KR20230052205A - A reconfigurable motion assist apparatus - Google Patents

Abstract

A reconfigurable exercise assistance apparatus according to one embodiment comprises: a proximal support for supporting the proximal portion of the user; a distal support for supporting the distal portion of the user; an actuator connected to the proximal support and generating power; a main frame including an upper frame detachably provided to the actuator and a lower frame rotatably connected to the upper frame and connected to the distal support portion; an upper mold detachably provided on the upper frame; an upper cover including an upper layer surrounding the upper mold; and a lower cover including a lower mold that is detachably provided on the lower frame and spaced apart from the upper mold, and a lower layer surrounding the lower mold.

Description

A RECONFIGURABLE MOTION ASSIST APPARATUS}

The present invention relates to a reconfigurable exercise assisting device.

Recently, as an aging society intensifies, more and more people complain of pain and discomfort due to joint problems, and interest in assistive devices for helping elderly or patients with joint discomfort to walk smoothly is increasing. Exercise assisting devices may also be worn for the purpose of strengthening muscle strength in a specific part.

An exercise assisting device according to an embodiment includes a proximal support for supporting a proximal portion of a user, a distal support for supporting a distal portion of the user, an actuator connected to the proximal support and generating power, and detachable from the actuator. A main frame including an upper frame provided to be capable of being provided, a lower frame rotatably connected to the upper frame and connected to the distal support, an upper mold detachably provided to the upper frame, and an upper covering the upper mold It may include an upper cover including a layer, a lower mold detachably provided to the lower frame and spaced apart from the upper mold, and a lower cover including a lower layer surrounding the lower mold.

A link rotatably connected to at least one of the upper frame and the lower frame may be further included.

The upper frame and the lower frame may be spaced apart from each other.

A rotating shaft connecting the at least one frame and the link may be further included.

The upper frame includes an upper frame body rotatably connected to the lower frame and a plurality of hook holes formed through the upper frame body, and the upper mold includes an upper mold body covering the upper frame body and a plurality of hooks protruding from the upper mold body and insertable into the plurality of hook holes.

The plurality of hook holes may be spaced apart from each other in a circumferential direction around a rotation axis of the main frame with respect to the proximal support part.

The upper frame may further include a plurality of alignment protrusions protruding from the upper frame body and inserted into the actuator.

In a state in which the plurality of alignment protrusions are inserted into the actuator, the upper frame may cover an outer surface of the actuator.

A mount detachably connected to each of the distal support and the lower frame may be further included.

The mount may include a base connected to the lower frame and a mount body protruding from the base and accommodating at least a portion of the distal support.

The base includes a base plate facing the lower frame and a rod body protruding from the base plate in a first direction and passing through the lower frame, and protruding from the rod body in a second direction crossing the first direction It may include a rod formed and including a rod head provided on the opposite side of the base plate based on the lower frame.

The lower frame may include a lower frame body connected to the base plate and a rod receiving hole formed through the lower frame body and accommodating the rod.

The rod may be slidable along the rod receiving hole.

The lower frame may further include a plurality of ventilation holes formed through the lower frame body.

A lower coupling screw passing through the base plate and the lower frame and coupled to the lower cover may be further included.

An exercise assisting device according to an embodiment includes a proximal support for supporting a proximal portion of a user, a distal support for supporting a distal portion of the user, an actuator connected to the proximal support and generating power, and detachable from the actuator. It may include a main frame including an upper frame, a lower frame rotatably connected to the upper frame and connected to the distal support, and a mount detachably connected to each of the distal support and the lower frame. .

The mount may include a base connected to the lower frame and a mount body protruding from the base and accommodating at least a portion of the distal support.

The base includes a base plate facing the lower frame and a rod body protruding from the base plate in a first direction and passing through the lower frame, and protruding from the rod body in a second direction crossing the first direction It may include a rod formed and including a rod head provided on the opposite side of the base plate based on the lower frame.

The distal support unit is connected to a connector including a strap surrounding the distal portion of the user, a connector arm supporting the strap, and a connector body extending from the connector arm, and the mount, and surrounds the distal portion of the user. may include a housing including a housing body and a guide groove formed on a side surface of the housing body and accommodating the connector body.

The connector body may slide in one direction within the guide groove.

1 is a front perspective view illustrating a user wearing an exercise assistance device according to an exemplary embodiment;
2 is a left side view of a lower frame, an upper cover, a lower cover, and a distal support according to an embodiment.
3 is a front perspective view of a main frame, an upper cover, and a lower cover according to an embodiment.
4 is a right side view of a lower frame, an upper frame, a link, and a rotating shaft according to an embodiment.
5 is a front perspective view of an actuator, an upper frame, an upper mold, and an upper layer according to an embodiment.
6 is a rear perspective view of an actuator, an upper frame, an upper mold, and an upper layer according to an embodiment.
7 is a front perspective view of a distal support, mount, lower frame, lower mold and lower layer according to one embodiment.
8 is a rear perspective view of a distal support, a mount, a lower frame, a lower mold, and a lower layer according to an embodiment.
9 is a front perspective view of a strap, connector, and housing according to one embodiment.
10 is a perspective view illustrating a state in which a connector body slides in a guide groove according to an embodiment.
11 is a left side view schematically illustrating a state in which an exercise assistance device is worn on a user's upper arm according to an embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. However, since various changes can be made to the embodiments, the scope of rights of the patent application is not limited or limited by these embodiments. It should be understood that all changes, equivalents or substitutes to the embodiments are included within the scope of rights.

Terms used in the examples are used for descriptive purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiment belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

In addition, in the description with reference to the accompanying drawings, the same reference numerals are given to the same components regardless of reference numerals, and overlapping descriptions thereof will be omitted. In describing the embodiment, if it is determined that a detailed description of a related known technology may unnecessarily obscure the subject matter of the embodiment, the detailed description will be omitted.

In addition, in describing the components of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element may be directly connected or connected to the other element, but there may be another element between the elements. It should be understood that may be "connected", "coupled" or "connected".

Components included in one embodiment and components having common functions will be described using the same names in other embodiments. Unless stated to the contrary, descriptions described in one embodiment may be applied to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

1 is a front perspective view showing a user wearing an exercise assistance device according to an embodiment, FIG. 2 is a left side view of a lower frame, an upper cover, a lower cover, and a distal support according to an embodiment, and FIG. 3 is a front perspective view of the main frame, upper cover and lower cover according to an embodiment.

Referring to FIGS. 1 to 3 , an exercise assisting device 1 according to an embodiment may be worn on a user to assist the user's exercise. The user may be a human body, animal or robot, but is not limited thereto. The exercise assisting device 1 may assist motion of some joints of the lower body or upper body. For example, the exercise assisting device 1 may assist lower body motion by assisting at least one joint among a hip joint, a knee joint, and an ankle joint. For example, the exercise assisting device 1 may assist upper body motion by assisting at least one joint among a shoulder joint, an elbow joint, and a wrist joint. The exercise assisting device 1 may assist walking by assisting motion of some joints of the user's lower body. Hereinafter, the exercise assisting device 1 will be described based on assisting walking by assisting the user's hip joint motion, but it will be clarified that the worn part and the target joint of the exercise assisting device 1 are not limited thereto. The motion assistance device 1 may include a proximal support unit 91 , a distal support unit 11 , an actuator 12 , a main frame 13 , an upper cover 14 and a lower cover 15 .

In one embodiment, the proximal support 91 and the distal support 11 are disposed opposite each other with respect to a portion of the user to support a proximal part and a distal part, respectively. . For example, the proximal support portion 91 may support the waist and/or pelvis, and the distal support portion 11 may support the thigh, knee, calf, and/or foot. The proximal support 91 may include a detachable belt for supporting the user's waist as a whole. The distal support 11 may include a detachable belt for supporting the user's thigh as a whole.

As another example, the proximal support 91 and the distal support 11 may be disposed on opposite sides of the user's upper arm, and the proximal support 91 may be, for example, the shoulder and / or back ( back) and the like, and the distal support 11 can support, for example, the forearm and the like. For example, proximal support 91 may include a detachable belt to entirely support a user's shoulder, and distal support 11 may include a detachable belt to entirely support a user's forearm or entirely support a user's forearm. It may contain an enclosing structure.

In one embodiment, the proximal support 91 and the distal support 11 are capable of relative movement in the sagittal plane. For example, when the user flexes or extends the hip joint while wearing the exercise assisting device 1, the distal support 11 relatively rotates with respect to the proximal support 91 in the sagittal plane. can do.

In one embodiment, the proximal support 91 and the distal support 11 are capable of relative movement in the frontal plane. For example, when the user performs hip adduction or abduction while wearing the exercise assisting device 1, the distal support 11 relatively rotates with respect to the proximal support 91 on the coronal plane. can do.

In one embodiment, the main frame 13 and the distal support 11 are capable of relative movement in a transverse plane. For example, when the user rotates the thigh while wearing the exercise assisting device 1, the distal support 11 may rotate together with the thigh in a state of being in close contact with the thigh. The distal support 11 is rotatable relative to the main frame 13 . According to such a structure, the user's wearing comfort can be improved.

In one embodiment, actuator 12 may be connected to proximal support 91 and generate power. Actuator 12 may include, for example, a motor and a reducer. The motor may include at least one of a brush motor, a brushless motor, and a stepping motor. The motor may include at least one of an induction motor and a synchronous motor. The reducer may include, for example, a gear train.

In one embodiment, the main frame 13 may transmit power generated by the actuator 12 to the distal support 11 . For example, the main frame 13 may assist a user's hip joint movement. When the output end of the actuator 12 rotates in one direction, the main frame 13 may receive power from the actuator 12 and assist the bending motion of the hip joint. When the output end of the actuator 12 rotates in a direction opposite to one direction, the main frame 13 may receive power from the actuator 12 and assist the extension movement of the hip joint. Although the main frame 13 is described as assisting the hip joint motion, it should be noted that the function of the main frame 13 is not limited thereto. For example, when the exercise assisting device 1 is used to assist movement of upper body joints, the main frame 13 may assist shoulder or elbow joints. The main frame 13 may include an upper frame 131 and a lower frame 132 .

In one embodiment, the upper frame 131 and the lower frame 132 may transmit power generated by the actuator 12 to the distal support 11 . The upper frame 131 may be detachably provided from the actuator 12 . For example, the upper frame 131 may be coupled to an outer surface of the actuator 12 . The upper frame 131 can be separated from the actuator 12 without disassembling the actuator 12 .

In one embodiment, the lower frame 132 is rotatably connected to the upper frame 131 and may be connected to the distal support 11 . The lower frame 132 may have a shape covering a portion of the distal portion of the user. For example, the lower frame 132 may cover a portion of the user's thigh. The length of the lower frame 132 may be longer than that of the upper frame 131 .

In one embodiment, the upper cover 14 may be detachably connected to the upper frame 131 . When the upper cover 14 is damaged or worn, only the upper cover 14 can be separated from the upper frame 131 and replaced. Maintenance and repair costs of the exercise assisting device 1 can be reduced.

In one embodiment, the user can replace the upper cover 14 as needed. A plurality of replaceable upper covers may have the same shape. Individual commercialization of the upper cover may be possible according to various uses. For example, the user may connect an upper cover having a different color to the upper frame 131 according to the color of the clothes worn by the user. For example, the user may connect an upper cover having a different material to the upper frame 131 according to the type of exercise. For example, a user may connect an upper cover to which components having additional functions such as a speed measurement sensor and a motion detection sensor are coupled to the upper frame 131 . A sensor (not shown) may be wirelessly connected to an electronic device to transmit and receive data from the electronic device. The sensor may be controlled through an application installed in an electronic device. The upper cover 14 may include an upper mold 141 and an upper layer 142 .

In one embodiment, the upper mold 141 may be detachably provided to the upper frame 131 . The upper mold 141 may support the upper layer 142 . The upper mold 141 may be positioned between the upper frame 131 and the upper layer 142 . The upper layer 142 may cover the upper mold 141 . The upper layer 142 may be positioned on the outermost surface of the upper cover 14 . The upper layer 142 may be separated from the upper mold 141 .

In one embodiment, upper layer 142 may be customizable. For example, the upper layer 142 may be formed of various materials such as cloth, rubber, and plastic. For example, the upper layer 142 may include various colors or patterns. For example, components having additional functions such as sensors may be added to the upper layer 142 . Components having additional functions added to the material and shape of the upper layer 142 or the upper layer 142 may vary according to the user's exercise type and surrounding environment.

In one embodiment, the lower cover 15 may be detachably connected to the lower frame 132 . The user can replace the lower cover 15 as needed. A plurality of replaceable lower covers may have the same shape. Individual commercialization of the lower cover may be possible according to various uses. The lower cover 15 may include a lower mold 151 and a lower layer 152 .

In one embodiment, the lower mold 151 may be detachably provided from the lower frame 132 . The lower layer 152 may cover the lower mold 151 . The lower layer 152 may be separated from the lower mold 151 .

In one embodiment, in order to reduce the weight of the lower cover 15, at least one hole may be provided on an inner surface of an edge of the lower mold 151. Even when at least one hole is provided in the lower mold 151, the shape of the outer edge of the lower mold 151 may be maintained as it is. The shape of the lower layer 152 surrounding the outer rim of the lower mold 151 may be maintained.

In one embodiment, lower layer 152 may be customizable. The lower layer 152 may have various materials and shapes, or components having additional functions may be added to the lower layer 152 . The material, shape, or components having additional functions of the lower layer 152 may vary according to the user's exercise type and surrounding environment.

In addition to the contents described above, the characteristics of the lower cover 15, the lower mold 151, and the lower layer 152 are the same as those of the upper cover 14, the upper mold 141, and the upper layer 142, respectively, or can be similar

4 is a right side view of a lower frame, an upper frame, a link, and a rotating shaft according to an embodiment.

Referring to FIG. 4 , the upper frame 131 and the lower frame 132 according to an embodiment may be connected in a spaced apart state. For example, a link 16 may be provided between the upper frame 131 and the lower frame 132 and may be connected to rotate relative to the other frame.

In one embodiment, a gap d may be formed between the upper frame 131 and the lower frame 132 . The upper cover 14 may not contact the lower cover 15 . The lower cover 15 can be easily separated from the lower frame 132 . The upper cover 14 can be easily separated from the upper frame 131 . The upper layer may not contact the lower layer. Damage to the upper layer or lower layer due to friction can be reduced.

In one embodiment, one frame may be rotated relative to the other frame. For example, the lower frame 132 may rotate with respect to the upper frame 131 in a direction of adducting the user's hip joint. When the user moves the thigh, only the lower frame 132 supporting the thigh may rotate instead of moving the entire main frame connected to the actuator. The range of motion of the hip joint in the coronal plane can be increased. Flexible movement of the distal portion may be possible. A fit of the exercise assisting device may be improved.

In one embodiment, the user may suddenly move the thigh, such as when the user falls or walks down a steep slope while walking. By rotating the lower frame 132 with respect to the upper frame 131 together with the thighs, the momentary force applied to the main frame can be dispersed. Bending may not occur in the main frame. The main frame may not be deformed.

In one embodiment, one end of the link 16 may be connected to the lower frame 132 . The other end of the link 16 may be connected to the rotation shaft 17 . The other end of the link 16 may have a shape surrounding the rotating shaft 17 . For example, the other end of the link 16 may be a hook shape. Up to now, it has been described that the link 16 is connected to the lower frame 132 and both ends of the rotation shaft 17 are connected to the upper frame 131, but it is not limited thereto. For example, in one embodiment, the link 16 may be connected to the upper frame 131, and both ends of the rotation shaft 17 may be connected to the lower frame 132.

In one embodiment, the rotation shaft 17 may connect the upper frame 131 and the link 16. In a state where both ends of the rotating shaft 17 are accommodated in the grooves formed in the upper frame 131, the rotating shaft 17 may rotate a line connecting both ends as a rotating shaft. The link 16 is connected to the rotation shaft 17 and can rotate together with the rotation shaft 17 . The lower frame 132 may rotate relative to the upper frame 131 . So far, the rotation shaft 17 is described as rotating, but it should be noted that it is not limited thereto. For example, in one embodiment, while the rotation shaft 17 is fixed to the upper frame 131, only the link 16 surrounding the rotation shaft 17 may rotate.

5 is a front perspective view of an actuator, an upper frame, an upper mold, and an upper layer according to an embodiment, and FIG. 6 is a rear perspective view of an actuator, an upper frame, an upper mold, and an upper layer according to an embodiment.

Referring to FIGS. 5 and 6 , the upper frame 131 according to an embodiment may be detachably connected to the actuator 12 and the upper cover, respectively. The upper frame 131 may include an upper frame body 1311 , a hook hole 1312 , and an alignment protrusion 1313 .

In one embodiment, the upper frame body 1311 may be rotatably connected to the lower frame. The upper frame body 1311 has a first hole 1311a through which a first screw 1311c connected to the actuator 12 passes, and a second hole 1311d through which a second screw 1311d connected to the upper mold 141 passes. A hole 1311b may be formed. At least a portion of the first screw 1311c may pass through the first hole 4111 and be connected to the actuator 12 . At least a portion of the second screw 1311d may pass through the second hole 1311b and be connected to the upper mold 141 . While the user is exercising, the upper frame 131 may not be easily separated from the actuator 12 or the upper mold 141 . The user may separate the first screw 1311c or the second screw 1311d from the actuator 12 or the upper mold 141 with or without a tool.

In one embodiment, the hook hole 1312 may be formed through the upper frame body 1311. A plurality of hook holes 1312 may be formed. The plurality of hook holes 1312 may be spaced apart from each other in the circumferential direction around the axis of rotation of the main frame for the proximal support. The hook hole 1312 may have a curved shape.

In one embodiment, the alignment protrusion 1313 may protrude from the upper frame body 1311 and be inserted into the actuator 12 . The plurality of alignment protrusions 1313 may be spaced apart from each other in the circumferential direction around the axis of rotation of the main frame relative to the proximal support. The coupling strength between the upper frame body 1311 and the actuator 12 may increase. In a state where the plurality of alignment protrusions 1313 are inserted into the actuator 12 , the upper frame 131 may cover the outer surface of the actuator 12 . The upper frame body 1311 can be separated from the actuator 12 without disassembling the actuator 12 .

In one embodiment, the upper mold 141 may include an upper mold body 1411 and a plurality of hooks 1412 . The upper mold body 1411 may cover the upper frame body 1311 . An upper groove 1411a in which the second screw 1311d can be accommodated may be provided in the upper mold body 1411 . The second screw 1311d may be accommodated in the upper groove 1411a and may not penetrate the upper mold 141 . The upper layer 142 connected to the upper mold 141 may not be damaged by the second screw 1311d.

In one embodiment, the plurality of hooks 1412 may protrude from the upper mold body 1411 and be inserted into the hook hole 1312 . The bonding strength between the upper frame 131 and the upper mold 141 may be increased without using additional fastening elements. The user may remove the second screw 1311d from the upper groove 1411a, pull out the hook 1412 from the hook hole 1312, and then separate the upper mold 141 from the upper frame 131.

7 is a front perspective view of a distal support, mount, lower frame, lower mold, and lower layer according to an embodiment, and FIG. 8 is a rear perspective view of the distal support, mount, lower frame, lower mold, and lower layer according to an embodiment. am.

7 and 8 , the lower frame 132 according to an embodiment may be detachably connected to the distal support 11 and the lower cover 15, respectively. A mount 18 may be provided between the distal support 11 and the lower frame 132 .

In one embodiment, the mount 18 may be detachably connected to the distal support 11 and the lower frame 132, respectively. The mount 18 may be provided between the distal support 11 and the lower frame 132 . Mount 18 may have a hollow cylinder shape. The mount 18 and the distal support 11 may be connected through a ball joint coupling structure. Distal support 11 is rotatable while connected to mount 18 . The distal part supported by the distal support 11 can rotate relative to the main frame. Flexible movement of the distal portion may be possible.

In one embodiment, when a force equal to or greater than a predetermined magnitude is applied to the distal support 11 in a direction away from the mount 18 , the distal support 11 may be separated from the mount 18 . The distal portion can move without being constrained by the lower frame 132 . The distal part of the user can be protected from momentary external forces. Breakage or failure of exercise assisting devices can be reduced.

In one embodiment, the mount 18 and the lower frame 132 may be connected using a rod 1812 and a lower coupling screw 19. Through the rod 1812, the contact state of the mount 18 to the lower frame 132 can be maintained. After that, the lower coupling screw 19 passes through the lower frame 132 and the mount 18, and the lower frame 132 can be fixed to the mount 18. The mount 18 may include a base 181 and a mount body 182 .

In one embodiment, the base 181 may be connected to the lower frame 132. The base 181 may support the mount body 182 . The mount body 182 protrudes from the base 181 and may accommodate at least a portion of the distal support 11 . Mount body 182, for example, may have a column shape having a hollow in the central portion. The base 181 may include a base plate 1811 and a rod 1812 .

In one embodiment, the base plate 1811 may face the lower frame 132. The rod 1812 may include a rod body 1812a and a rod head 1812b. The rod body 1812a may protrude from the base plate 1811 in a first direction and pass through a rod receiving hole 1321 penetrating the lower frame 132 . The first direction may be a direction from the base plate 1811 toward the lower frame 132 . The rod head 1812b may protrude in a second direction crossing the first direction. The rod head 1812b may be provided on the opposite side of the base plate 1811 with respect to the lower frame 132 . After the rod head 1812b passes through the rod receiving hole 1321, the mount 18 can rotate in the second direction. The rod head 1812b may slide along the rod receiving hole 1321 . The rod head 1812b may remain supported by the lower frame 132 . A plurality of rods 1812 and rod receiving holes 1321 may be provided.

In one embodiment, in a state where the mount 18 is supported by the lower frame 132, the lower coupling screw 19 penetrates the base plate 1811 and the lower frame 132, and to the lower mold 151 It may be connected to the formed lower groove 1511. The lower coupling screw 19 may not penetrate the lower mold 151 . The lower layer 152 connected to the lower mold 151 may not be damaged by the lower coupling screw 5112 .

In one embodiment, the lower frame 132 may further include a lower frame body 1322 and a ventilation hole 1323. The lower frame body 1322 may be connected to the base plate 1811. Ventilation holes 1323 are formed through the lower frame body 1322, and the weight of the lower frame body 1322 may be reduced. The production cost of motion aids can be reduced. A plurality of ventilation holes 1323 may be provided along the distal portion. Air circulation is increased in the distal portion through the ventilation hole 1323, so that the wearing comfort of the exercise assistance device can be improved.

9 is a front perspective view of a strap, a connector, and a housing according to an embodiment, and FIG. 10 is a perspective view showing a connector body sliding in a guide groove according to an embodiment.

Referring to FIGS. 9 and 10 , the distal support 11 according to an embodiment may include a strap 111 , a connector 112 and a housing 113 . The strap 111 may be detachably connected to the housing 113 .

In one embodiment, strap 111 may surround and support the distal portion of the user. Strap 111 may be a detachable belt that wraps around the user's distal portion. The material of the strap 111 may be rubber, leather, cotton or polyester. However, it should be noted that the material of the strap 111 is not necessarily limited thereto.

In one embodiment, the connector 112 may connect the strap 111 and the housing 113. The connector 112 may be provided between the strap 111 and the housing 113 . The connector 112 may include a connector body 1121 and a connector arm 1122 . The connector body 1121 may be connected to the housing 113 . The connector arm 1122 may extend from the connector body 1121 and support the strap 111 . The strap 111 may pass through a hole formed between the connector body 1121 and the connector arm 1122 and cover the connector arm 1122 . Two connectors 112 may be provided. Both ends of the strap 111 may be supported by a connector arm 1122 .

In one embodiment, the housing 113 is connected to the mount and may assist in relative movement of the distal portion to the lower frame. The housing 113 may include a housing body 1131 and a guide groove 1132 .

In one embodiment, the housing body 1131 may surround a distal portion of the user. Guide grooves 1132 are formed on both sides of the housing body 1131 and may accommodate the connector body 1121 . A gap between the guide grooves 1132 may be smaller than the thickness of the connector body 1121 . The connector body 1121 may remain connected to the housing 113 without departing from the gap between the guide grooves 1132 . For example, the connector body 1121 may be connected to the housing 113 through a surface structure including a curved surface. For example, the connector body 1121 may be formed of a magnetic material and connected to the housing 113 .

In one embodiment, a force equal to or greater than a preset magnitude may be applied to the connector body 1121 in a direction (A) parallel to the guide groove 1132 and away from the ground. The connector body 211 can slide in the guide groove 1132. The connector 112 may be separated from the housing 113 . Strap 111 may be separated from housing 113 .

In one embodiment, individual commercialization of the strap 111 may be possible according to various uses. The connector body 1121 may be accommodated in the guide groove 1132 again in parallel with the guide groove 1132 and slide in a direction closer to the ground. The user may replace the strap 111 according to the purpose. For example, a user may connect a strap 111 having a different color, material, or function to the housing 113 . For example, a sensor (not shown) may be attached to the strap 111 or the housing 113 .

In one embodiment, the sensor may be a wireless pressure sensor capable of measuring energy generated by the user during exercise and utilizing the measured data during walking and exercise. The sensor may be a wireless Inertial Measurement Unit (IMU) sensor that measures the angular velocity of the user's hip joint and enhances the motion monitoring function. The sensor may be a sensor that generates LED lights during nighttime exercise or provides vibration feedback to the user during exercise. The color and material of the strap 111 or the type of sensor attached to the strap 111 may vary according to the user's exercise type and surrounding environment. The sensor may be wirelessly connected to an electronic device to exchange data with the electronic device. The sensor may be controlled through an application installed in an electronic device.

11 is a left side view schematically illustrating a state in which an exercise assistance device is worn on a user's upper arm according to an embodiment.

Referring to FIG. 11 , the exercise assistance device 2 may be mounted on the upper arm of the user U. For example, the distal support 21 of the exercise assisting device 2 may enclose and support the forearm of the user U as a whole. The actuator 22 may be provided near the shoulder of the user U. The main frame 23 may be connected to the actuator 22 and disposed along the upper arm of the user U.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.

Claims (20)

a proximal support for supporting a user's proximal portion;
a distal support for supporting a distal portion of the user;
an actuator connected to the proximal support and generating power;
a main frame including an upper frame detachably attached to the actuator and a lower frame rotatably connected to the upper frame and connected to the distal support;
an upper cover including an upper mold detachably provided from the upper frame and an upper layer surrounding the upper mold; and
a lower cover including a lower mold detachably provided to the lower frame and spaced apart from the upper mold, and a lower layer surrounding the lower mold;
Exercise aids comprising a.
According to claim 1,
Exercise assistance device further comprising a link rotatably connected to at least one of the upper frame and the lower frame.
According to claim 2,
The upper frame and the lower frame are exercise assisting devices that are spaced apart from each other.
According to claim 3,
Motion assistance device further comprising a rotating shaft connecting the at least one frame and the link.
According to claim 1,
The upper frame includes an upper frame body rotatably connected to the lower frame and a plurality of hook holes formed through the upper frame body,
The upper mold includes an upper mold body covering the upper frame body, and a plurality of hooks protruding from the upper mold body and insertable into the plurality of hook holes.
According to claim 5,
The plurality of hook holes are provided in a state spaced apart from each other in a circumferential direction around a rotational axis of the main frame with respect to the proximal support.
According to claim 5,
The upper frame further comprises a plurality of alignment protrusions protruding from the upper frame body and inserted into the actuator.
According to claim 7,
In a state in which the plurality of alignment protrusions are inserted into the actuator, the upper frame covers an outer surface of the actuator.
According to claim 1,
Further comprising a mount detachably connected to each of the distal support and the lower frame, exercise assistance device.
According to claim 9,
The mount is
a base connected to the lower frame; and
And a mount body protruding from the base and accommodating at least a portion of the distal support, exercise assistance device.
According to claim 10,
The base is
a base plate facing the lower frame; and
A rod body that protrudes from the base plate in a first direction and can pass through the lower frame, and a rod body that protrudes from the rod body in a second direction crossing the first direction and is opposite the base plate with respect to the lower frame A rod including a rod head provided on;
Exercise aids comprising a.
According to claim 11,
The lower frame includes a lower frame body connected to the base plate, and a rod receiving hole formed through the lower frame body and accommodating the rod.
According to claim 12,
The rod may slide along the rod receiving hole.
According to claim 12,
The lower frame further includes a plurality of ventilation holes formed through the lower frame body.
According to claim 11,
The motion assistance device further comprises a lower coupling screw that passes through the base plate and the lower frame and is coupled to the lower cover.
a proximal support for supporting a user's proximal portion;
a distal support for supporting a distal portion of the user;
an actuator connected to the proximal support and generating power;
a main frame including an upper frame detachably attached to the actuator and a lower frame rotatably connected to the upper frame and connected to the distal support; and
Exercise assisting device including a mount detachably connected to each of the distal support and the lower frame.
17. The method of claim 16,
The mount is
a base connected to the lower frame; and
Protruding from the base and including a mount body accommodating at least a portion of the distal support, exercise assistance device.
18. The method of claim 17,
The base is
a base plate facing the lower frame; and
A rod body that protrudes from the base plate in a first direction and can pass through the lower frame, and a rod body that protrudes from the rod body in a second direction crossing the first direction and is opposite the base plate with respect to the lower frame A rod including a rod head provided on;
Exercise aids comprising a.
17. The method of claim 16,
The distal support,
a strap surrounding the distal portion of the user;
a connector including a connector arm supporting the strap and a connector body extending from the connector arm; and
a housing including a housing body connected to the mount and surrounding a distal portion of the user, and a guide groove formed on a side surface of the housing body and accommodating the connector body;
Including, exercise aids.
According to claim 19,
Wherein the connector body is slidable in one direction within the guide groove.

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