KR20230028989A - Posture support wearable suit - Google Patents

Abstract

According to the technical idea of the present invention, a posture assistance wearable suit is a suit assisting a wearer's movement in response to the skeletal shape to support the wearer's skeleton. The posture assistance wearable suit comprises: a posture support unit extending downward from a wearer's waist and provided to support the wearer's waist; and a deformable joint unit bent and extended from the posture support unit toward the pelvis on both sides to surround the hip joint from the wearer's waist, and included to be deformed in multiple directions in response to movement of the wearer's legs. The deformable joint unit can be provided to move together in response to the forward, backward, left, and right movements of the pelvis.

Description

Posture support wearable suit {POSTURE SUPPORT WEARABLE SUIT}

The present invention relates to a wearable suit, and more particularly, to a wearable wearable suit capable of moving with multiple degrees of freedom in response to a wearer's motion, and having a structure in which the wearer can move comfortably.

In recent years, robot-related technologies have been applied to a wide range of fields. Among them, wearable robots are being used for people who have difficulty walking due to reduced muscle strength due to disabilities or aging.

A wearable robot is a kind of muscular strength assisting device that assists the wearer's muscular strength.

In more detail, the wearable robot serves to assist the wearer's muscle strength when the wearer walks or lifts a heavy load while wearing the wearable robot.

To this end, the muscle power assisting device may assist the wearer's motion by providing the wearer with an assisting force generated from a driving device such as a motor.

These wearable robots can be worn on the wearer's waist and legs. The muscle power assisting device has a number of components to be worn on each body part of the wearer. Among the plurality of components, a driving unit such as a motor plays an important role in transmitting an auxiliary force to a joint part of a wearer's body.

Prior literature related to this includes Korean registered patent (KR 10-1219795) and US published patent (US 2015-0134080).

However, conventional wearable robots only have the purpose of generating power and providing power to the wearer, but do not consider the convenience of wearing.

While having the form of a wearable wearable robot, that is, a wearable suit, it is cumbersome to wear, and there are problems in that the wearer feels uncomfortable when wearing it.

Therefore, first of all, a wearable suit that provides comfort even in a worn state by having a certain portion of multi-degree of freedom movement corresponding to the basic wearer's skeleton and does not cause discomfort in response to movement is required.

A technical problem to be achieved by the technical idea of the present invention is to provide a posture assisting wearable suit that is provided lightly while having a structure that can move together in response to the wearer's movement even though it has a shape corresponding to the wearer's skeleton.

In addition, it is to provide a posture assisting wearable suit to provide a PASSIVE assisting force using the elasticity of the fiber rather than motor power.

In order to solve the above problems, the technical idea of the present invention is a suit that assists the movement of the wearer in response to the shape of the skeleton so as to support the wearer's skeleton, extending downward from the waist of the wearer to support the waist of the wearer. A posture support part provided and a deformable joint part that is bent and extended from the posture support part to both sides toward the pelvis to surround the hip joint from the waist of the wearer, and is provided to be able to change shape in multiple directions in response to movements of the wearer's legs. Including, the deformable joint portion may be provided to move together in response to the movement of the pelvis moving back and forth and left and right.

The deformable joint part includes a pelvic member that is bent and extended at least once from the posture support part to the side pelvis of the wearer, and a multidirectional joint provided to be capable of relative rotation at an end of the pelvis member and deformed in response to movements of the wearer's legs. may include absences.

In addition, the pelvis member and the multi-directional joint member may be coupled with a second axis so that the multi-directional joint member is bent at the pelvis member in response to a motion of the wearer moving the leg forward and backward.

In addition, the multi-directional joint member may be formed to be long, and a part of it may be pivotally coupled around a first axis so as to be bendable, so that the wearer's legs may be moved to both sides around the axis.

In addition, the multi-directional joint member is formed on the upper portion around the first axis and is rotatably coupled to the upper cylinder with the second axis to the pelvis member and shaft-coupled to the upper cylinder with the first axis, and a step is formed to lower the lower portion. It may include a lower shaft extending to the pelvic member and forming the same plane in the vertical direction.

Further, the posture support portion is formed long to connect a back support member for supporting the wearer, a waist connection member having a shape extending from the back support member to both sides along the waist of the wearer, and the back support portion and the waist connection member. Vertical pipes may be included.

In addition, the posture support part may include an elastic panel formed elongated in a vertical direction, coupled to the back support member and the waist connection member, and formed with a rail to allow the back support member to move in a vertical direction.

The wearer is formed of an elastic material that can be worn on the torso and limbs of the wearer, is provided to cover a part of the wearer's body, and returns to the initial posture when the wearer moves from the initial posture and assumes a changed posture. can include

In addition, the wearing part is coupled to the posture support part, and the wearer can wear the posture support part together to support the wearer's musculoskeletal structure and provide an auxiliary force.

The wearing part includes a main body including a motor and a wire connected to the motor and extending toward the arms and legs of the wearer, and as the length of the wire decreases according to the driving of the motor, the position of the wearing part is moved and assists the wearer. power can be provided.

The posture assisting wearable suit of the present invention supports the wearer's skeleton and has a multi-joint structure capable of moving together in response to the motion of the wearer's legs, so that the wearer can move comfortably.

1 is a view showing a state of wearing a posture assisting wearable suit according to an embodiment according to the technical idea of the present invention,
2 is a perspective view showing the overall appearance of a skeleton module in a posture assisting wearable suit according to an embodiment according to the technical idea of the present invention;
3 is a view for explaining a state in which a deformable joint part rotates when it has a virtual axis in a posture assisting wearable suit according to an embodiment according to the technical idea of the present invention;
4 is a view for explaining how an upper cylinder and a lower shaft are rotated around a virtual axis in a posture assisting wearable suit according to an embodiment according to the technical concept of the present invention;
5 is a view for explaining a multi-directional joint member relatively rotated in a pelvis member in a posture assisting wearable suit according to an embodiment according to the technical concept of the present invention;
6 is a view showing a state in which a waist connection member is partially extended along the elongation direction in a posture assisting wearable suit according to a modified embodiment according to the technical concept of the present invention;
7 is a view showing a state in which a back support member is provided to be movable up and down along a rail in an elastic panel in a posture assisting wearable suit according to an embodiment according to the technical concept of the present invention.

In order to fully understand the configuration and effects of the present invention, preferred embodiments of the present invention will be described with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be implemented in various forms and various changes may be applied. However, the description of the present embodiments is provided to complete the disclosure of the present invention, and to fully inform those skilled in the art of the scope of the invention to which the present invention belongs. Components in the accompanying drawings may be exaggerated or reduced for convenience of description.

It should be understood that when an element is described as being “on” or “adjacent to” another element, it may be in direct contact with or connected to the other element, but another element may exist in the middle. something to do. On the other hand, when a component is described as being “directly on” or “directly in contact with” another component, it may be understood that another component does not exist in the middle. Other expressions describing the relationship between components, such as "between" and "directly between", can be interpreted similarly.

Terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms may only be used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

Singular expressions include plural expressions unless the context clearly dictates otherwise. The terms "include" or "has" are used to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and includes one or more other features or numbers, It can be interpreted that steps, actions, components, parts, or combinations thereof may be added.

Terms used in the embodiments of the present invention may be interpreted as meanings commonly known to those skilled in the art unless otherwise defined.

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings.

1 to 5 are views of a posture assisting wearable suit according to an embodiment according to the technical idea of the present invention, and to describe the drawings in more detail, FIG. 1 is according to an embodiment according to the technical idea of the present invention Figure 2 is a perspective view showing the overall appearance of a skeleton module in the posture assisting wearable suit according to an embodiment according to the technical idea of the present invention, Figure 3 is a technical idea of the present invention This is a view for explaining how the deformable joint in the posture assisting wearable suit according to an embodiment is rotated when it has a virtual axis, and FIG. It is a view for explaining how the cylinder and the lower shaft are rotated around a virtual axis, and FIG. 5 is a multi-directional joint member that rotates relative to the pelvis member in the posture assisting wearable suit according to an embodiment according to the technical idea of the present invention. It is a drawing for explanation. In FIGS. 1 to 5 , components of the skeleton module 300 are illustrated for convenience of description, and some components may be omitted or exaggerated, unlike actual shapes.

Referring to FIG. 1, in the posture assisting wearable suit according to an embodiment of the present invention, a skeleton module 300 connected to a wearing module 200 worn by the wearer is formed to correspond to the shape of the lower body of the wearer. It is characterized in that it can be rotated or stretched in multiple directions to correspond to the wearer's movement.

The wearing module 200 is formed of a band-shaped stretchable material and can be worn on the wearer's body. In addition, when worn on a joint such as an arm, leg, waist, or the like, and the wearer takes an action in an initial posture, an assistive force assisting in returning to the initial posture may be provided.

Subsequently, the configuration of the skeleton module 300 may largely include a posture support unit 320 and a deformable joint unit 340 .

The posture support part 320 is formed to support the wearer's waist by extending downward from the waist of the wearer, and the transforming joint part 340 extends from the posture support part 320 to both sides toward the pelvis to wrap around the hip joint from the waist of the wearer. It is formed so that the shape can be deformed in multiple directions in response to the movement of the wearer's leg.

Here, the deformable joint part 340 is characterized in that it is formed to support the wearer's legs and move together in response to the movements of the legs moving back and forth and left and right around the wearer's pelvis.

Specifically, the posture support part 320 has a panel-shaped back support member 321 supporting the back and waist, and a vertical pipe 322 is formed long from the back support member 321 to the lower part to support the wearer's waist. can do. Then, it extends to both sides of the deformable joint portion 340 and may be formed long toward the pelvis. Here, the pipeline through which the deformable joint unit 340 extends toward the pelvis has been implemented as having two parallel structures parallel to each other along the vertical direction, but this is only one embodiment and the scope of rights is not limited by being formed of one or more. is of course

Continuing, the deformable joint part 340 includes a waist connection member 324 extending from the posture support part 320 to both sides of the wearer's buttock, and a pelvis member 342 bent toward the wearer's side pelvis from the waist connection member 324 and the pelvis. It may include a multi-directional joint member 344 that rotates relative to the member 342.

Here, the upper part of the vertical pipe 322 is coupled with the back support member 321 to support the back and the waist, and the lower part has a form in which the waist connection member 324 is coupled, and the vertical pipe 322 and the waist connection member ( 324) are disposed in a direction perpendicular to each other, and the vertical pipe 322 formed long up and down and the waist connection member 324 formed long on both sides so as to be perpendicular to it are vertical pipes 322 around the circumference of the waist connection member 324. It may take the form of being fixedly coupled in the form of wrapping. Means for fixed coupling may have various types of coupling means such as bolts and nuts or stud bolts.

Subsequently, the waist connection member 324 and the pelvis member 342 may be integrally formed, and the waist connection member 324 may be disposed on the wearer's waist. In addition, the pelvic member 342 may be bent at both ends of the back support member 321 and extend long toward the pelvis.

The pelvic member 342 extends diagonally downward from the back support member 321 to the pelvis and extends with an inclination in this way to protect the side of the wearer from the waist to the pelvis from external impact.

The multi-directional joint member 344 is formed to be relatively rotatable at the end of the pelvic member 342, so that the wearer can respond to a motion of bending the upper body or moving the legs forward or backward.

Specifically, the multi-directional joint member 344 is formed long and has a circular end, and the pelvic member 342 may also be formed in a circular shape corresponding to the shape of the end of the multi-directional joint member 344, the multi-directional joint The member 344 may be inserted into the pelvic member 342 and rotatably coupled with the second shaft 341 .

At this time, in the form in which the multi-directional joint member 344 is inserted into the pelvis member 342, bearings are formed therebetween to facilitate rotation.

Subsequently, the multi-directional joint member 344 includes an upper cylinder 344a and a lower shaft 344b coupled around the first shaft 345, and the upper cylinder 344a is at the top centering on the first outlet. It is formed and can be rotatably coupled to the pelvic member 342 with the second shaft 341.

In addition, a part of the lower shaft 344b shaft-coupled with the upper cylinder 344a and the second shaft 341 may be formed with a step so that the outer surface is flush with the pelvic member 342 in the vertical direction.

This is to facilitate the movement of the legs under the wearer's pelvis, and while not compressing the wearer's thighs, it forms the same plane as the pelvis member 342 and is structurally perpendicular to the pelvis member 342 and the multidirectional joint member 344. It can be supported firmly against the applied load.

In addition, through the step, the movement of the wearer's legs to spread outward is restricted, and accidents in which leg fractures or ligaments are stretched in the movement of the wearer slipping can be prevented.

Meanwhile, in the second embodiment of the pelvic member 342, the upper end of the end coupled to the upper cylinder 344a may be rotatably formed. Although not shown, it is assumed that there is an imaginary axis perpendicular to the longitudinal direction of the wearer's leg, and the leg may be formed to be rotatable inward or outward around the imaginary axis.

Modifications of the technical idea of the present invention will be described with reference to FIGS. 6 and 7 below.

6 is a view showing a state in which a part of a waist connection member is elongated along a longitudinal direction in a posture assisting wearable suit according to a modified embodiment according to the technical idea of the present invention, and FIG. 7 is an embodiment according to the technical idea of the present invention In the posture assisting wearable suit according to the example, it is a view showing a state in which the elastic panel 326 is provided with a back support member 321 movable up and down along the rail 325.

First, in FIG. 6 , an extension member 323 may be formed such that a part of the waist connection member 324 formed long on both sides along the wearer's waist is stretched.

Both ends of the extension member 323 are connected to the waist connection member 324 inside the waist connection member 324 and may be formed in a screw-bar shape. In addition, a separate rotation lever (not shown) may be provided to narrow or distance the distance between the waist connection members 324 at both ends of the extension member 323 along the thread formed in the extension member 323.

This is to adjust the area when the waist connection member 324 supports the waist corresponding to the wearer's body shape, and the distance between the waist connection members 324 can be adjusted along the extension member 323 by rotating the rotation lever.

Next, in FIG. 7, a panel-shaped elastic panel 326 to which the back support member 321 and the vertical pipe 322 can be coupled is provided.

The elastic panel 326 is formed long in the vertical direction, and a rail 325 is formed along the longitudinal direction. In addition, the back support member 321 may move up and down along the rail 325 . It is common for a position to be fixed in a moved position.

As shown in the above figure, the position of the back support member 321 is adjusted in the vertical direction to support the back corresponding to the length of the wearer's upper body.

In addition, the back support member 321 is coupled to a part corresponding to the back of the wearing module 200, and when the wearer performs an action of standing up from bending the waist, using the elastic force of the wearing module 200 to provide an assisting force. may be

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art can implement the present invention in other specific forms without changing its technical spirit or essential features. You will understand that there is Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

200: wearing module
300: skeleton module
320: posture support
321: back support member
322: vertical pipe
324: waist connection member
325: rail
326: telescopic panel
340: deformable joint
341: second axis
342: pelvic member
344: multi-directional joint member
345: first axis

Claims (10)

A suit that assists the movement of the wearer in response to the shape of the skeleton so as to support the wearer's skeleton,
a posture support portion extending downward from the wearer's waist to support the wearer's waist; and
A deformable joint portion that is bent and extended from the posture support portion to both sides toward the pelvis to surround the hip joint from the waist of the wearer and is capable of shape deformation in multiple directions in response to movements of the wearer's legs,
Characterized in that the deformable joint is provided to move together in response to the movement of the pelvis moving forward and backward and left and right,
Posture-assisted wearable suit. According to claim 1,
The deformable joint part,
A pelvic member that is bent and extended at least once to the wearer's lateral pelvis in the posture support unit, and a multi-directional joint member provided at an end of the pelvis member to be relatively rotatable and deformed in response to the wearer's leg movement. characterized by,
A postural aid wearable suit. According to claim 2,
The pelvis member and the multi-directional joint member are coupled with a second axis so that the multi-directional joint member is bent at the pelvis member in response to motions of the wearer moving the legs forward and backward. ,
A postural aid wearable suit. According to claim 3,
The multi-directional joint member,
Characterized in that it is formed long and a part is axis-coupled around a first axis so as to be bendable, so that the wearer's legs can be moved to both sides around the axis,
A postural aid wearable suit. According to claim 4,
The multi-directional joint member,
An upper cylinder formed at the upper part around the first shaft and rotatably coupled to the pelvis member with a second shaft, and shaft-coupled with the first shaft to the upper cylinder, and a step is formed and extends downward to the pelvis member and the upper cylinder. Including a lower shaft that is coplanar in the vertical direction,
A postural aid wearable suit. According to claim 1,
The posture support part,
A back support member for supporting the wearer, a waist connection member having a shape extending from the back support member to both sides along the waist of the wearer, and a vertical pipe formed long to connect the back support and the waist connection member. characterized in that,
A postural aid wearable suit. According to claim 6,
The posture support part,
characterized in that it includes an elastic panel formed long in the vertical direction, provided to couple the back support member and the waist connection member, and formed with rails so that the back support member can move in the vertical direction.
A postural aid wearable suit. According to claim 1,
It is formed of an elastic material that can be worn on the torso and limbs of the wearer, is provided to cover a part of the wearer's body, and returns to the initial posture when the wearer moves from the initial posture and takes a changed posture. characterized in that,
A postural aid wearable suit. According to claim 8,
The wearing part,
Characterized in that it is provided to be coupled with the posture support unit, and provided so that the wearer can support the musculoskeletal system of the wearer and provide an auxiliary force by wearing it together with the posture support unit.
A postural aid wearable suit. According to claim 9,
The wearing part,
motor;
A body portion including a wire connected to the motor and extending toward the wearer's arms and legs;
Characterized in that the length of the wire is reduced according to the driving of the motor to move the position of the wearable part and provide an auxiliary force to the wearer.
A postural aid wearable suit.

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