KR20220096720A - Wearable Assistance Device - Google Patents

Abstract

The present invention relates to a wearable assistance device which provides various joint freedom degrees corresponding to movement of a wrist and a foot of a body to a lower leg or foot support unit to perform various motions required for the foot and the wrist in various body motions of a wearer such as running.

Description

Wearable Assistance Device

The present invention relates to a wearable assistive device. More specifically, the present invention provides various degrees of joint freedom corresponding to the movement of the ankle and foot of the body to the lower leg or foot support unit constituting the wearable assistive device, thereby requiring the feet and ankles in various body movements such as running of the wearer. It relates to a wearable assistive device capable of performing various movements.

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 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 for driving each joint, a support unit connected to each joint actuator and supporting the thigh or lower leg of the wearer The predominant form contains

In the case of such a wearable assistive device, it is possible to assist the wearer's walking by disposing a joint actuator in the vicinity of the wearer's joints and providing an assistive torque in the form of an auxiliary torque to the wearer's thigh or lower leg according to the wearer's gait motion.

If it is assumed that the wearer walks in the x-axis direction in the three-dimensional coordinate space, each joint actuator rotates about the y-axis parallel to the x-axis direction, which is the walking direction of the hip and knee joints, and the y-axis, which is perpendicular to the z-axis direction. can be designed to provide

The ankle and foot of the body can have various degrees of joint freedom and bending motion, but the conventionally introduced exoskeleton type wearable assistive device does not provide joint freedom to the foot and ankle, or allows only rotation of the degree of flexion or extension of the ankle. It is often allowed to

This level of joint freedom of the ankle or foot of the wearable assistive device is not a problem in the case of basic motions such as walking slowly. hard to do

However, since wearable assistive devices are being studied to be widely applied to the military or industrial fields for reinforcing physical capabilities other than the disabled or patients, there is a need for wearable assistive devices with joint freedom corresponding to various movements of the ankle or foot of the body. is big

The present invention provides various joint degrees of freedom corresponding to the movement of the ankle and foot of the body to the lower leg or foot support unit constituting the wearable assistive device, thereby providing various movements required for the foot and ankle in various body movements such as running of the wearer. It is a task to be solved to provide a wearable assistive device that can be performed.

In order to solve the above problems, the present invention is mounted to surround the waist area of the wearer, the body unit extending to the hip joint side area of the wearer; a pair of hip joint actuators mounted on both ends of the body unit; a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs; a lower leg support unit rotatably connected to the femoral support unit and the ankle joint unit as a medium and providing rotational assisting force to the lower leg of the wearer; and a foot support unit rotatably connected to the lower leg support unit around a foot support unit rotation axis that is not parallel to the rotation axis of the hip joint actuator, wherein the foot support unit includes a flexion or It is possible to provide a wearable assistive device comprising: an ankle joint axis for allowing an extension motion;

In addition, the foot support unit includes a horizontal frame wrapped across the front upper part of the ankle joint, a connecting frame rotatably connected to the ankle joint axis at both ends of the horizontal frame, and a footrest for supporting the wearer's plantar surface or the lower surface of the shoe unit; may be configured to include.

And, the connection frame is configured in a 'C'-shaped cross-sectional shape including a pair of vertical parts and a horizontal part connected to the vertical part in a bent state, and the horizontal part of the connection frame interposes the footrest unit and the ankle torsion axis can be rotatably connected to

Here, the scaffold unit may be configured to be bendable for flexion extension of the heel of the wearer's foot or shoe.

In this case, the axis of rotation of the foot support unit may be inclined from a front upper part to a rear lower part of the horizontal frame of the foot support unit.

In addition, the foot support unit rotation shaft may be provided to provide a degree of freedom of rotation of the subtalar joint of the body ankle.

In addition, the horizontal frame of the foot support unit and the lower leg support unit may be connected to each other by a connecting member, and the lower end of the connecting member may be rotatably fastened to the horizontal frame via the foot support unit rotation shaft.

In addition, the connecting member may be provided with at least one bent portion.

Here, the scaffold unit may be configured to include an upper plate member and a lower plate member in which the horizontal portion of the connecting frame is rotatably interposed about the ankle torsion axis and stacked up and down.

In this case, the rear end is interposed between the upper plate member and the lower plate member and mounted, and may include a bending member made of a flexible material to allow the wearer's forefoot bending motion.

In addition, the front plate member may be mounted on the upper portion of the bending member exposed to the front of the upper plate member and the lower plate member.

In addition, a shaft portion serving as the ankle torsion shaft may be provided on a lower surface of the upper plate member or an upper surface of the lower plate member.

Here, a plurality of connectors for connecting the front plate member and the wearing member surrounding the foot to the upper plate member may be provided.

In this case, the shaft portion may be configured in the form of a circular ring, a disk, or a disk-shaped groove.

In addition, at least one slip member for reducing friction between the upper plate member or the lower plate member and the horizontal portion of the connection frame may be provided.

According to the wearable auxiliary device according to the present invention, various degrees of joint freedom can be provided to the lower leg support unit or the foot support unit constituting the wearable auxiliary device to assist various body movements other than basic motions such as walking.

In addition, according to the wearable auxiliary device according to the present invention, since the joint freedom provided by the lower leg support unit or the foot support unit simulates the movement of the ankle and foot joints of the body, the wearer's feeling of discomfort in the wearable auxiliary device is minimized. can do.

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.
Figure 3 shows the various movements of the ankle of the body.
4 is a perspective view showing a state in which the lower leg support unit and the foot support unit are connected via the ankle joint unit according to the present invention.
5 shows an exploded state based on the ankle joint unit in FIG. 4 .
6 is an exploded perspective view of the foot support unit according to the present invention.
7 shows an operating state of the foot support unit 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 is a front perspective view of a wearable auxiliary device 1000 according to the present invention, and FIG. 2 is a rear perspective view of the wearable auxiliary device 1000 shown in FIG. 1 .

1 and 2, in the present specification, the wearable auxiliary device 1000 is worn on the lower body of a disabled person, the elderly, a patient, a soldier, or a worker (hereinafter referred to as a 'wearer') to assist the walking motion. It could be a robot. Here, assisting gait motion means providing driving force to preserve muscle strength lacking in the hip and knee joints to enable independent walking of a wearer who has some movement function of the lower body, or providing a driving force for workers or soldiers to perform better than their physical abilities. This means that you can move with greater strength and speed.

The wearable auxiliary device includes: a main body 500 including a controller for providing a control signal and 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 (400) extending to the side area of the wearer's hip joint; It is driven by the hip joint actuator, and may include a femoral support unit (210a, 210b) that provides rotational assistance to the wearer's thigh.

In addition, in addition to assisting the wearer's hip joint, in order to assist the knee joint, a pair of knee joint actuators (100c, 100d) mounted on the femoral support unit; Lower leg support units (230a, 230b) that are driven by the knee joint actuator and link member and provide rotational assistance to the lower leg of the wearer; And, it is mounted on the end of the lower leg support unit, a pair of foot support unit (300a, 300b) for supporting the wearer's feet; may be configured to further include.

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

The body unit 400 may be connected to a body frame 510 in the form of a frame extending in the direction of the wearer's spine, and the body may be mounted to the body frame 510 .

Here, the leg unit may be provided with a joint actuator that provides rotation assistance to the hip joint and the knee joint, respectively.

The hip joint actuator is mounted on the wearer's hip joint region, and the knee joint actuator is mounted on the femoral support unit instead of the knee joint region to provide rotational assistance to the wearer's knee joint through the link member.

The torque load of the hip actuator can be reduced by mounting the knee actuator to the femoral support unit rather than the knee joint region. There are also advantages to reducing it.

In summary, each leg unit is connected to a pair of hip joint actuators 100a and 100b provided in the hip joint region, which is both ends of the body unit 400, and a pair of hip joint actuators 100a, 100b, respectively, to support the wearer's thighs. A pair of thigh support units (210a, 210b) to support or assist, a pair of lower leg support units (230a, 230b) to support or assist the wearer's lower leg, a pair of the thigh support units (210a, 210b) and one A pair of knee joint structures (700a, 700b) connecting the pair of the lower leg support units (230a, 230b), respectively, are mounted on the pair of femoral support units (210a, 210b) using a link member. A pair of knee joint actuators (100c, 100d) for driving the knee joint structures (700a, 700b) may be included, and a pair of foot support units (300a, 300a, respectively) mounted on the ends of the lower leg support units (230a, 230b) 300b); may be configured to further include.

Although the wearable auxiliary device 1000 shown in FIGS. 1 and 2 is an example in which the joint actuator 100 for driving the wearer's hip and knee joints is provided, a separate driving device may be provided in the ankle joint as needed. have.

And, each of the thigh support unit (210a, 210b) and the lower leg support unit (230a, 230b) has the wearer's thigh and lower leg at least for fixing to the femoral support unit (210a, 210b) and the lower leg support unit (230a, 230b). It may be provided with a wearing unit (not shown) in the form of one band or belt or other wearing member, and the driving force provided by each joint actuator 100 is eventually transmitted to the thigh or lower leg of the wearer through the wearing unit for independent walking. can assist

Such a pair of leg units are arranged along the side of the wearer, but the knee joint structure may have a structure that surrounds the entire knee joint.

Since the above-described body part 500 is disposed behind the wearer's upper back plate, the body part is mounted to the rear through the body unit 400, and the body unit 400 is mounted to surround the wearer's waist region, Both ends of the body unit 400 may be configured to extend to the wearer's waist side area.

3 shows various movements of the feet of the body.

The ankle of the body flexes and extends the forefoot of the foot (f) as shown in Fig. 3a, as shown in Fig. 3b, flexes and extends the ankle (a) around the y-axis, as shown in Fig. 3c Likewise, an operation of rotating the ankle (a) about a rotation axis other than the y-axis, an operation of rotating the foot (f) by twisting it about the z-axis as shown in FIG. 3D, etc. may be possible.

Conventional wearable assistive devices provide only a rotatable joint structure around the y-axis of the ankle joint as shown in FIG. it was common to do

However, the feet or ankles are capable of various movements as shown in FIG. 3 , and accordingly, it is required to provide various degrees of joint freedom even in the wearable auxiliary robot. A wearable auxiliary device according to the present invention aims to provide joint freedom for various movements of the foot or ankle, as shown in FIG. 3 . It will be described in detail below with reference to FIG. 4 .

4 is a perspective view showing a state in which the lower leg support unit 230 and the foot support unit 300 according to the present invention are connected via the ankle joint unit 800, and FIG. 5 is the ankle joint unit 800 in FIG. shows the decomposed state.

A wearable auxiliary device according to the present invention includes a body unit mounted to surround a wearer's waist area and extending to a hip joint side area of the wearer; a pair of hip joint actuators mounted on both ends of the body unit; a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs; a lower leg support unit 230 that is rotatably connected to the femoral support unit and the knee joint unit as a medium and provides rotational assistance to the lower leg of the wearer; and a foot support unit 300 rotatably connected to the lower leg support unit 230 about a foot support unit rotation axis 810 that is not parallel to the rotation axis of the hip joint actuator. 300 is configured to include an ankle joint axis 371 for allowing flexion or extension motion of the foot with respect to the lower leg of the wearer, and an ankle torsion axis 341 for allowing twist of the foot about the lower leg of the wearer as a center of rotation. can

The lower leg support unit 230 and the foot support unit 300 of the wearable auxiliary device shown in FIG. 4 may be connected via the ankle joint unit 800, and the ankle joint unit 800 is the lower leg support unit 230. and the foot support unit 300 may be rotatably connected to the foot support unit rotation axis 810 which is not parallel to the rotation axis of the hip joint actuator.

In addition, the ankle joint unit 800 is fastened to the lower end of the lower leg support unit 230 and includes a connection member 830 for the foot support unit rotation shaft 810 to be rotatably fastened to the foot support unit 300 . can be configured.

Accordingly, as shown in FIGS. 4 and 5 , a connection member 830 having at least one bent part is mounted at the lower end of the lower leg support unit 230 , and the connection member 830 is the foot support unit. The horizontal frame 390 constituting the 300 and the foot support unit rotation shaft 810 may be rotatably fastened as a medium.

Specifically, the foot support unit rotation shaft 810 may be a horizontal frame 390 of the foot support unit 300 and an axis inclined from the upper front to the lower back, and the foot support unit rotation shaft 810 is the body of the ankle. It may be provided to provide rotational freedom of the subtalar joint.

For example, the foot support unit rotation shaft 810 may be installed to face the horizontal frame of the foot support unit 300 and the direction inclined from the front upper part to the rear lower part, more specifically, toward the inner direction of the body from the front upper part. can

As shown in FIG. 5 , the ankle joint unit 800 is configured to rotate the connecting member 830 , the foot support unit rotation shaft 810 and the foot support unit rotation shaft 810 to the connection member 830 . It may be configured to include at least one bearing (b) for mounting.

And, as shown in FIG. 4, the foot support unit 300 is rotatably connected to the lower leg support unit 230 through the foot support unit rotation shaft 810, and furthermore, the foot support unit 300 is rotatably connected to the lower leg of the wearer. It may be configured to include an ankle joint axis 371 for allowing flexion or extension motion and an ankle torsion axis 341 for allowing torsion of the foot with the wearer's lower leg as the center of rotation.

The ankle joint axis 371 may be provided for y-axis flexion or extension of the ankle of the body, and the ankle torsion axis 341 may be provided to allow z-axis torsion of the wearer's foot. have.

In addition, the foot support unit 300 crosses the front upper part of the ankle joint and wraps around the horizontal frame 390 rotatably connected to the connection member 830, and at both ends of the horizontal frame 390, the ankle joint shaft 371 ) may be configured to include; a connection frame 350 that is rotatably connected through the medium, and a footrest unit 380 for supporting the wearer's plantar surface or the lower surface of the shoe.

The ankle joint axis 371 may be a joint axis for flexion or extension of the entire foot with respect to the ankle.

4 and 5, the connecting frame 350 is rotatably fastened via the horizontal frame 390 and the ankle joint shaft 371, and the connecting frame 350 is a footrest unit ( 380) and the ankle torsion axis 341 may be rotated about.

In this case, the rotation range of the torsion shaft 341 is the rotation blocking range of the horizontal part 353 of the connection frame 350 and the fastening member such as a bolt for fastening the upper plate member 320 and the lower plate member 340 . can be decided.

The ankle torsion shaft 341 may be provided in the footrest unit 380 to rotatably connect the connection frame 350 and the footrest unit 380 .

And as will be described later, the scaffold unit 380 may be rotatably connected to the connection frame 350 constituting the foot support unit 300 and the z-axis center, and among the scaffold unit 380 , the foot of the wearer The front plate member 310 of the forefoot corresponding region may be configured to be flexed or extended. A detailed description of the scaffolding unit 380 is postponed.

In this way, the foot support unit 300 of the wearable auxiliary device according to the present invention provides a degree of freedom of rotation of the subtalar joint of the body ankle with respect to the lower leg support unit 230, the foot support unit rotation shaft 810 ), and the foot support unit 300 is provided with an ankle joint shaft 371 and an ankle torsion shaft 341 to allow y-axis rotation and z-axis rotation of the ankle, and a footrest The unit 380 may have a structure in which the front plate member 310 is bent or extended for flexion and extension of the forefoot region.

6 shows an exploded perspective view of the foot support unit 300 according to the present invention, and FIG. 7 shows an operating state of the foot support unit 300 according to the present invention.

The foot support unit 300 constituting the wearable auxiliary device according to the present invention includes a horizontal frame 390 that crosses the front upper part of the ankle joint as described above, and the ankle joint shaft 371 at both ends of the horizontal frame 390 . ) is configured to include a connecting frame 350 that is rotatably connected through the medium and a footrest unit 380 for supporting the wearer's plantar surface or the lower surface of the shoe, and the horizontal frame 390 is the connecting member 830 ) may be rotatably connected to the lower leg support unit 230 around the subtalar joint.

In addition, the foot support unit 300 may provide the degree of freedom of rotation about the ankle joint axis 371 and the ankle torsion axis 341 and the degree of freedom of forefoot flexion or extension of the foot.

To this end, the connection frame 350 is composed of a horizontal portion 353 and a vertical portion 351, and the scaffold unit 380 is the horizontal portion 353 of the connection frame 350 is the ankle torsion axis ( 341 may be configured to include an upper plate member 320 and a lower plate member 340 that are rotatably interposed and mounted around the center.

As shown in FIGS. 6 and 7, the upper plate member 320 and the lower plate member 340 are stacked in an area except for the forefoot of the foot, and the horizontal portion 353 of the connecting frame 350 therein. may be rotatably mounted about the z-axis.

The connection frame 350 may have a 'C'-shaped cross-section, a shaft hole 355 may be formed in the horizontal portion 353, and the upper plate member 320 and the lower plate member 340 may be A shaft portion serving as the ankle torsion shaft 341 on the lower surface of the upper plate member 320 or the upper surface of the lower plate member 340 so as to be rotatable with the horizontal portion 353 of the connecting frame 350 interposed therebetween can be provided.

In the embodiment shown in FIG. 6 , an example in which a circular ring-shaped shaft portion is provided on the lower plate member 340 and mounted on the shaft hole 355 of the connection frame 350 is illustrated, but the shaft portion is a circular ring, a circular plate Alternatively, it may be configured in the form of a disk-shaped groove, and the shaft portion may be provided on the lower surface of the upper plate member 320 together with the upper surface of the lower plate member 340 .

In addition, a slip member 360 for reducing friction between the upper plate member 320 or the lower plate member 340 and the horizontal portion 353 of the connection frame 350 may be provided.

The slip member 360 may be made of a non-metal material to reduce friction, and as an example of the material, may be made of a material such as polyethylene fluoride (Teflon, etc.).

As shown in FIG. 7 , the z-axis rotation permitting structure of the connection frame 350 may allow a z-axis torsion motion of the foot.

Since it is possible to twist the foot with respect to the lower leg by the z-axis torsional degree of freedom of the foot support unit 300, the wearable assistive device may allow various foot movements and provide assistive force.

The horizontal frame 390 at both ends of the pair of vertical parts 351 of the connection frame 350 may be connected via the ankle joint shaft 371, but the ankle joint shaft 371 and the bearing (b), etc. A separate pair of shaft support members 370 having a ring-shaped shaft mounting part 373 at the top for mounting and reinforcing torsional rigidity of the connection frame 350 may be further provided.

A bearing (b) and an ankle joint shaft 371 are mounted inside the shaft mounting portion of the pair of shaft support members 370 to move the shaft support member fastened with the connection frame 350 or the connection frame 350 to the horizontal By making it rotatable with respect to the frame 390, it is possible to provide a degree of freedom of joint rotation for flexion or extension of the entire foot using the ankle joint.

In addition, in addition to the motion shown in FIG. 3(b) in which the foot of the body bends or extends the entire foot with respect to the ankle, as shown in FIG. 3(a), only the forefoot of the foot is flexed frequently. A degree of freedom in bending of the support unit 300 is required. For example, in walking or running, at the end of the stance phase of a specific foot, etc., such as providing assisting force with only the forefoot supported on the ground can occur frequently, so it is possible to perform a natural walking motion or perform a fast running motion. To do so, it is necessary to provide degrees of freedom in flexion or flexion of the forefoot.

The foot support unit 300 of the present invention is equipped with a rear end between the upper plate member 320 and the lower plate member 340 to provide forefoot bending or bending freedom of the foot, allowing the wearer's foot to bend the forefoot. For this purpose, it may be configured to include a bending member 330 made of a flexible material.

The flexural member 330 is made of a flexible resin material and can flexibly support the forefoot of the foot without employing a separate hinge structure, thereby contributing to weight reduction of the foot support unit.

As shown in FIG. 6 , the rear part of the bending member 330 may be mounted with a rear part interposed between the upper plate member 320 and the lower plate member 340, and the front part is configured to be exposed to the lower part of the heel of the foot. can be

In addition, a front plate member 310 for protecting the flexural member 330 and for connecting a separate wearing member may be mounted on the flexural member 330 .

The front plate member 310 may be mounted on the upper part of the bending member 330 exposed in front of the upper plate member 320 and the lower plate member 340 , and as shown in FIGS. 6 and 7 , the A plurality of connectors 311 and 321 may be provided to connect the front plate member 310 and the upper plate member 320 to the wearing member surrounding the foot.

By the wearable auxiliary device configured as described above, it is possible to provide about four joint degrees of freedom for the lower leg support unit or the foot support unit constituting the wearable auxiliary device to assist various body movements other than basic motions such as walking. It can be easily understood that since the joint freedom provided by the lower leg support unit or the foot support unit simulates the movement of the ankle and foot joints of the body, it is possible to minimize the discomfort of the wearer's wearable auxiliary device.

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 within the scope 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
210, 230: thigh support unit, lower leg support unit
300: foot support unit
400: body unit
500: body part

Claims (15)

a body unit mounted to surround 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;
a femoral support unit driven by the hip actuator and providing rotational assistance to the wearer's thighs;
a lower leg support unit rotatably connected to the femoral support unit and the ankle joint unit as a medium and providing rotational assisting force to the lower leg of the wearer; and,
A foot support unit rotatably connected to the lower leg support unit about a foot support unit rotation axis that is not parallel to the rotation axis of the hip joint actuator.
The foot support unit is a wearable auxiliary device, characterized in that it includes an ankle joint axis for allowing flexion or extension of the foot with respect to the lower leg of the wearer, and an ankle torsion axis for allowing the torsion of the foot with the wearer's lower leg as the center of rotation. . According to claim 1,
The foot support unit may include a horizontal frame wrapped across the front upper part of the ankle joint, a connecting frame rotatably connected to the ankle joint axis at both ends of the horizontal frame, and a footrest unit for supporting the wearer's plantar surface or the lower surface of the shoe; A wearable auxiliary device comprising a. 3. The method of claim 2,
The connection frame includes a pair of vertical portions and a horizontal portion connected to the vertical portion in a bent state, and is configured in a 'C'-shaped cross-section, and the horizontal portion of the connection frame rotates through the footrest unit and the ankle torsion axis Wearable assistive device, characterized in that it is possible to connect. 3. The method of claim 2,
The footrest unit is a wearable auxiliary device, characterized in that it is configured to be bendable for flexion extension of the heel of the wearer's feet or shoes. 3. The method of claim 2,
The foot support unit rotation shaft is a wearable auxiliary device, characterized in that inclined from the upper front to the lower rear frame and the horizontal frame of the foot support unit. 6. The method of claim 5,
The foot support unit rotation shaft is a wearable auxiliary device, characterized in that provided to provide a degree of freedom of rotation of the subtalar joint (subtalar joint) of the body ankle. 3. The method of claim 2,
The horizontal frame of the foot support unit and the lower leg support unit are connected by a connecting member, and the lower end of the connecting member is a wearable auxiliary device, characterized in that it is rotatably fastened to the horizontal frame via the foot support unit rotation shaft. . 8. The method of claim 7,
The connecting member is a wearable auxiliary device, characterized in that provided with at least one bent portion. 3. The method of claim 2,
The scaffold unit is a wearable auxiliary device, characterized in that it comprises an upper plate member and a lower plate member that is mounted vertically stacked with the horizontal portion of the connecting frame rotatably interposed about the ankle torsion axis. 10. The method of claim 9,
The wearable auxiliary device is mounted with a rear end interposed between the upper plate member and the lower plate member, and includes a bending member made of a flexible material to allow the wearer's toe to bend. 11. The method of claim 10,
A wearable auxiliary device, characterized in that the front plate member is mounted on the upper portion of the bending member exposed in front of the upper plate member and the lower plate member. 12. The method of claim 11,
Wearable auxiliary device, characterized in that provided with a plurality of connectors for connecting the wearing member wrapping the feet to the front plate member and the upper plate member. 10. The method of claim 9,
A wearable auxiliary device, characterized in that a shaft portion serving as the ankle torsion axis is provided on a lower surface of the upper plate member or an upper surface of the lower plate member. 14. The method of claim 13,
The shaft portion is a wearable auxiliary device, characterized in that configured in the form of a circular ring, a disk or a disk-shaped groove. 10. The method of claim 9,
Wearable auxiliary device, characterized in that at least one slip member for reducing friction between the upper plate member or the lower plate member and the horizontal portion of the connection frame is provided.

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