WO2017179948A2 - Dispositif d'assistance à la marche - Google Patents

Dispositif d'assistance à la marche Download PDF

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Publication number
WO2017179948A2
WO2017179948A2 PCT/KR2017/004072 KR2017004072W WO2017179948A2 WO 2017179948 A2 WO2017179948 A2 WO 2017179948A2 KR 2017004072 W KR2017004072 W KR 2017004072W WO 2017179948 A2 WO2017179948 A2 WO 2017179948A2
Authority
WO
WIPO (PCT)
Prior art keywords
elastic
achilles tendon
lower outer
force
moving
Prior art date
Application number
PCT/KR2017/004072
Other languages
English (en)
Korean (ko)
Other versions
WO2017179948A3 (fr
Inventor
김미정
김승종
김성모
Original Assignee
김미정
김승종
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from KR1020160080933A external-priority patent/KR101909051B1/ko
Priority claimed from KR1020160080890A external-priority patent/KR20170118574A/ko
Priority claimed from KR1020160080896A external-priority patent/KR101909048B1/ko
Priority claimed from KR1020160080903A external-priority patent/KR101909050B1/ko
Application filed by 김미정, 김승종 filed Critical 김미정
Priority to CN201780023764.4A priority Critical patent/CN109070340A/zh
Priority to US16/093,654 priority patent/US20190125613A1/en
Publication of WO2017179948A2 publication Critical patent/WO2017179948A2/fr
Publication of WO2017179948A3 publication Critical patent/WO2017179948A3/fr

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Classifications

    • 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
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/04—Foot-operated control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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

Definitions

  • the present invention relates to a device, and more particularly to a walking assistance device.
  • such a walking assistance device is developed in a form in which a wheel is attached to the lower part and supported by the user by gripping and dragging.
  • a wheel is attached to the lower part and supported by the user by gripping and dragging.
  • the problem such as a lack of force in the arm may not be used.
  • Embodiments of the present invention provide a walking assistance device.
  • the upper body is disposed in the thigh; A lower outer body rotatably connected to the upper body and disposed on the calf; A lower inner body disposed to overlap at least a portion of the lower outer body; A first elastic portion in which a bent portion contacts the ground to provide an elastic force when the user walks; An achilles tendon part connected to one end of the first elastic part and slidably connected to the lower outer body and the lower inner body; A second elastic part disposed between the upper main body and the lower outer main body to rotatably connect the upper main body and the lower outer main body; And a part connected to the bent part of the second elastic part and installed to be movable on the lower outer main body, the part contacting the achilles tendon part to apply a force to the bent part of the second elastic part according to the movement of the achilles tendon part. It may provide a walking assistance device comprising a;
  • the upper body disposed in the thigh; A lower outer body rotatably connected to the upper body and disposed on the calf; A lower inner body disposed to overlap at least a portion of the lower outer body; A first elastic portion in which a bent portion contacts the ground to provide an elastic force when the user walks; An achilles tendon part connected to one end of the first elastic part and slidably connected to the lower outer body and the lower inner body; And a first linear movement part installed to be slidable on the lower inner body and connected to the achilles tendon part to linearly move the lower inner body according to the movement of the achilles tendon part.
  • the upper body disposed in the thigh; A lower outer body rotatably connected to the upper body and disposed on the calf; A lower inner body disposed to overlap at least a portion of the lower outer body; A first elastic portion in which a bent portion contacts the ground to provide an elastic force when the user walks; An achilles tendon part connected to one end of the first elastic part and slidably connected to the lower outer body and the lower inner body; A fourth elastic part installed in the lower inner body and connected to the achilles tendon part to provide a restoring force to the achilles tendon part according to the movement of the achilles tendon part; And a fourth elastic connection part connected to the fourth elastic part and inserted into the achilles tendon to linearly move.
  • first elastic portion the first elastic body portion on which the shoes are seated; And a second elastic body portion formed to be bent from the first elastic body portion to be in contact with the ground. And a first elastic connecting part rotatably connected to the first and second elastic body parts and configured to form a predetermined angle of the first and second elastic body parts.
  • At least a portion of the Achilles tendon may be formed of a flexible material.
  • the achilles tendon portion the achilles tendon body portion connected to the lower outer body and the lower inner body so as to be slidable; And a protrusion formed to protrude from the Achilles tendon body into the lower outer main body to be in contact with the force part to apply a force to the force part.
  • the outer surface of at least a portion of the achilles tendon body portion may be formed with irregularities such that the shape of the achilles tendon body portion is variable.
  • the apparatus may further include a second connection part connected to the first linear motion part to be rotatable.
  • one end is installed on the lower inner body, the other end is connected to the second connecting portion to provide a restoring force to the first linear motion portion; may further include a.
  • the first linear motion unit may include a first linear motion body part disposed on the lower inner body to enable linear motion and connected to the achilles tendon part; And a first linear roller connected to the first linear motion body part and the second connection part, the first linear roller installed to be slidable on the lower inner body.
  • the apparatus may further include a locking part installed at the lower inner body to selectively restrict a portion of the fourth elastic part.
  • the Achilles tendon part is disposed to be inserted into the lower outer body, the release protrusion for releasing the restraint of the fourth elastic part by contacting the lock part in accordance with the movement of the Achilles tendon part to move the lock part. can do.
  • the apparatus may further include a fifth elastic part installed at the lower inner body and selectively connected to the fourth elastic part through a first wire to apply a force to the fourth elastic part according to the motion of the fourth elastic part. can do.
  • variable length portion is installed on the lower inner body to vary the initial position of at least one of the fourth elastic portion and the fifth elastic portion in combination with at least one of the fourth elastic portion and the fifth elastic portion; It may further include.
  • the length variable portion the upper main body fixed to the lower inner body; A rotating part installed to be rotatable to the upper main body fixing part; And a lower outer body fixing part inserted into the rotatable part to be rotatable and fixed to at least one of the fourth elastic part and the fifth elastic part.
  • the fifth elastic connecting portion connected to the fifth elastic portion may further include a.
  • the apparatus may further include a sixth elastic part installed inside the fifth elastic part and connected to the first wire.
  • the apparatus may further include a fifth elastic force part installed on the first wire and selectively contacting the fifth elastic connection part.
  • the seventh elastic portion is rotatably connected to the fifth elastic connecting portion, the seventh elastic portion connected to the shoe fixing portion for fixing the shoe to provide a restoring force to at least one of the fifth elastic connecting portion and the shoe fixing portion; can do.
  • the force unit may include a first moving unit linearly moving inside the lower outer body; An elastic connector connected to the first moving unit; A second moving part connected to the elastic connecting part and moving inside the lower outer body during the movement of the first moving part; A path guide part disposed in the lower outer body and guiding a path in which the second moving part moves inside; And an elastic elastic part configured to exercise by applying a restoring force to the second moving part, and to move in contact with the achilles tendon part.
  • the elastic connector may be foldable.
  • the path guide portion may be variable in position.
  • the path guide part may include: a first path guide part to which the second moving part moves; And a second path guide configured to protrude from the first path guide part and to guide the second moving part to a path different from a path of the second moving part moving along the first path guide part when the elastic elastic part is operated. It may include a.
  • the elastic part may further include an eighth elastic part installed at the lower outer body and connected to the elastic elastic part to provide a restoring force to the elastic elastic part.
  • the force unit may further include a contact unit installed to be slidable to the lower outer body to selectively contact the Achilles tendon unit to move the elastic elastic unit in accordance with the movement of the Achilles tendon unit.
  • the auxiliary elastic portion is connected to the lower outer body, one end is in contact with the second elastic portion; And a coupling member installed at a center of the second elastic part and having a center of the auxiliary elastic part installed therein.
  • an elastic force control unit is installed on one end of the auxiliary elastic part, rotatably installed on the coupling member.
  • Embodiments of the present invention can be a great addition to walking and aid walking in a variety of situations, such as people suffering from degenerative arthritis, people who walk uncomfortable, people who squat all day, people who need to walk a lot.
  • embodiments of the present invention may increase user convenience by assisting the user walking when moving up and down the stairs.
  • FIG. 1 is a conceptual diagram illustrating a walking assistance device according to an exemplary embodiment of the present invention.
  • FIG. 2 is a conceptual view illustrating a part of the walking assistance device illustrated in FIG. 1.
  • FIG. 3 is a conceptual diagram illustrating an Achilles tendon shown in FIG. 2.
  • FIG. 4 is a conceptual diagram illustrating a first linear motion unit illustrated in FIG. 2.
  • FIG. 5 is a conceptual diagram illustrating a portion A shown in FIG. 1.
  • FIG. 6 is a conceptual diagram illustrating an arrangement order of the fourth elastic part, the fourth elastic connection part, the locking part, the fifth elastic part, the length variable part, the fifth elastic connection part, and the sixth elastic part shown in FIG. 5.
  • FIG. 7 is a conceptual diagram illustrating a fourth elastic part, a fourth elastic connector, a locking part, a fifth elastic part, a length variable part, a fifth elastic connector and a sixth elastic part shown in FIG. 5.
  • FIG. 8 is a conceptual diagram illustrating an embodiment of the force unit illustrated in FIG. 1.
  • FIG. 9 is a conceptual diagram illustrating an embodiment of a path guide part in which the force part shown in FIG. 8 is installed.
  • FIG. 10 is a conceptual view illustrating a second elastic part, an auxiliary elastic part, and a coupling member of the walking assistance device according to another embodiment of the present invention.
  • FIG. 11 is a conceptual diagram illustrating an auxiliary elastic part, an elastic force adjusting part, and a restraining part of a walking assistance device according to another embodiment of the present invention.
  • FIG. 12 is a conceptual diagram illustrating an operating state of the walking assistance device illustrated in FIG. 1.
  • FIG. 13 is a conceptual view illustrating a part of the walking assistance device illustrated in FIG. 12.
  • FIG. 14 is a conceptual diagram illustrating an operating state of the second elastic part illustrated in FIG. 12.
  • FIG. 15 is a conceptual diagram illustrating another embodiment of the force part and the path guide part shown in FIG. 9.
  • FIG. 16 is a conceptual diagram illustrating a path guide part shown in FIG. 14.
  • FIG. 17 is a conceptual diagram illustrating an arrangement order of a fourth elastic part, a fourth elastic connection part, a locking part, a fifth elastic part, a variable length part, a fifth elastic connection part, and a sixth elastic part of the walking assistance device shown in FIG. 12.
  • FIG. 1 is a conceptual view showing a walking aid device according to an embodiment of the present invention
  • FIG. 2 is a conceptual view showing a part of the walking assistance device shown in FIG. 1
  • FIG. 3 is a conceptual view showing an achilles tendon unit shown in FIG. 4 is a conceptual view showing a first linear motion unit shown in FIG. 2
  • FIG. 5 is a conceptual view showing a part A shown in FIG. 1
  • FIG. 6 is a fourth elastic part, a fourth elastic connection part, a locking part
  • 5 is a conceptual diagram illustrating an arrangement order of a fifth elastic part, a length variable part, a fifth elastic connection part, and a sixth elastic part
  • FIG. 7 is a fourth elastic part, a fourth elastic connection part, a locking part, a fifth elastic part
  • the walk assistance device 100 includes an upper main body 111, a lower outer main body 112, a lower inner main body 113, a shoe fixing part 114, and a first elastic part 120.
  • the upper body 111 may be disposed in the thigh.
  • the upper body 111 may be manufactured to correspond to the body shape of the user.
  • the lower outer body 112 may be disposed on the calf of the user. At this time, the lower outer body 112 may be formed in a plate shape, it may be formed in three dimensions to have a constant volume.
  • the lower inner body 113 may be disposed on the calf portion of the user similar to the lower outer body 112. In this case, the lower inner body 113 may be disposed to overlap at least a portion with the lower outer body 112.
  • the shoe fixing unit 114 may fix the user's shoes, particularly the front of the shoe.
  • a portion of fixing the shoes of the shoe fixing unit 114 may be formed of a Velcro type, a strap type, etc. to wrap the user's shoes.
  • the first elastic part 120 may include a first elastic body part 121, a second elastic body part 122, and a first elastic connection part 123.
  • the first elastic body 121 may be seated shoes.
  • the first elastic body portion 121 may be formed with a flat portion, the shoe may be seated on this flat portion.
  • the second elastic body portion 122 is formed to be bent from the first elastic body portion 121 may be part in contact with the ground.
  • the second elastic body part 122 may be connected to the achilles tendon part 130.
  • the second elastic body portion 122 may provide a restoring force to assist the force required for walking when the user walks by being close to or spaced apart from the first elastic body portion 121.
  • the first elastic connector 123 may be rotatably connected to one end of each of the first and second elastic body parts 121 and 122.
  • the first elastic connecting portion 123 may provide the restoring force so that the first and second elastic body parts 121 and 122 form a predetermined angle so that the deformation occurs to an initial state when deformation occurs.
  • the achilles tendon part 130 may be connected to the lower outer body 112 and the lower inner body 113 so as to be slidable.
  • the achilles tendon part 130 may be connected to one end of the first elastic part 120 to slide the lower outer body 112 according to the shape change of the first elastic part 120.
  • the Achilles tendon 130 may linearly move along the outer surface of the lower outer body 112.
  • the Achilles tendon 130 may include an Achilles tendon body 131 and a protrusion 132. At least a portion of the achilles tendon body 131 may be disposed between the lower outer body 112 and the lower inner body 113. At this time, the Achilles tendon body 131 may be coupled to the lower outer body 112 and the lower inner body 113 so as to be slidable.
  • Achilles tendon 130 in particular at least a portion of the Achilles tendon body 131 may be formed of a flexible material.
  • Flexible materials may include rubber, flexible metals, silicon, and the like.
  • the Achilles tendon 130 may not restrict the user's movement by folding or changing a portion of the calf and the foot when the angle formed by the calf and the foot is variable.
  • the achilles tendon part 130 may include a bent part 133 which is formed to be bent in the achilles tendon body part 131.
  • the bent portion 133 may be formed in a concave-convex shape on the surface of at least a portion of the Achilles tendon body 131.
  • the bent portion 133 may secure a certain degree of deformability by forming a groove on at least a portion of the surface of the Achilles tendon body 131.
  • the protrusion 132 may be formed to protrude from the Achilles tendon body 131 into the lower outer body 112 so that the protrusion 132 partially contacts the force unit 150 to apply a force to the force unit 150. At this time, the protrusion 132 may be inserted into the lower outer body 112, and the lower outer body 112 into which the protrusion 132 is inserted may have a long hole, thereby forming the protrusion 132 through the long hole of the lower outer body 112. ) Can be moved.
  • a portion of the force unit 150 may contact the upper side of the protrusion 132, and a groove may be formed to insert a portion of the force unit 150.
  • Achilles tendon 130 may include a release projection 133 is inserted into the lower outer body 112 in addition to the above configuration.
  • the release protrusion 133 may be formed to extend from the Achilles tendon body 131.
  • the release protrusion 133 may protrude from the Achilles tendon body 131 and be inserted into the lower outer body 112.
  • the lower outer main body 112 may be formed in the longitudinal direction of the lower outer main body 113a so that the release protrusion 133 moves during the linear movement of the achilles tendon body 131. .
  • the release protrusion 133 as described above is in contact with the locking portion 173 in accordance with the movement of the Achilles tendon body 131 to move the locking portion 173 to the fourth elastic portion 172 of the locking portion 173. You can release the constraints.
  • the second elastic part 140 may be disposed between the upper main body 111 and the lower outer main body 112 to connect the upper main body 111 and the lower outer main body 112 to be rotatable. At this time, the second elastic portion 140 is disposed on the knee portion of the user when the user folded the upper body 111 and the lower outer body 112 is the upper body 111 and the lower outer side according to the folding angle of the leg, etc.
  • the restoring force may be provided to the main body 112.
  • the second elastic part 140 may support the load of the user applied to the upper main body 111 when the upper main body 111 and the lower outer main body 112 do not form a straight line.
  • the second elastic portion 140 as described above can be used alone.
  • the second elastic part 140 may be used together with an auxiliary elastic part (not shown).
  • auxiliary elastic part not shown
  • the center of using the second elastic portion 140 alone When the second elastic portion 140 is used together with the auxiliary elastic portion, it will be described in detail later with reference to other drawings.
  • the tension unit 150 may be connected to a bent portion of the second elastic unit 140 and may be installed to be movable on the lower outer body 112. In this case, a part of the force unit 150 may contact the Achilles tendon 130 and apply a force to the bent portion of the second elastic part 140 according to the movement of the Achilles tendon 130. This tension unit 150 will be described in detail below.
  • the fixing part 190 may be installed to be connected to at least one of the upper main body 111 and the lower outer main body 112.
  • the fixing unit 190 may fix at least one of the upper main body 111 and the lower outer main body 112 to a part of the user's body.
  • the fixing part 190 may be connected to the upper main body 111 and may include a first fixing part 191 installed at the waist of the user.
  • the fixing part 190 may include a second fixing part 192 connected to the upper main body 111 and installed on the thigh of the user.
  • the fixing part 190 may include a third fixing part (not shown) connected to at least one of the lower outer body 112 and the lower inner body 113 and installed on the calf of the user.
  • the fixing part 190 will be described in detail with reference to a case in which the fixing part 190 includes the first fixing part 191 and the second fixing part 192.
  • the first linear movement part 160 may be installed to be slidable on the lower inner body 113.
  • the first linear motion unit 160 may be disposed inside the lower inner body 113 or between the calf and the lower inner body 113.
  • the first linear movement unit 160 may linearly move the lower inner body 113 according to the movement of the Achilles tendon 130.
  • the first linear motion unit 160 may include a first linear motion body 161 and a first linear roller 162.
  • the first linear motion body 161 may be connected to the achilles tendon 130 and linearly move in the longitudinal direction (or height direction) of the lower inner body 113 according to the movement of the achilles tendon 130.
  • the first linear roller 162 may be installed to be rotatable in the first linear motion body 161 to reduce the frictional force during the movement of the first linear motion body 161.
  • the first linear roller 162 may be arranged to be slidable inside the lower inner body 113.
  • the second connector 163 may be connected to the first linear roller 162 so as to be rotatable.
  • the second connection part 163 may be formed in a bar shape.
  • Both ends of the third elastic part 171 may be connected to the second connection part 163 and the lower inner body 113, respectively.
  • the third elastic part 171 may provide a restoring force to the first linear motion part 160 when the first linear motion part 160 linearly moves.
  • the fourth elastic portion 172 may be installed on the lower inner body 113. At this time, the fourth elastic portion 172 may be connected to the Achilles tendon 130 and provide the main force to the Achilles tendon 130 according to the movement of the Achilles tendon 130. In this case, an upper portion of the fourth elastic portion 172 may be formed to be locked to the locking portion 173.
  • the fourth elastic connecting portion 172a may be connected to the fourth elastic portion 172.
  • the fourth elastic connecting portion 172a may be inserted into the fourth long hole 131a formed in the Achilles tendon 130 through the lower inner body 113.
  • the fourth elastic connecting portion 172a may change the length of the fourth elastic portion 172 by moving in contact with the lower end of the fourth long hole 131a according to the movement of the Achilles tendon 130.
  • the locking part 173 may be installed at the lower inner body 113 to selectively restrain a part of the fourth elastic part 172.
  • the locking unit 173 connects the locking ring 173a and the locking ring 173a and the lower inner body 113 installed to be rotatable to the lower inner body 113 to provide a restoring force to the locking ring 173a.
  • the locking ring elastic part 173b may be included.
  • the locking ring elastic portion 173b may be formed in the form of a torsion spring or a coil spring.
  • the locking ring 173a may be formed with a groove such that a part of the fourth elastic portion 172 is inserted according to the movement of the fourth elastic connecting portion 172a.
  • the locking ring 173a may be formed to protrude a part so as to contact the release protrusion 133 of the Achilles tendon 130.
  • the locking ring 173a may be formed to be fixed to the lower inner body 113 when rotated at an angle.
  • the locking ring 173a or the lower inner main body 113 includes a protrusion formed to protrude toward the other side of the locking ring 173a or the lower inner main body 113, and the locking ring 173a or the lower inner inner side 113.
  • the other main body 113 has a groove is formed to accommodate the projection is inserted into the groove at a specific position can prevent the rotation of the locking ring (173a).
  • the locking ring elastic portion 173b is formed in a shape that provides a restoring force in a direction opposite to the initial direction when the rotation angle of the locking ring 173a exceeds a predetermined angle, thereby preventing rotation of the locking ring 173a. It is also possible.
  • the method of fixing the lock ring 173a when the predetermined angle rotates is not limited to the above, and may include various methods and structures.
  • the fifth elastic part 174 may be installed in the lower inner body 113 in parallel with the fourth elastic part 172. In this case, the fifth elastic part 174 may be connected to the fourth elastic part 172 through the first wire 175.
  • the fifth elastic part 174 may apply a force to the fourth elastic part 172 according to the movement of the fourth elastic part 172.
  • the fifth elastic connecting portion 174a may be connected to the end of the fifth elastic portion 174.
  • the fifth elastic connecting portion 174a may be disposed in the lower inner body 113 to penetrate the fifth long hole (not shown) formed in the lower inner body 113 and the sixth long hole (not shown) of the achilles tendon 130. have.
  • the sixth elastic part 176 may be disposed in the fifth elastic part 174. In this case, the sixth elastic part 176 may be connected to the fourth elastic part 172 through the first wire 175. The sixth elastic part 176 may maintain the tension of the first wire 175 with the fourth elastic part 172.
  • the fifth elastic force part 177 may be installed to be fixed to the first wire 175. In this case, the fifth elastic force 177 may selectively contact the fifth elastic connector 174a. In particular, when the fifth elastic force part 177 reaches a specific position, the fifth elastic force part 177 may change the length of the fifth elastic part 174 by contacting the fifth elastic connector 174a.
  • the length variable part 178 may be disposed in at least one of the fourth elastic part 172 and the fifth elastic part 174.
  • the length variable part (not shown) disposed in the fourth elastic part 172 may change the initial position of the fourth elastic part 172.
  • more force may be required to maintain the tension of the wire or to increase the fourth elastic portion 172.
  • the length variable part 178 disposed inside the fifth elastic part 174 is installed in the lower inner body 113 to vary the relative positions of the fifth elastic part 174 and the sixth elastic part 176. By doing so, the force generated in the fifth elastic portion 174 and the sixth elastic portion 176 can be adjusted.
  • the length variable part 178 disposed in the fifth elastic part 174 will be described in detail for convenience of description.
  • the length variable part 178 may include an upper main body fixing part 178a fixed to the lower inner main body 113 and a rotating part 178b installed to be rotatable to the upper main body fixing part 178a.
  • the sixth elastic part 176 may be disposed in the rotating part 178b.
  • the length variable part 178 may include a lower outer body fixing part 178c inserted into the rotating part 178b to be rotatable and installed to be fixed to the inside of the fifth elastic part 174.
  • the length variable part 178 as described above may vary the position of the sixth elastic part 176.
  • a distance between the upper main body fixing unit 178a and the lower outer main body fixing unit 178c may vary.
  • the lower outer body fixing part 178c may be disposed at the position A in normal times.
  • the weight of more than 30Kg than usual the lower outer body fixing portion 178c may be disposed in the B position lower than the A position.
  • the lower outer body fixing part 178c may be disposed at a lower C position than the B position when the weight of 50 Kg is more than usual. In this case, an interval between the upper main body fixing part 178a and the lower outer main body fixing part 178c may be different from each other, and thus the initial elastic force of the fourth elastic part 172 may be different.
  • the fourth elastic part 172, the fourth elastic connection part 172a, the locking part 173, the fifth elastic part 174, the variable length part 178, the fifth elastic connection part 174a and the sixth The elastic portion 176 may be provided in plurality, respectively.
  • the fourth elastic portion 172, the fourth elastic connecting portion 172a, the locking portion 173 are arranged in a group of two each of the second elastic portion 172, the fifth elastic portion 174, the length so as to be symmetrical to each other
  • the variable part 178, the fifth elastic connector 174a, and the sixth elastic part 176 may be disposed.
  • the first wire 175 may connect one fourth elastic portion 172, the fifth elastic portion 174, and the sixth elastic portion 176 to each other.
  • the lower inner body 113 may include a guide roller 179 that bends the first wire 175 connected to the fourth elastic portion 172 to guide the sixth elastic portion 176.
  • the guide roller 179 may change the movement path of the first wire 175.
  • One end of the seventh elastic part 180 may be connected to the fifth elastic connector 174a to be rotatable.
  • the other end of the seventh elastic part 180 may be connected to the shoe fixing unit 114.
  • the seventh elastic part 180 may provide a restoring force to at least one of the shoe fixing part 114 and the fifth elastic connecting part 174a.
  • the seventh elastic part 180 may be formed in the form of a torsion spring.
  • a seventh elastic part cover (not shown) may be installed at the center portion of the seventh elastic part 180.
  • the cushion unit 181 may be connected to the Achilles tendon unit 130 and the second wire 182.
  • the cushion unit 181 may be connected to the protrusion 132 of the Achilles tendon 130.
  • the second wire 182 may be in a state where tension is maintained through the bending rollers 183 respectively installed on the upper main body 111 to the lower inner main body 113.
  • the cushion unit 181 may be deployed between the upper body 111 and the thigh according to the movement of the achilles tendon 130.
  • the cushion unit 181 may include an elastic material such as urethane, rubber, silicone, or the like.
  • the cushion unit 181 may include a member for cushioning, such as an air cushion.
  • the distance adjusting unit 184 may adjust the distance between the center of the lower outer body 112 and the second elastic unit 140.
  • the distance adjusting unit 184 is a link 184a which is connected to the lower outer body 112 and the second elastic portion 140 so as to be rotatable, respectively, and the distance adjusting position of which the position is variable
  • the variable portion 184b and the distance adjusting position variable part 184b may be inserted into and rotated so as to change the position of the distance adjusting position variable part 184b.
  • the distance adjustment position variable portion 184b may be in the form of a nut
  • the distance adjustment rotation unit 184c may be in the form of a screw or bolt (see FIGS. 15 and 16).
  • the distance adjusting unit 184 and the lower outer body 112 can be combined to be separated from each other.
  • FIG. 8 is a conceptual diagram illustrating an embodiment of the force unit illustrated in FIG. 1.
  • FIG. 9 is a conceptual diagram illustrating an embodiment of a path guide part in which the force part shown in FIG. 8 is installed.
  • the tension unit 150 may be installed inside the lower outer body 112.
  • the tension unit 150 may apply a force to a bent portion of the second elastic unit 140 according to the movement of the Achilles tendon unit 130.
  • the force unit 150 may be connected to the bent portion of the second elastic portion 140 and may change the position of the bent portion of the second elastic portion 140.
  • the tension unit 150 may include a first moving unit 151, an elastic connecting unit 152, a second moving unit 153, an elastic elastic unit 154, an eighth elastic unit 155, and a contact unit 156. Can be.
  • the first moving part 151 may be disposed in the lower outer body 112 to enable linear movement.
  • the lower outer main body 112 may include a first moving guide part 112a for guiding a path along which the first moving part 151 moves.
  • the first moving guide part 112a may be formed in the form of a protrusion on the lower outer body 112 and may form a boundary of a path along which the first moving part 151 moves.
  • the first moving part 151 may be formed in a roller shape and disposed to be inserted into the first moving guide part 112a to linearly move along the first moving guide part 112a.
  • the first moving part 151 may be connected to the central portion of the second elastic part 140 through a separate member. In this case, as the position of the bent portion (or the center portion) of the second elastic portion 140 is changed according to the movement of the first moving portion 151, the restoring force may be generated in the second elastic portion 140.
  • the elastic connector 152 may be connected to the first moving unit 151 to move together when the first moving unit 151 moves.
  • the elastic connector 152 may include a first elastic connector 152a and a second elastic connector 152b which are rotatably connected to each other.
  • the first elastic connector 152a may be connected to the first moving unit 151 and may be connected to the second elastic connector 152b in a hinge or hinge form.
  • the second elastic connector 152b may be connected to the second moving unit 153.
  • the first elastic connector 152a and the second elastic connector 152b may be angled to each other so that the connection point may protrude rather than flat. It is also possible to be arranged to form a. That is, the first flexible connector 152a and the second flexible connector 152b may be folded together in a specific situation.
  • the second moving unit 153 may be formed the same as or similar to the first moving unit 151.
  • the second moving part 153 may move along the path guide part 112b disposed inside the lower outer body 112.
  • the path guide part 112b may be formed in the form of a protrusion on the lower outer body 112 similarly to the first movement guide part 112a.
  • the first moving part 151 and the second moving part 153 as described above may be formed in a roller shape.
  • the path guide part 112b includes a first path guide part 112b-1 through which the second moving part 153 moves and a second path guide part 112b- connected to the first path guide part 112b-1. It may include 2).
  • the first path guide part 112b-1 may guide the moving path of the second moving part 153 when the first moving part 151 moves.
  • the first path guide part 112b-1 may be formed in a curved shape.
  • the second path guide portion 112b-2 may be connected to protrude from the first path guide.
  • the second path guide part 112b-2 may be formed in a path different from that of the second moving part 153 moving along the first path guide part 112b-1 when the elastic elastic part 154 operates. 2 may guide the moving unit 153.
  • the second path guide portion 112b-2 prevents the movement of one end of the elastic elastic portion 154 by avoiding the movement path of the one end of the elastic elastic portion 154 when the elastic elastic portion 154 moves to its original position. You can't.
  • the path guide part 112b is connected to at least one of the first path guide part 112b-1 and the second path guide part 112b-2, and is disposed in the lower outer body 112 so as to be rotatable. (112b-3).
  • the position adjusting portion 112b-3 is rotatably installed at the position adjusting connecting portion 112b-4 and the position adjusting connecting portion 112b-4 connected to one end of the path guide portion 112b, and the lower outer body 112 It may include a position adjustment fixing portion 112b-5 for fixing the position adjustment connection (112b-4) in contact with.
  • the position adjustment connector 112b-4 may have a threaded bar shape on its outer surface
  • the position adjustment fixing portion 112b-5 may have a nut shape.
  • the position adjustment fixing portion 112b-5 may be fixed to the position adjusting connection portion 112b-4 by contacting the lower outer body 112 according to the rotation of the position adjusting fixing portion 112b-5.
  • one end of the path guide portion 112b may be disposed to be rotatable to the lower outer body 112.
  • the elastic elastic part 154 may apply the restoring force to the second moving part 153 to move the second moving part 153.
  • the elastic elastic portion 154 may be in contact with the protrusion 132 of the Achilles tendon 130.
  • the elastic elastic part 154 may be fixed to one end of the lower outer body 112. At this time, the elastic elastic portion 154 may be in the form of a torsion spring.
  • the eighth elastic part 155 may be connected to the other end of the elastic elastic part 154 to provide a restoring force to the elastic elastic part 154 during the movement of the elastic elastic part 154.
  • the eighth elastic part 155 may have a coil spring shape.
  • the eighth elastic part 155 may be in a state of being stretched than the initial length.
  • a groove or the like may be formed in the lower outer body 112 so that the eighth elastic part 155 is installed.
  • the same structure as the length variable portion 178 is installed at the end of the eighth elastic portion 155 to adjust the elastic force of the eighth elastic portion 155.
  • the contact portion 156 may be disposed to be slidable to the bottom outer body 112. In this case, the contact portion 156 may be disposed between the other end of the elastic elastic portion 154 and the protrusion 132 of the Achilles tendon 130, and selectively contacts the protrusion 132 to contact the protrusion 132. You can exercise. Such a contact portion 156 may or may not be disposed in some cases. However, hereinafter, the contact unit 156 will be described in detail with reference to the case provided for convenience of description.
  • the lower outer main body 112 may include a stopper 157 to limit movement of at least one of the elastic elastic part 154 and the contact part 156.
  • the stopper 157 may be formed in the form of a protrusion inside the lower outer body 112, may be disposed at the bottom of the movement path of the contact portion 156, the movement range of the other end of the elastic elastic portion 154 By being disposed within, the elastic elastic portion 154 during the movement of the elastic elastic portion 154 can be prevented from returning to a state in which there is no elastic force.
  • FIG. 10 is a conceptual view illustrating a second elastic part, an auxiliary elastic part, and a coupling member of the walking assistance device according to another embodiment of the present invention.
  • an auxiliary elastic part 141 may be installed together in the second elastic part 140 connecting the upper main body 111 and the lower outer main body 112. At this time, the auxiliary elastic portion 141 may have a center in the same portion as the center of the second elastic portion 140. In particular, the auxiliary elastic portion 141 may share the center with the second elastic portion 140 through the coupling member 142.
  • the coupling member 142 may be inserted into the center of the second elastic part 140 to be fixed to the second elastic part 140.
  • the coupling member 142 may be formed to be separated from each other, a part is coupled to the second elastic portion 140, a part is coupled to the auxiliary elastic portion 141 to center the center of the auxiliary elastic portion 141. It may be connected to the center of the second elastic portion 140.
  • One end of the auxiliary elastic portion 141 as described above may be inserted into the lower outer body 112 and fixed.
  • the other end of the auxiliary elastic portion 141 may contact the second elastic portion 140.
  • the auxiliary elastic portion 141 may make the rotation of the second elastic portion 140 more difficult by applying an elastic force to the second elastic portion 140. . Therefore, the auxiliary elastic part 141 supports the load of the user by reducing the rotation of the other end of the second elastic part 140 when the user bends or walks the knee, and the second elastic part ( By providing the restoring force to the upper body 111 together with the 140 may assist the force required for walking or action of the user.
  • FIG. 11 is a conceptual diagram illustrating an auxiliary elastic part, an elastic force adjusting part, and a restraining part of a walking assistance device according to another embodiment of the present invention.
  • the lower outer body 112 may be installed so that a separate cover (V) is fixed.
  • the cover (V) may be installed so that the elastic force control unit 185 is rotatable.
  • One side of the auxiliary elastic part 141 may be installed to be fixed to the lower outer body 112, the other end may be disposed to selectively contact the second elastic portion 140.
  • the auxiliary elastic part 141 may be fixed to the second elastic part 140 with the same or similar to that described with reference to FIG. 10. At this time, the coupling member 142 may be connected to the elastic force control unit 185 is rotatable separately. The other end of the auxiliary elastic part 141 may be installed in the elastic force adjusting unit 185 to separate contact between the other end of the auxiliary elastic part 141 and the other end of the second elastic part 140.
  • the elastic force adjusting unit 185 may include an elastic force adjusting body portion 185a connected to the other end of the coupling member 142 and the auxiliary elastic portion 141.
  • the elastic force adjusting unit 185 may include an adjusting protrusion 185b formed to protrude from the elastic force adjusting body 185a. In this case, a groove may be formed in the adjustment protrusion 185b.
  • the elastic force control unit 185 as described above may be separated from the auxiliary elastic portion 141 and the second elastic portion 140 by selectively coupling to the restraining portion 186.
  • the restraining part 186 is installed to be connected to the restraining protrusion 186a and the restraining protrusion 186a and the bottom outer body 112 that are rotatably disposed on the lower outer body 112, and restoring force to the restraining protrusion 186a. It may include a constrained protrusion elastic portion 186b.
  • the constraining protrusion 186a may be formed to penetrate the lower outer body 112, and the lower outer body 112 may have a long hole-shaped guide hole to guide the movement of the constraining protrusion 186a. have.
  • the restraint protrusion elastic part 186b may be connected to different positions of the restraint protrusion 186a to provide a restoring force to the restraint protrusion 186a when the restraint protrusion 186a is rotated.
  • the auxiliary elastic part 141 may be in contact with the second elastic part 140 and move together, so that the same effects as described with reference to FIG. 10 may occur.
  • the elastic force adjusting unit 185 may rotate the elastic force adjusting unit 185.
  • the other end of the auxiliary elastic part 141 may rotate together with the elastic force adjusting body part 185a, and the adjusting protrusion 185b may be fixed to the restraining protrusion 186a in contact with the restraining protrusion 186a.
  • the elastic force control body 185a is no longer rotated so that the auxiliary elastic portion 141 may be separated from the second elastic portion 140.
  • the elastic force adjusting body 185a may be rotated by releasing contact between the adjusting protrusion 185b and the restraining protrusion 186a.
  • the user may rotate the restriction protrusion 186a.
  • the restraint protrusion 186a may be in an exposed state, and the restraint protrusion 186a may be moved through a separate switch.
  • the restraint protrusion elastic portion 186b may apply a restoring force to the restraint protrusion 186a.
  • the restraining protrusion 186a may release the restraint of the adjusting protrusion 185b, move back a certain range, and then return to the original state.
  • the elastic force adjusting body part 185a rotates due to the restoring force of the auxiliary elastic part 141, and the other end of the auxiliary elastic part 141 is the second elastic part 140. In contact with the other end of the) can be reinforcement of the elastic force when the other end of the rotation of the second elastic portion 140.
  • the elastic force adjusting unit 185 may be fixed to the restraining protrusion 186a.
  • the state in which the auxiliary elastic part 141 is contacted with the second elastic part 140 by separating the elastic force adjusting part 185 from the restraining protrusion 186a It can be maintained.
  • FIG. 12 is a conceptual diagram illustrating an operating state of the walking assistance device illustrated in FIG. 1.
  • FIG. 13 is a conceptual view illustrating a part of the walking assistance device illustrated in FIG. 12.
  • 14 is a conceptual diagram illustrating an operating state of the second elastic part illustrated in FIG. 12.
  • FIG. 15 is a conceptual diagram illustrating another embodiment of the force part and the path guide part shown in FIG. 9.
  • FIG. 16 is a conceptual diagram illustrating a path guide part shown in FIG. 14.
  • FIG. 17 is a conceptual diagram illustrating an arrangement order of a fourth elastic part, a fourth elastic connection part, a locking part, a fifth elastic part, a variable length part, a fifth elastic connection part, and a sixth elastic part of the walking assistance device shown in FIG. 12.
  • the first elastic part 120 when the user walks, the first elastic part 120 may be folded or unfolded.
  • the center angle of the first elastic connection part 123 is initially set. Keep the angle.
  • the protrusion 132 is disposed below the lower outer body 112 by the Achilles tendon body 131 connected to the second elastic body 122.
  • the elastic elastic portion 154 By the restoring force of the elastic elastic portion 154, the other end of the elastic elastic portion 154 in contact with the contact portion 156 is disposed below.
  • the second elastic body portion 122 touches the ground.
  • the user's weight may exert the first elastic body portion 121.
  • the first and second elastic body parts 121 and 122 are close to each other, and the first elastic connecting part 123 may be compressed. Restoring force for opening the first and second elastic bodies 121 and 122 apart from each other may be stored in the compressed first elastic connecting portion 123.
  • the second elastic body part 122 may exert the achilles tendon body part 131.
  • the achilles tendon body 131 may rise along the lower inner body 113, and the protrusion 132 may rise inside the lower outer body 112.
  • the protrusion 132 may contact the contact portion 156 and raise the contact portion 156 while linearly moving.
  • the contact part 156 may contact the other end of the elastic elastic part 154 and rotate the other end of the elastic elastic part 154.
  • the other end of the elastic elastic portion 154 may move while rotating upward.
  • Restoring force may be stored in the elastic elastic part 154 so that the other end of the elastic elastic part 154 rotates downward.
  • the eighth elastic part 155 may store a restoring force to compress.
  • the user's knees may be straight and bent in a straight line.
  • the upper main body 111 and the lower outer main body 112 may form a straight line.
  • the second moving part 153 is disposed at the upper end of the first path guide part 112b-1, and the first moving part 151 is disposed at the upper end of the first moving guide part 112a.
  • the bent state the second moving part 153 is disposed at a position other than the upper end of the first path guide part 112b-1, and the first moving part 151 is also at the upper end of the first moving guide part 112a.
  • the first and second moving parts 151 and 153 may be disposed in a direction closer to the lower side of the first moving guide part 112a and the first path guide part 112b-1, respectively. have.
  • the upper rotational movement of the other end of the elastic elastic portion 154 will be described in more detail for each state.
  • the upper surface of the other end of the elastic elastic part 154 during the upper rotational movement of the other end of the elastic elastic part 154 is the upper end of the first path guide part 112b-1. It may be in contact with the second moving unit 153 disposed in the.
  • the upper surface of the other end of the elastic elastic part 154 during the upper rotational movement of the other end of the elastic elastic part 154 is the upper end of the first path guide part 112b-1.
  • the second moving unit 153 may be in contact with the non-partial portion. Thereafter, the second moving part 153 may ascend to the upper end of the first path guide part 112b-1 due to the upward movement of the contact part 156. The rising of the second moving part 153 may raise the elastic connecting part 152 and elevate the first moving part 151 connected to the elastic connecting part 152 along the first moving guide part 112a.
  • first moving part 151 may raise the bent portion of the second elastic part 140, and the second elastic part 140 may be unfolded by a restoring force.
  • the second elastic portion 140 may apply a force to the upper body 111, the upper body 111 and the lower outer body 112 may form a straight line by this force.
  • the upper surface of the other end of the elastic elastic portion 154 is preferably inclined shape. As described above, in all cases in which the user's feet step on the ground in the state where the user's knee is bent and the bent state, the upper surface of the other end of the elastic elastic part 154 is the second surface during the upper rotational movement of the other end of the elastic elastic part 154. It comes in contact with the moving part 153. The second moving part 153 in contact with the inclined shape of the elastic elastic part 154 slides the inclined shape and moves from the first path guide part 112b-1 to the second path guide part 112b-2. I can move it.
  • the second moving part 153 may be disposed on the lower surface of the other end of the elastic elastic part 154.
  • the second moving part 153 may be fixed in position by the restoring force of the second elastic part 140 and the restoring force of the elastic elastic part 154. That is, the second moving part 153 tries to move upward due to the restoring force of the second elastic part 140, and the other end of the elastic elastic part 154 is the second moving part due to the restoring force of the elastic elastic part 154.
  • the specific position fixing state of the second moving part 153 can be maintained.
  • the release protrusion 133 installed in the Achilles tendon body 131 may rise along the lower outer main body 113a.
  • the lower end of the fourth long hole 131a formed in the Achilles tendon body 131 may contact the fourth elastic connecting part 172a to raise the fourth elastic connecting part 172a.
  • the sixth elastic part 176 connected to the first wire 175 may pull the first wire 175 downward.
  • the first wire 175 is bent through the guide roller 179 and connected to the sixth elastic part 176, so that the fifth elastic force part 177 moves downward in accordance with the movement of the first wire 175. (See FIG. 17 (a)).
  • the fifth elastic connector 174a When the Achilles tendon body 131 is raised, the fifth elastic connector 174a is moved to the upper side by moving the fourth elastic connector 172a upward by the lower end of the fourth long hole 131a. It can move upward by contacting the bottom. Accordingly, the length of the fifth elastic portion 174 may increase along with the fourth elastic portion 172.
  • the fifth elastic connector 174a may raise the first linear movement part 160 connected to the fifth elastic connector 174a.
  • the first linear motion body 161 may rise together with the fifth elastic connecting part 174a, and the first linear roller 162 may move together with the first linear motion body 161.
  • first linear roller 162 When the first linear roller 162 is in motion, one end of the second connecting portion 163 may rise along the first linear roller 162. In this case, the first linear motion body 161 and the second connection portion 163 may form an obtuse angle. Restoring force may be stored in the third elastic part 171 by deforming the third elastic part 171 connected to the other end of the second connection part 163.
  • the seventh elastic part 180 connected to the fifth elastic connector 174a may apply the fifth elastic connector 174a to allow the fifth elastic connector 174a to contact the lower end of the sixth long hole.
  • the end of the fourth elastic portion 172 may be caught and fixed to the locking portion 173. Specifically, when the end of the fourth elastic portion 172 continuously rises, the locking portion 173 is rotated in contact with the locking portion 173, and the groove of the fourth elastic portion 172 is inserted into a groove formed in the locking portion 173. After the end is inserted, the fourth elastic part 172 may be restrained by the locking part 173 rotating again to return to its original state.
  • the cushion unit 181 may be deployed.
  • the cushion part 181 may be deployed to be deployed between the upper main body 111 and the thigh.
  • the second wire 182 may be bent and moved at least once through the bending roller 183 to develop the cushion unit 181.
  • the first elastic portion 120 is deformed to apply a force to the ground can help the user walking.
  • the second elastic body portion 122 when the second elastic body portion 122 is separated from the ground, the second elastic body portion 122 may be spaced apart from the first elastic body portion 121. At this time, the Achilles tendon body 131 connected to the second elastic body 122 may move downward.
  • the protrusion 132 When the Achilles tendon body 131 moves downward, the protrusion 132 may also move downward. At this time, when the protrusion 132 is moved, the protrusion 132 may release the force applied to the contact portion 156. The other end of the elastic elastic portion 154 in contact with the contact portion 156 may rotate to return to the initial state. In addition, the eighth elastic part 155 connected to the elastic elastic part 154 may return to its original state.
  • the contact part 156 may descend.
  • the second moving part 153 may move downward along the first path guide part 112b-1 together with the contact part 156.
  • the bent portion of the second elastic part 140 may be rotated downward by lowering the elastic connecting part 152 and the first moving part 151 according to the movement of the second moving part 153.
  • the first moving part 151 may linearly move downward along the first moving guide part 112a to the lower side of the main body 112.
  • the second moving part 153 may move along the first path guide part 112b-1.
  • the contact with the contact part 156 may be released.
  • the rotation radius of the elastic elastic portion 154 is fixed, and the rotation radius of the contact portion 156 corresponding to the rotation radius of the elastic elastic portion 154 is also fixed.
  • the second moving part 153 may escape a fixed rotation radius of the contact part 156 in the first path guide part 112b-1. In this case, the second moving part 153 may be released from contact with the contact part 156.
  • the downward force is released by the second moving part 153 acting on the second elastic part 140. That is, the upper main body 111 and the lower outer main body 112 may form a straight line by the restoring force of the second elastic part 140.
  • the first path guide part 112b-1 and the second path guide part 112b-2 may adjust the position through the position adjusting part 112b-3.
  • the position adjusting portion 112b-3 is connected to one end of the first path guide portion 112b-1, and may be installed to be rotatable on the lower outer body 112.
  • the position adjusting unit 112b-3 is formed in a bolt shape and rotates to adjust the position of the path guide unit 112b to adjust the degree of elevation of the force unit 150.
  • the angle formed by the upper body 111 and the lower outer body 112 may be adjusted by adjusting the folding angle of the second elastic portion 140 by adjusting the position adjusting unit 112b-3.
  • the other end of the elastic elastic part 154 rotates by the restoring force and stops rotation when it meets the stopper 157.
  • the contact portion 156 may also contact the stopper 157 to stop the linear motion.
  • the fourth elastic connecting portion 172a may be fixed in a position constrained by the locking portion 173.
  • the fourth long hole 131a may descend.
  • the fourth elastic connector 172a constrained by the locking unit 173 is fixed at a specific position, and as the fourth long hole 131a in which the fourth elastic connector 172a is disposed descends, the fourth elastic connector 172a is lowered. 172a may be disposed at an upper portion of the fourth long hole 131a.
  • the release protrusion 133 may exert a portion of the locking part 173.
  • the locking unit 173 may rotate to release the restraint of the end of the fourth elastic unit 172.
  • the fourth elastic portion 172 may move downward.
  • the fifth elastic connecting portion 174a may move downward together with the achilles tendon body portion 131 by the restoring force of the sixth elastic portion 176.
  • the fourth elastic connector 172a is released from the locking unit 173 after the fifth elastic connector 174a is lowered, the fourth elastic unit 172 may move downward to pull the first wire 175. have. Due to the tension of the first wire 175, the length of the sixth elastic part 176 connected to the first wire 175 increases and the fifth elastic force part 177 fixed to the first wire 175 may rise. Can be.
  • the fifth elastic connection part 174a in contact with the fifth elastic force part 177 may also rise (see FIG. 17B).
  • the length of the fourth elastic portion 172 may be reduced, and the lengths of the fifth elastic portion 174 and the sixth elastic portion 176 may increase.
  • the fifth elastic connector 174a may move freely in the fifth and sixth holes.
  • the fourth elastic connecting portion 172a is finally disposed on the lower side, and the fifth elastic connecting portion 174a is disposed on the upper side. It may be (see Fig. 17 (c)).
  • the fifth elastic connector 174a may descend and then rise again.
  • one end of the first linear motion body 161 and the seventh elastic part 180 connected to the fifth elastic connector 174a may be lowered.
  • the other end of the seventh elastic part 180 may also be lowered by the lowering of one end of the seventh elastic part 180.
  • the first linear roller 162 is lowered by the lowering of the first linear motion body 161, and thus, one end of the second connecting portion 163 connected to the first linear roller 162 is lowered, and the third is lowered.
  • the other end of the second connection part 163 connected to the elastic part 171 may rise.
  • the seventh elastic part 180 may help the user's ankle spread. That is, the second connecting portion 163 may move in a direction in which the angle formed with the first linear motion body portion 161 becomes smaller. When the second connecting portion 163 moves, a portion in which the uneven portion of the Achilles tendon body 131 is formed may be bent by being deformed in the same or similar direction as the second connecting portion 163. In particular, the uneven portion of the Achilles tendon body 131 can be deformed without disturbing the path of the heel when the ankle is bent. As one end and the other end of the seventh elastic part 180 are spaced apart, the seventh elastic part 180 may store a restoring force such that an angle between the one end and the other end is reduced.
  • one end of the first linear motion body 161 and the seventh elastic part 180 connected to the fifth elastic connector 174a may rise.
  • the user's ankle may be folded by the restoring force of the seventh elastic part 180.
  • the upper main body 111, the lower outer main body 112, and the lower inner main body 113 may form a straight line so that the user's foot is fully extended.
  • the restoring force or the elastic force may be stored in each elastic part.
  • the first elastic part 120 may provide a force necessary for walking to the user.
  • the tension unit 150, the second elastic unit 140, and the like may provide a force for the user to fold the knee.
  • the first elastic part 120, the tensioning part 150, and the second elastic part 140 may provide the force necessary for walking by the user by providing a force to move forward. Can be.
  • the bent portion of the second elastic portion 140 may exert the force portion 150 downward.
  • the first elastic connecting portion 152a and the second elastic connecting portion 152b may be folded together to block the force applied to other components of the walking assistance device 100.
  • the second elastic part 140 may support the upper body 111 through the restoring force, thereby providing the restoring force to the user when the user rises again, thereby helping the user stand up with less force.
  • the walking assistance device 100 may provide convenience to the user.
  • the walking assistance apparatus 100 may assist the walking of the user by providing a force necessary for the walking of the user.
  • the walking assistance device 100 may be a great aid to walking and assist walking in various situations, such as a person suffering from degenerative arthritis, a person uncomfortable gait, a person who squats and works all day, and a person who needs to walk a lot. .
  • embodiments of the present invention may increase user convenience by assisting the user walking when moving up and down the stairs.
  • walk aid 111 upper body
  • first and second elastic portions 130 achilles tendon
  • stopper 160 first linear motion portion

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Abstract

La présente invention concerne un dispositif d'assistance à la marche. La présente invention peut fournir une aide énorme pour la marche et peut assister la marche de personnes qui souffrent de diverses pathologies, par exemple des personnes souffrant d'arthrose, des personnes dont la démarche est anormale, des personnes qui travaillent dans une position accroupie toute la journée, et des personnes qui doivent beaucoup marcher. De plus, des modes de réalisation de la présente invention peuvent fournir une assistance à la marche d'un utilisateur lorsque l'utilisateur monte et descend des escaliers, ce qui permet d'améliorer le confort pour l'utilisateur.
PCT/KR2017/004072 2016-04-15 2017-04-14 Dispositif d'assistance à la marche WO2017179948A2 (fr)

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Application Number Priority Date Filing Date Title
CN201780023764.4A CN109070340A (zh) 2016-04-15 2017-04-14 步行辅助装置
US16/093,654 US20190125613A1 (en) 2016-04-15 2017-04-14 Walking assistance device

Applications Claiming Priority (10)

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KR10-2016-0046202 2016-04-15
KR20160046202 2016-04-15
KR10-2016-0080903 2016-06-28
KR1020160080933A KR101909051B1 (ko) 2016-06-28 2016-06-28 보행 보조 장치
KR1020160080890A KR20170118574A (ko) 2016-04-15 2016-06-28 보행 보조 장치
KR1020160080896A KR101909048B1 (ko) 2016-06-28 2016-06-28 보행 보조 장치
KR1020160080903A KR101909050B1 (ko) 2016-06-28 2016-06-28 보행 보조 장치
KR10-2016-0080890 2016-06-28
KR10-2016-0080896 2016-06-28
KR10-2016-0080933 2016-06-28

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CN110974232A (zh) * 2019-12-26 2020-04-10 上海交通大学 穿戴式负重监测与康复训练智能辅助装置

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KR101040631B1 (ko) * 2006-06-29 2011-06-10 혼다 기켄 고교 가부시키가이샤 보행 보조 장치
KR100957379B1 (ko) * 2008-05-02 2010-05-11 최종섭 체중의 압력을 이용한 보행보조기구
JP2013138784A (ja) * 2012-01-04 2013-07-18 Toyota Motor Corp 歩行支援装置
KR101315199B1 (ko) * 2012-04-02 2013-10-07 서울과학기술대학교 산학협력단 패시브형 근력 보상 장치를 이용한 족행 보행 보조로봇
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CN110974232A (zh) * 2019-12-26 2020-04-10 上海交通大学 穿戴式负重监测与康复训练智能辅助装置

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