described in more detail with reference to FIG. 13 , The third elastic unit 290 may include a sixth plate 291 , a sixth elastic body 295 , a fifth connection pin 296 , and a sixth connection pin 297 .

The sixth plate 291 extends in the vertical direction and is formed in the shape of a pair of bars spaced apart from each other, and the sixth plate 291 has a fifth hole 292 and a sixth hole at positions facing each other. A hole 293 may be formed.

The fifth connection pin 296 may be inserted into the fourth hole 283 of the second elastic unit 280 and may be disposed to cross the pair of fifth plates 281 .

The sixth connection pin 297 may be inserted into the fifth hole 292 of the sixth plate 291 to cross the pair of sixth plates 291 .

The sixth elastic body 295 may be elastically coupled to the fifth connecting pin 296 and the sixth connecting pin 297 to be elastically stretched.

The third elastic unit 290 is coupled in series with each other, and at this time, the sixth elastic body 295 of the lower third elastic unit 290 has a smaller elastic force than the upper fifth elastic body 285 . can

In this way, the first elastic unit 270 to the third elastic unit 290 may be coupled in series with each other. In addition, another third elastic unit 290 may be coupled in series to the lower side of the third elastic unit 290 .

And, the variable elasticity module 230 of the wearable strength assisting device of this embodiment may further include a limit wire 289.

The limit wire 289 has one end coupled to the first elastic unit 270 or the second elastic unit 280 disposed on the upper side, and the other end is coupled to the second elastic unit 280 disposed on the lower side. It is a component that limits the elongation length of the elastic body. The limit wire 289 as described above may be a rope made of a material such as a fiber or a steel wire with little or no elasticity while being flexible.

At this time, the limit wire 289 may be coupled to the fourth plate 271 or the fifth plate 281 or coupled to the third connection pin 286 or the fourth connection pin 287 . .

In addition, the limit wire 289 may be coupled to the fifth plate 281 and the sixth plate 192 , or the fifth connecting pin 296 and the sixth connecting pin 297 .

The limit wire 289 is formed to have a longer length than the length before the fifth elastic body 285 and the sixth elastic body 295 are stretched to allow elastic expansion and contraction of the elastic bodies 285 and 295 while allowing the limit wire. (289) can be limited so that it does not elongate further.

At this time, the limit wire 289 is not disposed between the first elastic unit 270 and the upper fixing unit 240, the first elastic unit 270 and the second elastic unit (280) It may be disposed between and between the second elastic unit 280 and the third elastic unit 29 and the plurality of third elastic units 290 .

Accordingly, the extension length of the elastic body of the first elastic unit 270 may not be limited. Of course, if necessary, the limit wire 289 may be coupled to the first elastic unit 270 so that the extension length thereof is limited.

At this time, the lower fixing unit 250 may be rotatably coupled to the fourth connecting pin 287 of the second elastic unit 280 disposed at the lowermost side among the plurality of second elastic units 280 . there is. Accordingly, the movement of the leg and the movement of the hip joint transmitted through the wire 152 or the tendon may be transmitted to the variable elasticity module 230 .

In addition, the length of the limit wire 289 may be different for each second elastic unit 280 or the third elastic unit (290). That is, the shorter the length of the limit wire 289 of the second elastic unit 280 disposed on the lower side, the longer the length of the limit wire 289 of the second elastic unit 280 disposed on the upper side. can Or vice versa, the limit wire 289 of the variable elastic module 230 may all have the same length regardless of the positions of the second elastic unit 280 and the third elastic unit 290 .

In addition, although not shown in the drawings, the variable elastic module 230 may be covered with a covering such as elastic fibers to prevent the wearer's skin, hair, or clothes from being caught between the elastic units 260 .

Hereinafter, a wearable strength assisting device according to a third embodiment of the present invention will be described.

As shown in FIG. 14 , the wearable strength assisting device 300 according to the present embodiment may include an upper harness 110 , a lower harness 120 , and a variable elasticity module 330 .

In describing the present embodiment, the upper harness 110 and the lower harness 120 are the same as in the above-described embodiment, and thus a detailed description thereof will be omitted.

As shown in FIG. 14 , the variable elastic module 330 according to the present embodiment may include an upper fixing unit 340 , a plurality of elastic units 360 , and a lower fixing unit 350 .

Since the upper fixing unit 340 and the lower fixing unit 350 are substantially the same as the upper fixing unit 340 and the lower fixing unit 350 of the above-described embodiment, a detailed description thereof will be omitted.

The upper fixing unit 340 is coupled to the upper harness 110 .

In addition, the lower fixing unit 350 is coupled to the lower harness 120 .

The elastic unit 360 is coupled to the upper fixing unit 340 and the lower fixing unit 350, and is coupled in series to exert different elastic forces may be provided in plurality.

Since the variable elastic module 330 is disposed along the spine of the wearer's back, the plurality of elastic units 360 may be disposed in the vertical direction.

In this case, the plurality of elastic units 360 may include a first elastic unit 370 and a second elastic unit 380 .

The first elastic unit 370 is an elastic unit 360 disposed at the top of the plurality of elastic units 360 , and may be elastically coupled to the upper fixing unit 340 to be elastically stretched.

The second elastic unit 380 may be the remaining elastic units 360 except for the first elastic unit 370 among the plurality of elastic units 360 constituting the variable elastic module 330 , and the first elastic unit 380 . It may be coupled to the lower side of the unit 370 to be elastically stretched. Mollon, if necessary, the first elastic unit 370 may also be made to have a limited elongation length.

That is, the elastic unit 360 disposed at the top of the elastic units 360 constituting the variable elastic module 330 may be the first elastic unit 370 , and other elastic units may be the second elastic units 380 . In addition, the first elastic unit 370 has no limitation in its elongation length, and the second elastic unit 380 may be limited in its elongation length. Of course, if necessary, the extension length of the first elastic unit 370 may also be limited.

The first elastic unit 370 may include a fifth connecting pin 377 and a seventh elastic body 375 .

The fifth connection pin 377 may be disposed to be spaced downward from the upper fixing unit 340 .

In addition, the seventh elastic body 375 may be elastically contracted by being coupled to the upper fixing unit 340 and the fifth connecting pin 377 . In this embodiment, the seventh elastic body 375 may be an elastic band wound around the upper fixing unit 340 and the fifth connecting pin 377 . However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band.

The second elastic unit 380 may include a sixth connection pin 386 , a seventh connection pin 387 , and an eighth elastic body 385 .

The sixth connection pin 386 may be disposed to be spaced apart from the lower side of the first elastic unit 370 . In addition, the seventh connection pin 387 may be disposed to be spaced apart from the lower side of the sixth connection pin 386 .

The eighth elastic body 385 may be coupled to the sixth connecting pin 386 and the seventh connecting pin 387 to be elastically stretchable. In this embodiment, the eighth elastic body 385 may be an elastic band wound around the sixth connecting pin 386 and the seventh connecting pin 387 . However, the present invention is not necessarily limited thereto, and a spring may be applied instead of the elastic band.

And, the variable elastic module 330 of the wearable strength assisting device of this embodiment may further include a limit wire 389.

The limit wire 389 is a fifth connection pin 377 of the first elastic unit 370 and a sixth of the second elastic unit 380 disposed adjacent to the lower side of the first elastic unit 370 . The connecting pin 386 is fixed, the seventh connecting pin 387 of the second elastic unit 380 and the sixth connecting pin 386 of the second elastic unit 380 disposed below it are continuously extended. By fixing the fifth connecting pin 377 , the sixth connecting pin 386 , and the seventh connecting pin 387 , it is possible to limit the extension length of the elastic bodies 375 and 385 at the same time.

At this time, the length of the limit wire 389 between the sixth connecting pin 386 and the seventh connecting pin 387 is the minimum length before the elongation of the eighth elastic body 385 of the second elastic unit 380 . By being formed to be longer, the elastic expansion and contraction of the eighth elastic body 385 can be restricted while not being extended more than the limit wire 389 .

Of course, by fixing the limit wire 389 to the fifth connection pin 377 of the first elastic unit 370 as necessary, even the extension length of the first elastic unit 370 may be limited.

In addition, the third elastic unit 390 is serially coupled to the lower side of the second elastic unit 380 , and may have substantially the same structure as the second elastic unit 380 . One or more or a plurality of the third elastic units 390 may be serially coupled in the vertical direction to mutually elastically expand and contract, and the extension length may be limited. One or a plurality of these third elastic units 390 may be provided, and the number may be selected according to the height of the wearer.

In addition, although not shown in the drawings, the variable elastic module 330 may be covered with a covering such as elastic fibers to prevent the wearer's skin, hair, or clothing from being caught between the elastic units 360 .

As described above, the first elastic unit 370 and the plurality of second elastic units 380 may be disposed vertically.

Accordingly, when the wearer takes an action such as sitting and the lower fixing unit 350 is pulled, the elastic body of the first elastic unit 370 to the third elastic unit 390 is elastically stretched and the elastic force is applied. can be

In this case, the elastic modulus 375 and 385 of the first elastic unit 370 , the second elastic unit 380 , and the third elastic unit 390 disposed on the upper side may have a larger elastic modulus. That is, the elastic force applied by the plurality of elastic bodies 375 and 385 may be greater as the elastic body disposed on the upper side increases.

Accordingly, as the spine or leg is bent, the elastic body 385 sequentially elastically stretches from the lower elastic modulus 385 with a small elastic modulus, and as the bending angle increases, the elastic body 375 and 385 disposed at the upper side gradually increase sequentially. can be extended to That is, as the bending angle increases, the magnitude of the elastic force applied may also increase.

As described above, the preferred embodiments according to the present invention have been described, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope of the present invention in addition to the above-described embodiments is understood by those of ordinary skill in the art. It is obvious to them. Therefore, the above-described embodiments are to be regarded as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description, but may be modified within the scope of the appended claims and their equivalents.

105: harness unit 110: upper harness
120: lower harness 130: variable elastic module
140: upper fixed unit 150: lower fixed unit
152: wire 160: elastic unit
161: elastic part 162: limiting part
170: first elastic unit 171: first plate
173: first connection pin 175: first elastic body
177: first fixing pin 179: first slit
180: second elastic unit 181: second plate
183: first slide pin 185: second elastic body
187: second fixing pin 230: variable elastic module
240: upper fixed unit 250: lower fixed unit
260: elastic unit 270: first elastic unit
271: 4th plate 272: 1st hole
273: second hole 275: fourth elastic body
277: second connection pin 280: second elastic unit
281: 5th plate 282: 3rd hole
283: 4th hole 285: 5th elastic body
286: third connection pin 287: fourth connection pin
330: variable elasticity module 340: upper fixed unit
350: lower fixed unit 360: elastic unit
370: first elastic unit 375: seventh elastic body
377: fifth connection pin 380: second elastic unit
385: eighth elastic body 386: sixth connecting pin
387: seventh connection pin 389: limit wire

Claims (16)

a harness unit including an upper harness worn on the upper side of the wearer's torso and a lower harness worn on the wearer's legs and thighs;
The upper end is coupled to the upper harness, the lower end is coupled to the lower harness, and is arranged along the spine on the wearer's back to elastically expand and contract according to the flexion and extension of the spine and the extension of the hip joint of the leg to secure the spine and the legs. It includes; a variable elastic module to assist;
The variable elasticity module,
A wearable strength assisting device comprising a plurality of elastic units coupled in series to exert different elastic forces, wherein the plurality of elastic units are elastically expanded and contracted along the flexion angle of the hip joint of the spine and the leg. According to claim 1,
The variable elasticity module,
an upper fixing unit coupled to the upper harness;
a lower fixing unit coupled to the lower harness; and
a plurality of elastic units coupled between the upper fixing unit and the lower fixing unit and coupled in series to exert different elastic forces;
Including, a wearable strength support device. 3. The method of claim 2,
The plurality of elastic units,
a first elastic unit coupled to the upper fixing unit to elastically expand and contract; and
A wearable strength assisting device comprising a second elastic unit coupled in series to elastically expand and contract below the first elastic unit. 3. The method of claim 2,
The lower fixing unit is connected to the lower harness by a tendon or a wire, a wearable strength assisting device. 4. The method of claim 3,
The first elastic unit,
a pair of first plates in which first slits are formed in a vertical direction at positions facing each other;
a first connection pin disposed between the pair of first plates;
a first fixing pin fixedly installed between the pair of first plates at a position spaced downward from the first connection pin; and
a first elastic body coupled to the first connecting pin and the upper fixing unit to elastically expand and contract;
Including, a wearable strength support device. 6. The method of claim 5,
The second elastic unit,
a pair of second plates in which second slits are formed in the vertical direction at positions facing each other;
a first slide pin disposed between the pair of second plates and slidably installed in the first slit of the first elastic unit in the vertical direction;
a second fixing pin fixedly installed between the pair of second plates at a position spaced downward from the first slide pin; and
a second elastic body coupled to the first fixing pin and the first slide pin of the first elastic unit to elastically expand and contract;
includes,
In the second elastic body, the elongation length is limited by limiting the movement distance of the first slide pin, a wearable strength assisting device. 7. The method of claim 6,
One or more elastic units coupled in series with each other in the same structure as the second elastic unit on the lower side of the second elastic unit and having an elastic body having an elastic force different from that of the second elastic body of the second elastic unit. , a wearable strength support device. 8. The method of claim 7,
The elastic body of the plurality of elastic units has a larger elastic modulus as the elastic body is located on the upper side, a wearable strength assisting device. 9. The method of claim 8,
As the spine or the hip joint of the leg bends, the elastic body of the plurality of elastic units is sequentially stretched or contracted from an elastic body having a small elastic modulus. 3. The method of claim 2,
The lower fixing unit,
A wearable strength assisting device coupled to an elastic unit disposed on the lowermost side among the plurality of elastic units. 7. The method of claim 6,
The length of the slit is formed differently for each of the plurality of elastic units, a wearable strength assisting device. 7. The method of claim 6,
The elastic body is an elastic band, a wearable strength assisting device. 4. The method of claim 3,
The first elastic unit,
a pair of fourth plates having a first hole and a second hole formed at positions facing each other;
a second connection pin inserted into the first hole of the pair of fourth plates; and
a fourth elastic body coupled to the upper fixing unit and the second connecting pin to elastically expand and contract;
Including, a wearable strength support device. 14. The method of claim 13,
The second elastic unit,
a pair of fifth plates having a third hole and a fourth hole formed at positions facing each other;
a third connecting pin inserted into the second hole of the fourth plate of the first elastic unit;
a fourth connection pin inserted into the third hole of the fifth plate; and
a sixth elastic body coupled to the third and fourth connecting pins and elastically stretched;
Including, a wearable strength support device. 15. The method of claim 14,
One end is coupled to the first elastic unit, the other end is coupled to the second elastic unit disposed on the lower side further comprising a limit wire for limiting the extension length of the elastic body, wearable strength support device. 16. The method of claim 15,
The limit wire is a wearable strength assisting device that is formed in a longer length than the length before the elastic body is stretched.

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