US20190289934A1 - Wearable soft exoskeleton suit - Google Patents
Wearable soft exoskeleton suit Download PDFInfo
- Publication number
- US20190289934A1 US20190289934A1 US16/249,354 US201916249354A US2019289934A1 US 20190289934 A1 US20190289934 A1 US 20190289934A1 US 201916249354 A US201916249354 A US 201916249354A US 2019289934 A1 US2019289934 A1 US 2019289934A1
- Authority
- US
- United States
- Prior art keywords
- width
- driving portion
- thickness
- unit
- exoskeleton suit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
- 239000012530 fluid Substances 0.000 claims abstract description 16
- 230000008602 contraction Effects 0.000 claims abstract description 9
- 238000007599 discharging Methods 0.000 claims abstract description 3
- 210000003205 muscle Anatomy 0.000 description 4
- 238000005452 bending Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 229920003002 synthetic resin Polymers 0.000 description 2
- 239000000057 synthetic resin Substances 0.000 description 2
- 208000029578 Muscle disease Diseases 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000004753 textile Substances 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D27/00—Details of garments or of their making
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
-
- A—HUMAN NECESSITIES
- A41—WEARING APPAREL
- A41D—OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A41D2500/00—Materials for garments
- A41D2500/50—Synthetic resins or rubbers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Definitions
- the present invention relates to a wearable soft exoskeleton suit of an exoskeleton apparatus which is worn in a human body to provide a force for assisting a muscle power.
- an exoskeleton apparatus is also referred to as a wearable robot and is an apparatus for enhancing a muscle power of a user who wears the same.
- Such an exoskeleton apparatus can be divided into an upper body exoskeleton apparatus for an upper body movement and a lower body exoskeleton apparatus for a lower body movement.
- a conventional exoskeleton apparatus includes a plurality of metallic structures, a joint connecting the metallic structures, a detector for detecting movements, and a driving portion such as a motor for driving the joint or the like. Accordingly, the detector detects the motion of the user, and the joint corresponding to the detection motion is driven so that the metallic structures assists a muscle power.
- the conventional exoskeleton apparatus moves the metallic structures using a mechanical force, there are problems in that the total weight is increased and also rapid and soft movements are impossible.
- the conventional exoskeleton apparatus causes an exhaustion of physical strength of a user or a constraint on a movement of a user.
- the present invention has been made in an effort to provide a wearable soft exoskeleton suit which can be easily fabricated and has an enhanced stiffness adjustment characteristic.
- a wearable soft exoskeleton suit includes: a driving portion which is configured to expand and contract in response to supplying and discharging of fluid; and an adjustable stiffness patch which is connected to the driving portion and is configured to undergo a shape change in response to an expansion and a contraction of the driving portion so as to have an adjusted stiffness.
- the adjustable stiffness patch may include a plurality of unit auxetic structure cells which are connected to one another and are respectively configured to undergo an expansion and a contraction in a width-direction in response to the expansion and the contraction of the driving portion.
- the plurality of the unit auxetic structure cells are connected to one another so as to form a lattice structure.
- the unit auxetic structure cell may have a cross chiral honeycomb structure.
- the unit auxetic structure cell may include a plurality of width-direction elongation stems and a plurality of thickness-direction elongation stems which respectively cross the width-direction elongation stem.
- the width-direction elongation stem may include a plurality of first and second width-direction inclined portions which are inclined in opposite directions and a plurality of width-direction connecting portions which connect the first and second width-direction inclined portions and are respectively inclined with respect to the first and second width-direction inclined portions to form an angle therebetween.
- the thickness-direction elongation stem may include a plurality of first and second thickness-direction inclined portions which are inclined in opposite directions and respectively cross the first and the second width-direction inclined portions and a plurality of thickness-direction connecting portions which connect the first and second thickness-direction inclined portions and are respectively inclined with respect to the first and second thickness-direction inclined portions to form an angle therebetween.
- the unit auxetic structure cell may further include a plurality of inner connecting stems which connect the width-direction elongation stem and the thickness-direction elongation stem together.
- the adjustable stiffness patch may include a plurality of unit patches, and wherein the driving portion is formed as air tubes which are respectively elongated along both sides and along a center line of the unit patch.
- the unit auxetic structure cell since the unit auxetic structure cell includes a plurality of width-direction elongation stems and a plurality of thickness-direction elongation stems, it can be easily fabricated and also has an enhanced stiffness adjustment characteristic.
- FIG. 1 schematically shows a wearable soft exoskeleton suit according to an embodiment of the present invention which is worn on a user.
- FIG. 2 shows examples of a driving portion and a adjustable stiffness patch of a wearable soft exoskeleton suit according to an embodiment of the present invention.
- FIG. 3 shows an example that unit expansion structure cells of an adjustable stiffness patch of a wearable soft exoskeleton suit according to an embodiment of the present invention are arranged in a lattice type.
- FIG. 4 shows a width-direction elongation stem and a thickness-direction elongation stem of a unit expansion cell of a wearable soft exoskeleton suit according to an embodiment of the present invention.
- a wearable soft exoskeleton suit according to an embodiment of the present invention is formed to have a shape which can be worn by a person.
- the wearable soft exoskeleton suit is formed to have adjustable stiffness and can regulate the stiffness according to the necessity so assist a muscle power.
- a wearable soft exoskeleton suit includes a driving portion 10 and an adjustable stiffness patch 20 .
- the adjustable stiffness patch 20 may be disposed at areas where the adjustment of the stiffness is required in a state of being worn in a human body, and the driving portion 10 may be formed to fill a space between the adjustable stiffness patch 20 . Meanwhile, the driving portion 10 may be formed to be inserted into the adjustable stiffness patch 20 .
- the driving portion 10 is configured to expand and contract depending on the supply and the discharge of fluid.
- the fluid may be any fluid such as air, oil or the like.
- the driving portion 10 may be formed to be supplied with the fluid and to expand and contract in response to the supply and the discharge of the fluid.
- the driving portion 10 may be formed of material such as rubber or synthetic resin which can allow a change of a shape and can maintain a fluid sealing.
- a fluid supplying device which supplies fluid to the driving portion 10 and receives fluid discharged from the driving portion 10 .
- the fluid supplying device may be an air pump.
- valves, a storage for regulating the supply and the discharge of the fluid may be provided.
- Such a fluid supplying device, valves, storages or the like may be attached to a soft exoskeleton suit.
- the adjustable stiffness patch 20 is connected to the driving portion 10 and undergoes the change of its shape in response to the expansion and the contraction of the driving portion 10 so as to have an adjusted stiffed. For example, if the driving portion 10 expands, the adjustable stiffness patch 20 may contract so that the parts constituting the adjustable stiffness patch 20 become closer to one another so that a bending stiffness is increased. On the other hand, if the driving portion 10 contracts, the adjustable stiffness patch 20 may expand so that the parts constituting the adjustable stiffness patch 20 become farther from one another so that a bending stiffness is decreased.
- the adjustable stiffness patch 20 may be formed by a plurality of unit patches 21 of a honeycomb shape.
- the respective unit patch 21 may approximately have a hexagonal shape
- the driving portion 10 in a type of an air tube may be disposed at both sides and along a center line thereof.
- the driving portion 10 may be supplied with air via an air supplying tube 31 .
- FIG. 2 shows the state that the driving portion 10 is not supplied with air in (a) and the state that the driving portion 10 is supplied with air so as to be expanded in (b).
- the driving portion 10 expands in a width direction by an air supply to the driving portion 10 , the driving portion 10 expands to be increased in a width direction, and thereby the adjustable stiffness patch 20 disposed between the driving portion 10 is contracted to undergo the change of the stiffness.
- the adjustable stiffness patch 20 includes a plurality of unit auxetic structure cells 23 which are connected to one another.
- the unit auxetic structure cell 23 is configured to be contracted or expanded in a width direction (X axis direction or Y axis direction in FIG. 3 ) in response to the expansion and the contraction of the driving portion 10 .
- FIG. 3 exemplarily shows that nine unit auxetic structure cells 23 are disposed in 3 by 3 lattice shape, the number and the arrangement of the unit auxetic structure cell are not limited thereto.
- the adjustable stiffness patch 20 may be attached to an inner surface of a soft cover of textile or synthetic resin.
- the unit auxetic structure cell 23 may be formed to have a cross nonsymmetrical honeycomb structure, i.e., a cross chiral honeycomb structure. Due to this structure, the stiffness adjustment characteristics as well as the productability can be enhanced.
- the unit auxetic structure cell 23 may be formed of a meta-material having a negative Poisson's ratio.
- the unit auxetic structure cell 23 includes a plurality of width-direction stems 231 and a plurality of thickness-direction elongation stem 232 .
- the width-direction elongation stem 231 approximately extends along a width direction (X axis direction or Y axis direction in FIG. 3 )
- the thickness-direction elongation stem 232 approximately extends along a thickness direction (Z axis direction in FIG. 3 ).
- the width-direction elongation stem 231 may include a first and a second width-direction inclined portion 2311 and 2312 which are inclined in opposite directions, and a width-direction connecting portion 2313 which connects the first and second width-direction inclined portions 2311 and 2312 .
- the width-direction connecting portion 2313 is inclined respectively with respect to the first and second width-direction inclined portions 2311 and 2312 by an angle of 81 .
- the thickness-direction elongation stem 232 may include a first and a second thickness-direction inclined portion 2321 and 2322 which are inclined in opposite directions, and a thickness-direction connecting portion 2323 which connects the first and second thickness-direction inclined portions 2321 and 2322 .
- the thickness-direction connecting portion 2323 is inclined respectively with respect to the first and second thickness-direction inclined portions 2321 and 2322 by an angle of 82 .
- the unit auxetic structure cell 23 may further include a plurality of inner connecting stems 233 which connect the width-direction elongation stem 231 and the thickness-direction elongation stem 232 together.
- the unit auxetic structure cell 23 has the above-described structure, it has an enhanced stiffness adjustment characteristic as well as an enhanced productability.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Textile Engineering (AREA)
- Rehabilitation Tools (AREA)
- Prostheses (AREA)
Abstract
A wearable soft exoskeleton suit according to an embodiment of the present invention includes: a driving portion which is configured to expand and contract in response to supplying and discharging of fluid; and an adjustable stiffness patch which is connected to the driving portion and is configured to undergo a shape change in response to an expansion and a contraction of the driving portion so as to have an adjusted stiffness.
Description
- This application claims priority to and the benefit of Korean Patent Application No. 10-2018-0033229 filed in the Korean Intellectual Property Office on Mar. 22, 2018, the entire contents of which are incorporated herein by reference.
- The present invention relates to a wearable soft exoskeleton suit of an exoskeleton apparatus which is worn in a human body to provide a force for assisting a muscle power.
- Generally, an exoskeleton apparatus is also referred to as a wearable robot and is an apparatus for enhancing a muscle power of a user who wears the same. Such an exoskeleton apparatus can be divided into an upper body exoskeleton apparatus for an upper body movement and a lower body exoskeleton apparatus for a lower body movement.
- Recently various exoskeleton apparatus which can be used for various purposes of assisting handicapped persons or old people, a rehabilitation treatment of a muscle disease patient, assisting soldiers carrying heavy gear, and moving heavy load in an industrial field have been developed.
- A conventional exoskeleton apparatus includes a plurality of metallic structures, a joint connecting the metallic structures, a detector for detecting movements, and a driving portion such as a motor for driving the joint or the like. Accordingly, the detector detects the motion of the user, and the joint corresponding to the detection motion is driven so that the metallic structures assists a muscle power.
- However, the conventional exoskeleton apparatus moves the metallic structures using a mechanical force, there are problems in that the total weight is increased and also rapid and soft movements are impossible.
- Further, due to these reasons, the conventional exoskeleton apparatus causes an exhaustion of physical strength of a user or a constraint on a movement of a user.
- 1. Korea Patent Registration No. 10-1315199 (2013.09.30)
- 2. Japan Patent Publication No. 2016-154850 (2016.09.01.)
- 3. Korea Patent Publication No. 10-2007-0115052 (2007.12.05.)
- The present invention has been made in an effort to provide a wearable soft exoskeleton suit which can be easily fabricated and has an enhanced stiffness adjustment characteristic.
- A wearable soft exoskeleton suit according to an embodiment of the present invention includes: a driving portion which is configured to expand and contract in response to supplying and discharging of fluid; and an adjustable stiffness patch which is connected to the driving portion and is configured to undergo a shape change in response to an expansion and a contraction of the driving portion so as to have an adjusted stiffness.
- The adjustable stiffness patch may include a plurality of unit auxetic structure cells which are connected to one another and are respectively configured to undergo an expansion and a contraction in a width-direction in response to the expansion and the contraction of the driving portion.
- The plurality of the unit auxetic structure cells are connected to one another so as to form a lattice structure.
- The unit auxetic structure cell may have a cross chiral honeycomb structure.
- The unit auxetic structure cell may include a plurality of width-direction elongation stems and a plurality of thickness-direction elongation stems which respectively cross the width-direction elongation stem. The width-direction elongation stem may include a plurality of first and second width-direction inclined portions which are inclined in opposite directions and a plurality of width-direction connecting portions which connect the first and second width-direction inclined portions and are respectively inclined with respect to the first and second width-direction inclined portions to form an angle therebetween. The thickness-direction elongation stem may include a plurality of first and second thickness-direction inclined portions which are inclined in opposite directions and respectively cross the first and the second width-direction inclined portions and a plurality of thickness-direction connecting portions which connect the first and second thickness-direction inclined portions and are respectively inclined with respect to the first and second thickness-direction inclined portions to form an angle therebetween.
- The unit auxetic structure cell may further include a plurality of inner connecting stems which connect the width-direction elongation stem and the thickness-direction elongation stem together.
- The adjustable stiffness patch may include a plurality of unit patches, and wherein the driving portion is formed as air tubes which are respectively elongated along both sides and along a center line of the unit patch.
- According to the present invention, since the unit auxetic structure cell includes a plurality of width-direction elongation stems and a plurality of thickness-direction elongation stems, it can be easily fabricated and also has an enhanced stiffness adjustment characteristic.
-
FIG. 1 schematically shows a wearable soft exoskeleton suit according to an embodiment of the present invention which is worn on a user. -
FIG. 2 shows examples of a driving portion and a adjustable stiffness patch of a wearable soft exoskeleton suit according to an embodiment of the present invention. -
FIG. 3 shows an example that unit expansion structure cells of an adjustable stiffness patch of a wearable soft exoskeleton suit according to an embodiment of the present invention are arranged in a lattice type. -
FIG. 4 shows a width-direction elongation stem and a thickness-direction elongation stem of a unit expansion cell of a wearable soft exoskeleton suit according to an embodiment of the present invention. - Embodiments of the present invention will be described in detail with reference to the accompanying drawings hereinafter.
- As shown in
FIG. 1 , a wearable soft exoskeleton suit according to an embodiment of the present invention is formed to have a shape which can be worn by a person. The wearable soft exoskeleton suit is formed to have adjustable stiffness and can regulate the stiffness according to the necessity so assist a muscle power. - A wearable soft exoskeleton suit according to an embodiment of the present invention includes a
driving portion 10 and anadjustable stiffness patch 20. As shown inFIG. 1 , theadjustable stiffness patch 20 may be disposed at areas where the adjustment of the stiffness is required in a state of being worn in a human body, and thedriving portion 10 may be formed to fill a space between theadjustable stiffness patch 20. Meanwhile, thedriving portion 10 may be formed to be inserted into theadjustable stiffness patch 20. - The
driving portion 10 is configured to expand and contract depending on the supply and the discharge of fluid. The fluid may be any fluid such as air, oil or the like. Thedriving portion 10 may be formed to be supplied with the fluid and to expand and contract in response to the supply and the discharge of the fluid. For example, thedriving portion 10 may be formed of material such as rubber or synthetic resin which can allow a change of a shape and can maintain a fluid sealing. Meanwhile, not shown inFIG. 1 , a fluid supplying device which supplies fluid to thedriving portion 10 and receives fluid discharged from thedriving portion 10. For example, in case that the fluid is air, the fluid supplying device may be an air pump. Also, valves, a storage for regulating the supply and the discharge of the fluid may be provided. Such a fluid supplying device, valves, storages or the like may be attached to a soft exoskeleton suit. - The
adjustable stiffness patch 20 is connected to thedriving portion 10 and undergoes the change of its shape in response to the expansion and the contraction of thedriving portion 10 so as to have an adjusted stiffed. For example, if thedriving portion 10 expands, theadjustable stiffness patch 20 may contract so that the parts constituting theadjustable stiffness patch 20 become closer to one another so that a bending stiffness is increased. On the other hand, if thedriving portion 10 contracts, theadjustable stiffness patch 20 may expand so that the parts constituting theadjustable stiffness patch 20 become farther from one another so that a bending stiffness is decreased. - As shown in a dotted oval, the
adjustable stiffness patch 20 may be formed by a plurality ofunit patches 21 of a honeycomb shape. At this time, as shown inFIG. 2 , therespective unit patch 21 may approximately have a hexagonal shape, thedriving portion 10 in a type of an air tube may be disposed at both sides and along a center line thereof. Thedriving portion 10 may be supplied with air via an air supplying tube 31.FIG. 2 shows the state that thedriving portion 10 is not supplied with air in (a) and the state that thedriving portion 10 is supplied with air so as to be expanded in (b). In case that thedriving portion 10 expands in a width direction by an air supply to thedriving portion 10, thedriving portion 10 expands to be increased in a width direction, and thereby theadjustable stiffness patch 20 disposed between thedriving portion 10 is contracted to undergo the change of the stiffness. - Hereinafter, referring to
FIG. 3 andFIG. 4 , the detailed structure of theadjustable stiffness patch 20 according to an embodiment of the present invention will be described. - Referring to
FIG. 3 , theadjustable stiffness patch 20 includes a plurality of unitauxetic structure cells 23 which are connected to one another. The unitauxetic structure cell 23 is configured to be contracted or expanded in a width direction (X axis direction or Y axis direction inFIG. 3 ) in response to the expansion and the contraction of thedriving portion 10. AlthoughFIG. 3 exemplarily shows that nine unitauxetic structure cells 23 are disposed in 3 by 3 lattice shape, the number and the arrangement of the unit auxetic structure cell are not limited thereto. At this time, not explicitly shown in the drawing, theadjustable stiffness patch 20 may be attached to an inner surface of a soft cover of textile or synthetic resin. - The unit auxetic
structure cell 23 may be formed to have a cross nonsymmetrical honeycomb structure, i.e., a cross chiral honeycomb structure. Due to this structure, the stiffness adjustment characteristics as well as the productability can be enhanced. For example, the unitauxetic structure cell 23 may be formed of a meta-material having a negative Poisson's ratio. - Referring to
FIG. 3 andFIG. 4 , the unitauxetic structure cell 23 includes a plurality of width-direction stems 231 and a plurality of thickness-direction elongation stem 232. Referring toFIG. 3 , the width-direction elongation stem 231 approximately extends along a width direction (X axis direction or Y axis direction inFIG. 3 ), and the thickness-direction elongation stem 232 approximately extends along a thickness direction (Z axis direction inFIG. 3 ). - The width-direction elongation stem 231 may include a first and a second width-direction
inclined portion direction connecting portion 2313 which connects the first and second width-directioninclined portions direction connecting portion 2313 is inclined respectively with respect to the first and second width-directioninclined portions - Similarly, the thickness-direction elongation stem 232 may include a first and a second thickness-direction
inclined portion direction connecting portion 2323 which connects the first and second thickness-directioninclined portions direction connecting portion 2323 is inclined respectively with respect to the first and second thickness-directioninclined portions - Meanwhile, the unit
auxetic structure cell 23 may further include a plurality of inner connecting stems 233 which connect the width-direction elongation stem 231 and the thickness-direction elongation stem 232 together. - Since the unit
auxetic structure cell 23 has the above-described structure, it has an enhanced stiffness adjustment characteristic as well as an enhanced productability. - While this invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (7)
1. A wearable soft exoskeleton suit comprising:
a driving portion which is configured to expand and contract in response to supplying and discharging of fluid; and
an adjustable stiffness patch which is connected to the driving portion and is configured to undergo a shape change in response to an expansion and a contraction of the driving portion so as to have an adjusted stiffness.
2. The wearable soft exoskeleton suit of claim 1 , wherein the adjustable stiffness patch comprises a plurality of unit auxetic structure cells which are connected to one another and are respectively configured to undergo an expansion and a contraction in a width-direction in response to the expansion and the contraction of the driving portion.
3. The wearable soft exoskeleton suit of claim 2 , wherein the plurality of the unit auxetic structure cells are connected to one another so as to form a lattice structure.
4. The wearable soft exoskeleton suit of claim 2 , wherein the unit auxetic structure cell has a cross chiral honeycomb structure.
5. The wearable soft exoskeleton suit of claim 2 , wherein the unit auxetic structure cell comprises a plurality of width-direction elongation stems and a plurality of thickness-direction elongation stems which respectively cross the width-direction elongation stem,
wherein the width-direction elongation stem comprises a plurality of first and second width-direction inclined portions which are inclined in opposite directions and a plurality of width-direction connecting portions which connect the first and second width-direction inclined portions and are respectively inclined with respect to the first and second width-direction inclined portions to form an angle therebetween, and
wherein the thickness-direction elongation stem comprises a plurality of first and second thickness-direction inclined portions which are inclined in opposite directions and respectively cross the first and the second width-direction inclined portions and a plurality of thickness-direction connecting portions which connect the first and second thickness-direction inclined portions and are respectively inclined with respect to the first and second thickness-direction inclined portions to form an angle therebetween.
6. The wearable soft exoskeleton suit of claim 5 , wherein the unit auxetic structure cell further comprises a plurality of inner connecting stems which connect the width-direction elongation stem and the thickness-direction elongation stem together.
7. The wearable soft exoskeleton suit of claim 1 , wherein the adjustable stiffness patch comprises a plurality of unit patches, and wherein the driving portion is formed as air tubes which are respectively elongated along both sides and along a center line of the unit patch.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2018-0033229 | 2018-03-22 | ||
KR1020180033229A KR101875732B1 (en) | 2018-03-22 | 2018-03-22 | Wearable soft exoskeleton suit |
Publications (1)
Publication Number | Publication Date |
---|---|
US20190289934A1 true US20190289934A1 (en) | 2019-09-26 |
Family
ID=62921061
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US16/249,354 Abandoned US20190289934A1 (en) | 2018-03-22 | 2019-01-16 | Wearable soft exoskeleton suit |
Country Status (2)
Country | Link |
---|---|
US (1) | US20190289934A1 (en) |
KR (1) | KR101875732B1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10636260B1 (en) * | 2019-01-31 | 2020-04-28 | Facebook Technologies, Llc | Wearable devices with fluidic mechanisms |
RU2734183C1 (en) * | 2020-02-05 | 2020-10-13 | Вячеслав Сергеевич Перфильев | Training suit with directional load |
CN113262082A (en) * | 2021-04-29 | 2021-08-17 | 四川大学 | Implant prosthesis with negative Poisson ratio effect for bone repair |
US11684104B2 (en) | 2019-05-21 | 2023-06-27 | Bauer Hockey Llc | Helmets comprising additively-manufactured components |
US11779821B2 (en) | 2014-05-13 | 2023-10-10 | Bauer Hockey Llc | Sporting goods including microlattice structures |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR101978715B1 (en) * | 2018-12-24 | 2019-05-16 | 이동찬 | Fabric structure used for fabrication of wearable soft exoskeleton suit and wearable soft exoskeleton suit fabricated by the same |
CN110238830B (en) * | 2019-07-22 | 2022-02-18 | 哈尔滨工业大学 | Shape memory polymer-based zero-Poisson-ratio multistable stretching arm |
KR102443715B1 (en) * | 2020-09-11 | 2022-09-14 | 계명대학교 산학협력단 | A manufacturing method of metastructures for improving variablestiffness properties and wearable suit using it |
KR102484911B1 (en) | 2021-03-24 | 2023-01-09 | 주식회사 헥사휴먼케어 | Soft weareable drive system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160008206A1 (en) * | 2013-03-06 | 2016-01-14 | Udaya Sankar Devanaboyina | Systems and methods for exerting force on bodies |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8142378B2 (en) * | 2004-03-10 | 2012-03-27 | Daniel Reis | Immobilizing and supporting inflatable splint apparatus |
KR20110045992A (en) * | 2009-10-28 | 2011-05-04 | 변경섭 | Promotion device for growht of height |
JP2011200447A (en) * | 2010-03-25 | 2011-10-13 | Panasonic Corp | Muscular strength assisting device |
KR101814676B1 (en) * | 2016-07-25 | 2018-01-04 | 이동찬 | Wearable soft exoskeleton apparatus |
KR101815640B1 (en) * | 2017-06-30 | 2018-01-08 | 이동찬 | Soft exoskeleton apparatus |
-
2018
- 2018-03-22 KR KR1020180033229A patent/KR101875732B1/en active IP Right Grant
-
2019
- 2019-01-16 US US16/249,354 patent/US20190289934A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160008206A1 (en) * | 2013-03-06 | 2016-01-14 | Udaya Sankar Devanaboyina | Systems and methods for exerting force on bodies |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11779821B2 (en) | 2014-05-13 | 2023-10-10 | Bauer Hockey Llc | Sporting goods including microlattice structures |
US11794084B2 (en) | 2014-05-13 | 2023-10-24 | Bauer Hockey Llc | Sporting goods including microlattice structures |
US11844986B2 (en) | 2014-05-13 | 2023-12-19 | Bauer Hockey Llc | Sporting goods including microlattice structures |
US10636260B1 (en) * | 2019-01-31 | 2020-04-28 | Facebook Technologies, Llc | Wearable devices with fluidic mechanisms |
US11062573B2 (en) * | 2019-01-31 | 2021-07-13 | Facebook Technologies, Llc | Using a fluidic mechanism on a wearable device for both haptic feedback and user input |
US11684104B2 (en) | 2019-05-21 | 2023-06-27 | Bauer Hockey Llc | Helmets comprising additively-manufactured components |
RU2734183C1 (en) * | 2020-02-05 | 2020-10-13 | Вячеслав Сергеевич Перфильев | Training suit with directional load |
CN113262082A (en) * | 2021-04-29 | 2021-08-17 | 四川大学 | Implant prosthesis with negative Poisson ratio effect for bone repair |
Also Published As
Publication number | Publication date |
---|---|
KR101875732B1 (en) | 2018-07-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US20190289934A1 (en) | Wearable soft exoskeleton suit | |
Thalman et al. | A review of soft wearable robots that provide active assistance: Trends, common actuation methods, fabrication, and applications | |
US10611020B2 (en) | Pneumatic exomuscle system and method | |
US11129766B2 (en) | Flexibly driven robotic hands | |
US20210275383A1 (en) | Wearable exoskeleton system and method | |
US9827667B2 (en) | Pneumatic exomuscle system and method | |
ES2794657T3 (en) | Exoskeleton structure to assist a user's effort | |
EP1889592B1 (en) | Thigh part mounting device for walking assisting device | |
JP2020505981A (en) | Fluid driven actuator and its application | |
JP6105091B2 (en) | Joint motion assist device | |
WO2019183397A1 (en) | Assisted lifting devices | |
CN110998104B (en) | Textile actuator | |
CN108326828A (en) | Software pneumatic type joint assistance equipment | |
US10315062B2 (en) | Wearable soft exoskeleton apparatus | |
EP3240518A1 (en) | Exoskeleton and method of transferring a weight of a load from the exoskeleton to a support surface | |
CN111329713B (en) | Rigidity-variable soft driver and hand rehabilitation training robot using same | |
US20200198290A1 (en) | Fabric structure used for fabrication of wearable soft exoskeleton suit and wearable soft exoskeleton suit fabricated by the same | |
JP6086603B2 (en) | Joint motion assist device | |
CN109938968A (en) | Bionic pneumatic Opposing muscle design based on stratiform gas chamber | |
CN208645318U (en) | Software pneumatic type joint assistance equipment | |
KR101815640B1 (en) | Soft exoskeleton apparatus | |
IT201900007848A1 (en) | Load compensation device, in particular gravitational loads, applicable to exoskeletons | |
JP2007032743A (en) | Actuator system, robot arm and medical rehabilitation system | |
KR102416734B1 (en) | Wearable assisting device | |
JP6933841B2 (en) | Wearing equipment and strength assisting device for strength assisting device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |