Sports assistive devices

Abstract

A motion assisting device comprises: a proximal bracket configured to support a proximal part of a user; a connecting bracket rotatably connected to the proximal bracket; a distal bracket rotatably connected to the connecting bracket and configured to support a distal part of the user; and a power transmitter comprising a slider, a pusher and a coupler, the slider being configured to slide along the proximal bracket, the pusher being rotatably connected to the distal bracket and the slider, the coupler being configured to connect the slider and the pusher and being arranged to be closer to the proximal part of the user than the rotation axis of the connecting bracket throughout the entire range of motion.

Description

[0001] This application claims the benefit of Korean Patent Application No. 10-2018-0158510 filed in the Korean Intellectual Property Office on December 10, 2018, the entire contents of which are incorporated herein by reference in their entirety. Technical Field

[0002] At least one example embodiment relates to a motion assisting device. Background Art

[0003] Movement assisting devices that enable elderly people and / or patients with joint problems to walk with less effort and movement assisting devices that enhance the muscle strength of users for military purposes are being developed. Summary of the invention

[0004] Some example embodiments relate to a motion assisting device.

[0005] In some example embodiments, the motion assisting device may include: a proximal bracket configured to support a proximal portion of a user; a connecting bracket rotatably connected to the proximal bracket; a distal bracket rotatably connected to the connecting bracket, the distal bracket configured to support a distal portion of the user; and a power transmitter including a slider, a pusher, and a coupler, wherein the slider is configured to slide along the proximal bracket, the pusher is rotatably connected to the distal bracket and the slider, and the coupler is configured to rotatably connect the slider and the pusher so that throughout the entire range of motion of the coupler, the coupler remains closer to the proximal portion of the user than the rotation axis of the connecting bracket.

[0006] In some example embodiments, the power transmitter and the connecting bracket are configured to connect the distal bracket and the proximal bracket so that the distal bracket is configured to perform 2-degree-of-freedom (DOF) motion relative to the proximal bracket, and the 2DOF motion includes motion in a direction passing through the sagittal plane of the user.

[0007] In some example embodiments, the connecting bracket is configured to rotate in a direction causing the connecting bracket to be parallel to the distal bracket in response to the distal bracket rotating in a direction in which the extension angle between the distal bracket and the proximal bracket increases.

[0008] In some example embodiments, the slider is configured to increase an extended angle between the distal bracket and the proximal bracket in response to the slider being slid toward the distal portion of the user.

[0009] In some example embodiments, the exercise assisting device further comprises: a restraint connected to the distal bracket, the restraint being configured to overlap the proximal bracket when viewed from the side of the user.

[0010] In some example embodiments, the exercise assisting device further comprises a cam configured to protrude from the proximal bracket to support the constraint, the cam having a first end and a second end such that a height of the cam varies from the first end to the second end.

[0011] In some example embodiments, the exercise assisting device further includes: a rotating body slidably connected to the proximal bracket; and a cable configured to connect the rotating body and the slider.

[0012] In some example embodiments, the distal support includes: a first support section connected to the connecting support; and a second support section connected to the first support section in an angle-adjustable manner.

[0013] In some example embodiments, the motion assisting device further comprises: a driving elastic body configured to connect the proximal bracket and the slider, such that the driving elastic body is configured to provide an elastic force for pushing the slider toward the distal portion of the user.

[0014] In some example embodiments, the exercise assisting device further comprises: an assisting elastic body configured to connect the proximal bracket and the connecting bracket.

[0015] In some example embodiments, the distal stent is in rolling contact with the connecting stent.

[0016] In some example embodiments, the exercise assisting device further comprises: a thigh wearable portion connected to the proximal bracket, the thigh wearable portion being constructed to be worn on the user's thigh; and a calf wearable portion connected to the distal bracket, the calf wearable portion being constructed to be worn on the user's calf.

[0017] Other example embodiments relate to a motion assistance device.

[0018] In some example embodiments, the motion assisting device may include: a proximal bracket configured to support a proximal portion of a user; a distal bracket configured to support a distal portion of a user; a connecting bracket rotatably connected to each of the proximal bracket and the distal bracket, such that the connecting bracket is configured to: rotate in a direction such that the connecting bracket is parallel to the distal bracket in response to the proximal bracket rotating in a direction in which an angle between the proximal bracket and the distal bracket increases; and a power transmitter configured to transmit power from the proximal bracket to the distal bracket.

[0019] In some example embodiments, the power transmitter includes: a slider configured to slide along a proximal bracket; a pusher rotatably connected to the distal bracket and the slider; and a coupler configured to connect the slider and the pusher so that the slider and the pusher are configured to perform a 2-degree-of-freedom (DOF) rotational motion relative to each other.

[0020] In some example embodiments, throughout the range of motion of the coupler, the coupler remains closer to the proximal portion of the user than the axis of rotation of the attachment bracket.

[0021] In some example embodiments, the power transmitter and the connecting bracket are configured to connect the distal bracket and the proximal bracket so that the distal bracket is configured to perform 2DOF motion relative to the proximal bracket, and the 2DOF motion includes motion in a direction through the sagittal plane of the user.

[0022] In some example embodiments, the exercise assisting device further comprises: a restraint connected to the distal bracket, the restraint being configured to overlap the proximal bracket when viewed from the side of the user.

[0023] Other example embodiments relate to a motion assistance device.

[0024] In some example embodiments, the motion assisting device includes: a power transmitter, including a slider, the slider is connected to the first end of the pusher via a first passive joint so that the pusher is constructed to rotate with 2 degrees of freedom (DOF) relative to the slider, and the power transmitter is constructed to transmit power from the first bracket to the second bracket; and a connecting bracket, connected to the first bracket via a hinge and connected to the second end of the pusher via a second passive joint, the hinge is capable of rotating along a first direction passing through the user's sagittal plane, the second passive joint is constructed to rotate with 2DOF including a first direction and a second direction along the sagittal plane, so that the connecting bracket is constructed to: rotate along a first direction passing through the user's sagittal plane in response to the first bracket rotating in a second direction along the user's sagittal plane.

[0025] In some example embodiments, the motion assisting device further comprises: a rotating body connected to a first end of the pusher via a slider, the rotating body being configured to convert the rotational power generated by the actuator into linear power, and a second end of the pusher being connected to the second bracket so that the slider is configured to transmit the linear power to the second bracket.

[0026] In some example embodiments, the power transmitter is constructed to extend across the user's popliteal fossa on the posterior side of the user when the user wears the exercise assisting device and cause the user's knee joint to move biaxially so that the knee joint rotates inwardly or outwardly in response to the first support rotating in a second direction along the sagittal plane.

[0027] Additional aspects of example embodiments will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] These and / or other aspects will become clear and more readily understood through the following description of example embodiments taken in conjunction with the accompanying drawings, in which:

[0029] Figure 1 Shows the user's sagittal, frontal, and transverse planes;

[0030] Figure 2 is a perspective view showing a user wearing a motion assisting device according to at least one example embodiment;

[0031] Figure 3 showing a movement assisting device in an extended state according to at least one example embodiment;

[0032] Figure 4 showing a motion assisting device in a bent state according to at least one example embodiment;

[0033] Figures 5 to 7 is a side view showing a motion assisting device according to at least one example embodiment;

[0034] Figure 8 is a front view showing a motion assisting device according to at least one example embodiment;

[0035] Fig. 9 is a front view showing a motion assisting device according to at least one example embodiment;

[0036] Fig.10 is a front view showing a motion assisting device worn by a user having genu varum;

[0037] Fig.11 is a front view showing a motion assisting device worn by a user having genu valgum;

[0038] Fig.12 is an enlarged side view showing a proximal bracket, a rotator, a cable, and a slider of a motion assisting device according to at least one example embodiment;

[0039] Fig.13 is an enlarged side view showing a mechanism of increasing inertial tension of a cable in an exercise assisting device according to at least one example embodiment;

[0040] Fig.14 is an enlarged side view showing a mechanism of reducing inertial tension of a cable in a motion assisting device according to at least one example embodiment;

[0041] Fig.15 is an enlarged side view showing a rack gear and a pinion gear of a motion assisting device according to at least one example embodiment;

[0042] Fig.16 is a side view showing a motion assisting device according to at least one example embodiment;

[0043] Figures 17 to 19 is a perspective view showing a motion assisting device according to at least one example embodiment;

[0044] Fig. 20 showing a motion assisting device in a bent state according to at least one example embodiment;

[0045] Fig.21 showing a movement assisting device in an extended state according to at least one example embodiment;

[0046] Fig. 22 is a side view showing a motion assisting device in a bent state according to at least one example embodiment;

[0047] Fig.23 is a side view illustrating an exercise assisting device in an extended state according to at least one example embodiment. DETAILED DESCRIPTION

[0048] Hereinafter, some example embodiments will be described in detail with reference to the accompanying drawings. With regard to the reference numerals assigned to the elements in the accompanying drawings, it should be noted that, wherever possible, even if the same elements are shown in different drawings, they will be designated by the same reference numerals. In addition, in the description of the example embodiments, when it is considered that a detailed description of a structure or function related to the well-known will lead to an ambiguous interpretation of the present disclosure, such a description will be omitted.

[0049] In addition, terms such as first, second, A, B, (a), (b), etc. may be used herein to describe components. Each of these terms is not used to limit the nature, order, or sequence of the corresponding component, but is only used to distinguish the corresponding component from other components. It should be noted that if a component is described in the specification as being "connected," "coupled," or "joined" to another component, although the first component may be directly connected, coupled, or joined to the second component, a third component may be "connected," "coupled," or "joined" between the first component and the second component.

[0050] The same names may be used to describe elements included in the above-described exemplary embodiments and elements having common functions. Unless otherwise specified, the descriptions on the exemplary embodiments are applicable to the following exemplary embodiments, and therefore, for the sake of brevity, repeated descriptions will be omitted.

[0051] Figure 1 The user's sagittal, frontal, and transverse planes are shown.

[0052] Reference Figure 1, the sagittal plane P1 is a plane that divides the user U into the right and left parts, the frontal plane P2 is a plane that divides the user U into the front and the back, and the transverse plane P3 is a plane that divides the user U into the upper and the lower parts. The movement of the user U can be interpreted as being performed on the three planes P1, P2 and P3. For example, when the user U performs a bending movement or a stretching movement of the leg, the calf of the user U may rotate relative to the thigh on the sagittal plane P1, and also rotate in a direction passing through the sagittal plane P1. Hereinafter, the movement of the exercise assisting device according to at least one example embodiment will be described based on the sagittal plane P1, the frontal plane P2 and the transverse plane P3.

[0053] Figure 2 is a perspective view showing a user wearing a motion assisting device according to at least one example embodiment, Figure 3 showing a movement assisting device in an extended state according to at least one example embodiment, Figure 4 An exercise assisting device in a bent state according to at least one example embodiment is shown.

[0054] Reference Figures 2 to 4 , the exercise assisting device 1 can be worn by a user to assist the user's exercise. The user may correspond to a person, an animal, or a robot. However, the user is not limited thereto. The exercise assisting device 1 may include a proximal bracket 11, a connecting bracket 12, a distal bracket 13, a power transmitter 14, an actuator 50, a thigh wearable portion 91, and a calf wearable portion 92.

[0055] The proximal support 11 and the distal support 13 may be on opposite sides of the user's joint. For example, the proximal support 11 and the distal support 13 may be on opposite sides of the user's knee. The proximal support 11 may support the portion above the user's knee (e.g., the user's thigh), and the distal support 13 may support the portion below the user's knee (e.g., the user's calf and / or calf).

[0056] The proximal stent 11 may include a proximal stent body 111 , a proximal guide 112 , and a proximal receiver 113 .

[0057] The proximal support body 111 may be a longitudinal member configured to support the side of the user's thigh. The longitudinal direction of the proximal support body 111 may be parallel to the longitudinal direction of the user's thigh.

[0058] The proximal guide 112 may be provided on one side of the proximal support body 111, and may be configured to guide the sliding of the slider 141. The proximal guide 112 may have a hollow having the same width as that of the slider 141. The proximal guide 112 may assist the 1 degree of freedom (DOF) movement of the slider 141. The proximal guide 112 may limit the range of motion of the slider 141 to prevent hyperextension of the knee or prevent excessive force from being applied to the user's joint, thereby improving safety.

[0059] The proximal receiver 113 may be disposed on the other side of the proximal support body 111 and receive the actuator 50 .

[0060] The connecting bracket 12 may support the side of the joint connecting the proximal part and the distal part of the user. When the proximal bracket 11 supports the user's thigh and the distal bracket 13 supports the user's calf, the connecting bracket 12 may support the side of the user's knee. The connecting bracket 12 may be rotatably connected to the proximal bracket body 111.

[0061] The connection bracket 12 may rotate about the rotation axis A. The connection bracket 12 may rotate about the rotation axis A in a direction passing through the sagittal plane of the user. For example, the rotation axis A may be a hinge including a pin to be inserted into the connection bracket 12 and the proximal bracket body 111 .

[0062] The rotation axis A of the connecting bracket 12 can provide a DOF for the distal bracket 13 supporting the user's calf to move relative to the proximal bracket 11 supporting the user's thigh in a direction passing through the user's sagittal plane. In fact, the user's thigh and calf can move simultaneously in a direction parallel to the user's sagittal plane and in a direction passing through the user's sagittal plane during extension and flexion movements (i.e., move biaxially). Therefore, the movement in the direction passing through the user's sagittal plane can improve the wearability of the user.

[0063] When the knee is fully extended, the rotation axis A may be tilted from the rear side of the user toward the front side to approach the joint. For example, the rotation axis A may be tilted in a direction toward the front side of the user to approach the knee joint of the user. Figure 2 In the example of FIG. 1 , the rotation axis A may be tilted downward in a direction toward the front side of the user (e.g., at 20 to 70 degrees). When compared with a structure in which the rotation axis A is arranged in a direction perpendicular to the frontal plane of the user, the tilted structure may achieve a movement more similar to the movement of the user's knee joint. Therefore, the wearability of the user may be improved.

[0064] The connecting bracket 12 can rotate relative to the proximal bracket 11 about the rotation axis A, thereby moving in a direction passing through the sagittal plane of the user. The angle between the connecting bracket 12 and the proximal bracket 11 can change as the knee performs a flexion movement or an extension movement.

[0065] The distal bracket 13 may be rotatably connected to the connecting bracket 12. The distal bracket 13 may support a distal portion (e.g., a calf and / or a calf) of a user. The distal bracket 13 may rotatably support one end of a pusher 142. When the pusher 142 moves downward, the distal bracket 13 may rotate relative to the connecting bracket 12. The distal bracket 13 may include a first bracket section 131 and a second bracket section 132.

[0066] The first section bracket 131 can be relatively rotatably connected to the connecting bracket 12 using a rotation scheme to rotate in the direction along the sagittal plane. Here, "rotating in the direction along the sagittal plane" means "rotating in the sagittal plane". The rotation scheme may include a rolling contact scheme in which multiple gears rotate while meshing with each other or a rolling contact scheme in which multiple pulleys rotate relative to each other through friction. For example, the first section bracket 131 and the connecting bracket 12 may include teeth that mesh with each other. A connecting member for maintaining a desired (or, optionally, predetermined) distance between the first section bracket 131 and the connecting bracket 12 may be provided.

[0067] Meanwhile, the connection bracket 12 and the first section bracket 131 may rotate using a scheme other than the rolling contact scheme. For example, the connection bracket 12 and the first section bracket 131 may be pivotally connected.

[0068] The second section bracket 132 may be connected to the first section bracket 131 at an adjustable angle and in close contact with the user's body (e.g., the user's calf and / or calf). The second section bracket 132 may be selectively fastened to the first section bracket 131. For example, a fastening member (not shown) for fastening the first section bracket 131 and the second section bracket 132 may be provided. When the fastening member is coupled, the relative movement of the first section bracket 131 and the second section bracket 132 may be restricted, and when the fastening member is separated, the relative movement may be implemented.

[0069] In the above structure, the distal support 13 can perform at least 2DOF motion relative to the proximal support 11. For example, the distal support 13 can rotate relative to the proximal support 11, thereby rotating on the user's sagittal plane, and can also rotate around the rotation axis A, thereby rotating in a direction passing through the user's sagittal plane.

[0070] The power transmitter 14 may transmit the power generated by the actuator 50 to the distal bracket 13. The power transmitter 14 may be configured to extend across the user's popliteal fossa on the user's back side when the user wears the exercise assisting device, and to cause the user's knee joint to move biaxially, so that the knee joint rotates inward or outward in response to the connection bracket 12 rotating in a first direction passing through the user's sagittal plane. The power transmitter 14 may include a slider 141, a pusher 142, a first coupler 143, and a second coupler 144.

[0071] The slider 141 may slide along the proximal guide 112 of the proximal bracket 11. For example, the slider 141 may slide in a direction parallel to the thigh of the user. The slider 141 may slide toward the proximal portion of the user (for example, toward the waist of the user), or toward the distal portion of the user (for example, toward the feet of the user).

[0072] The pusher 142 may be rotatably connected to the slider 141 and the distal support 13. The pusher 142 may be moved toward the proximal portion or the distal portion of the user by means of the slider 141. The pusher 142 may move toward the distal portion of the user and push the distal support 13, thereby assisting the extension movement of the knee, or move toward the proximal portion of the user and pull the distal support 13, thereby assisting the flexion movement of the knee.

[0073] The first coupler 143 may couple the slider 141 with the pusher 142. The first coupler 143 may assist the slider 141 and the pusher 142 to perform at least 2DOF rotational motion. For example, the first coupler 143 may be a universal joint or a ball joint.

[0074] The first coupler 143 may be disposed at a proximal portion closer to the user than the rotation axis A of the connection bracket 12 within the entire range of motion. That is, the first coupler 143 may be disposed at a position farther from the distal bracket 13 than the rotation axis A. Here, the range of motion refers to a range within which the first coupler 143 can move. For example, when a position of the first coupler 143 farthest from the distal bracket 13 is referred to as a first position and a position of the first coupler 143 closest to the distal bracket 13 is referred to as a second position, the range of motion of the first coupler 143 may be between the first position and the second position.

[0075] When the first coupler 143 is arranged to be closer to the proximal portion of the user than the rotation axis A of the connecting bracket 12 throughout the entire range of motion, the pusher 142, the proximal bracket 11, the connecting bracket 12, and the distal bracket 13 move along one degree of freedom, and the pusher 142 pushes the distal bracket 13. Therefore, when the proximal bracket 11 is viewed from the front, the pusher 142 may apply a force to the distal bracket 13 to make the distal bracket 13 parallel to the proximal bracket 11 while the pusher 142 pushes the distal bracket 13. For example, when the proximal bracket 11 is viewed from the front, the distal bracket 13 may bend inwardly or outwardly at a desired (or, optionally, predetermined) angle relative to the proximal bracket 11 around the rotation axis A. When the distal bracket 13 bends inwardly around the rotation axis A, the pusher 142 may extend the distal bracket 13 outwardly while assisting the extension movement of the knee. At the same time, when the distal support 13 is bent outwardly around the rotation axis A, the pusher 142 can extend the distal support 13 inwardly while assisting the extension movement of the knee. That is, when the proximal support 11 is viewed from the front, while the knee is extending when the pusher 142 assists the extension movement of the knee, the angle between the proximal support 11 and the distal support 13 can increase.

[0076] The term "included angle" used herein refers to the minimum angle formed by the proximal bracket 11 and the connecting bracket 12 when the exercise assisting device 1 is viewed from the front. Figure 8 and Fig. 9, angles θ21 and θ22 indicate angles between the proximal support 11 and the connecting support 12 . Figure 8 The first angle θ21 is less than Fig. 9 The second angle θ22 of .

[0077] The second connector 144 can connect the pusher 142 to the distal support 13. The second connector 144 can assist the pusher 142 and the distal support 13 to perform at least 2DOF rotational motion. For example, the second connector 144 can be a universal joint or a ball joint.

[0078] The actuator 50 may generate power for driving the power transmitter 14. The actuator 50 may generate power for driving the power transmitter 14 using voltage, current and / or hydraulic pressure. The actuator 50 may be arranged closer to the proximal portion of the user than the knee of the user receiving the auxiliary force. When compared with the example in which the actuator 50 is arranged on the knee of the user, the above arrangement may reduce the moving radius of the actuator 50. Therefore, the influence of the inertia moment caused by the relatively heavy actuator 50 may be reduced, and the energy efficiency of the motion assisting device 1 may be improved.

[0079] The exercise assisting device 1 may further include a controller (not shown) including a processor and a memory. The memory may include computer readable instructions executable by the processor for controlling the actuator 50 to drive the power transmitter 14 to perform an extension movement and / or a flexion movement.

[0080] The processor may include processing circuitry, wherein the processing circuitry includes, but is not limited to, a processor, a central processing unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a system on a chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner. In some example embodiments, the processor may be at least one of an application specific integrated circuit (ASIC) and / or an ASIC chip.

[0081] The processor can be configured as a special-purpose machine by executing computer-readable program code stored on a storage device. The program code may include programs or computer-readable instructions, software elements, software modules, data files and / or data structures, etc. that can be implemented by one or more hardware devices (such as one or more instances of the processors mentioned above). Examples of program code include machine code generated by a compiler and higher-level program code executed using an interpreter.

[0082] The memory may include one or more storage devices. One or more storage devices may be tangible or non-temporary computer-readable storage media (such as random access memory (RAM), read-only memory (ROM), permanent mass storage devices (such as disk drives), solid-state (e.g., NAND flash memory) devices) and / or any other similar data storage mechanism capable of storing and recording data. One or more storage devices may be configured to store computer programs, program codes, instructions, or some combinations thereof for one or more operating systems and / or computer programs, program codes, instructions, or some combinations thereof for implementing the example embodiments described herein. The computer program, program code, instruction, or combination thereof may also be loaded from a separate computer-readable storage medium into one or more storage devices and / or one or more computer processing devices that use a drive mechanism or are capable of sending data. Such a separate computer-readable storage medium may include a USB flash drive, a memory stick, a Blu-ray / DVD / CD-ROM drive, a memory card, and / or other similar computer-readable storage media. The computer program, program code, instruction, or some combination thereof may be loaded from a remote data storage device into one or more storage devices and / or one or more computer processing devices via a network interface rather than via a local computer-readable storage medium. In addition, computer programs, program codes, instructions or some combinations thereof can be loaded into one or more storage devices and / or one or more processors from a remote computing system configured to transmit and / or distribute computer programs, program codes, instructions or some combinations thereof through a network. The remote computing system can transmit and / or distribute computer programs, program codes, instructions or some combinations thereof via a wired interface, an air interface and / or other similar media. Computer programs, program codes, instructions or some combinations thereof can communicate between a processor and a remote computing system via any wireless transmission method (including a near field communication (NFC) link, a wireless network communication link and / or an ad hoc wireless network communication link). The remote computing system may include a smart phone device. The remote computing system may include a tablet device.

[0083] The processor may be a special purpose machine configured to execute computer executable code for controlling the actuator 50 and / or the power transmitter 14 .

[0084] The thigh wearable portion 91 may be connected to the proximal bracket 11 and may be worn on the thigh of the user. The thigh wearable portion 91 may be a detachable band surrounding the circumference of the user's thigh. The circumference of the thigh wearable portion 91 may be adjusted to fit the user's body. The thigh wearable portion 91 may include a hook and loop fastener structure. However, example embodiments are not limited thereto.

[0085] The calf wearable portion 92 can be connected to the distal support 13 and can be worn on the user's calf. The calf wearable portion 92 can be a detachable band that surrounds the circumference of the user's calf. The circumference of the calf wearable portion 92 can be adjusted to fit the user's body. The calf wearable portion 92 may include a hook-and-loop fastener structure. However, example embodiments are not limited thereto. Multiple calf wearable portions 92 can be set on the same leg of the user and worn on opposite sides of the relatively thick portion of the user's calf.

[0086] Figures 5 to 7 is a side view showing a motion assisting device according to at least one example embodiment, Figure 8 is a front view showing a motion assisting device according to at least one example embodiment, Fig. 9 is a front view illustrating an exercise assisting device according to at least one example embodiment.

[0087] Figure 5 An example showing a motion assisting device in a bent state, Figure 7 An example is shown in which the exercise assisting device is in an extended state.

[0088] Reference Figures 5 to 9 , while the extension angle increases, the angle between the proximal bracket 11 and the connecting bracket 12 may increase. Here, when the exercise assisting device 1 is viewed from the side, the extension angle is the angle formed by the proximal bracket 11 and the distal bracket 13.

[0089] In the following, in the accompanying drawings, the angle marked as “θ1x” indicates the extension angle between the proximal support 11 and the distal support 13 , where x is an integer; the angle marked as “θ2x” indicates the included angle between the proximal support 11 and the distal support 13 .

[0090] Since the connecting bracket 12 is parallel to the distal bracket 13 , the angle between the proximal bracket 11 and the connecting bracket 12 may be substantially the same as the angle between the proximal bracket 11 and the distal bracket 13 . Figure 5 and Figure 7 The distal bracket 13 is sequentially shown rotated in a direction in which the extension angle between the distal bracket 13 and the proximal bracket 11 increases. The first extension angle θ11 when the exercise assisting device 1 is in a bent state may be determined to be within a range of about 20 to 40 degrees. The second extension angle θ12 when the distal bracket 13 rotates to a certain extent around the connecting bracket 12 may be greater than the first extension angle θ11. The third extension angle θ13 when the exercise assisting device 1 is in an extended state may be about 180 degrees.

[0091] While the distal bracket 13 rotates relative to the proximal bracket 11, the connecting bracket 12 can rotate around the rotation axis A in a direction that makes the connecting bracket 12 parallel to the proximal bracket 11. For example, a wearable sports assisting device 1 for a user with a deformity type known as "genu varum". In this example, when the proximal bracket 11 is viewed from the front, the first angle θ21 between the proximal bracket 11 and the connecting bracket 12 may be less than 180 degrees. When the distal bracket 13 rotates relative to the proximal bracket 11, the connecting bracket 12 can rotate around the rotation axis A, and the second angle θ22 between the proximal bracket 11 and the connecting bracket 12 may be greater than the first angle θ21. In this way, the distal bracket 13 can assist the user's calf to stretch in a direction parallel to the user's thigh, so that the bone-on-bone force of the knee can be reduced.

[0092] Fig.10 is a front view showing an exercise assisting device worn by a user having genu varum.

[0093] Reference Fig.10 , due to the pressure continuously applied to the medial side (medial side) of the knee, users with genu varum are likely to have cartilage damage or arthritis. The exercise assisting device 1 can be worn by users with genu varum and reduce bone-to-bone forces. Users with genu varum have calves that bend inward from the thigh. When the user is in a state where the knee is bent, the proximal bracket 11 can be in close contact with the user's thigh, and the distal bracket 13 can be in close contact with the user's calf. When the user extends the knee, the connecting bracket 12 can be rotated relative to the proximal bracket 11 in a direction that makes the connecting bracket 12 parallel to the proximal bracket 11. Therefore, the proximal bracket 11 and the distal bracket 13 can apply force to the thigh and the calf along the direction in which the third angle θ23 increases (see arrow indicator), thereby reducing the bone-to-bone force on the medial side of the knee.

[0094] Fig.11 is a front view showing an exercise assisting device worn by a user having genu valgum.

[0095] Reference Fig.11, due to the continuous pressure applied to the lateral side of the knee, users with genu valgum are likely to have cartilage damage or arthritis. The exercise assisting device 1 can be worn by users with genu valgum and reduce bone-to-bone forces. Users with genu valgum have calves that bend outward from the thigh. When the user is in a state where the knee is bent, the proximal bracket 11 can be in close contact with the user's thigh, and the distal bracket 13 can be in close contact with the user's calf. When the user extends the knee, the connecting bracket 12 can be rotated relative to the proximal bracket 11 in a direction that makes the connecting bracket 12 parallel to the proximal bracket 11. Therefore, the proximal bracket 11 and the distal bracket 13 can apply force to the thigh and the calf along the direction in which the fourth angle θ24 increases (see arrow indicator), thereby reducing the bone-to-bone force on the lateral side of the knee.

[0096] Fig.12 is an enlarged side view showing a proximal bracket, a rotating body, a cable, and a slider of an exercise assisting device according to at least one example embodiment. Fig.13 is an enlarged side view illustrating a mechanism by which inertial tension of a cable increases in an exercise assisting device according to at least one example embodiment. Fig.14 is an enlarged side view illustrating a mechanism by which inertial tension of a cable is reduced in an exercise assisting device according to at least one example embodiment.

[0097] Reference Figure 12 to Figure 14 , the rotating body 61 may be rotatably connected to one side of the proximal bracket 11. The rotating body 61 may be connected to an output terminal of the actuator, and rotated using power generated by the actuator.

[0098] The cable 62 may connect the rotating body 61 and the slider 141. Both ends 62a and 62b of the cable 62 may be fixed to the slider 141. The first end 62a and the second end 62b of the cable 62 may be disposed on opposite sides of the rotating body 61. A groove may be provided on each of the circumference of the rotating body 61 and the surface of the slider 141 to stably support the cable 62 and to prevent (or, alternatively, to prevent) separation of the cable 62, and the cable 62 may be arranged along the provided groove.

[0099] The tension adjusting block 63 may be movably connected to one side of the rotating body 61. The tension adjusting block 63 may include a holder 631, wherein the cable 62 is to be fixed to the holder 631. The tension adjusting block 63 may move along the rotating body 61 and adjust the tension of the cable 62. Fig.13 As shown in FIG. 1 , when the tension adjustment block 63 moves to the right, the tension of the cable 62 can be increased. Fig.14 As shown in , when the tension adjustment block 63 moves to the left, the tension of the cable 62 can be reduced. When the tension of the cable 62 is reduced due to aging with long-term use, the user can use the tension adjustment block 63 to increase the tension of the cable 62.

[0100] The middle portion of the cable 62 may be wound around the rotating body 61 at least once. Figure 12 to Figure 14 In the example of , when the rotating body 61 rotates in the counterclockwise direction, the slider 141 can slide upward. When the rotating body 61 rotates in the clockwise direction, the slider 141 can slide downward. The position where the cable 62 is fixed to the rotating body 61 is not limited thereto. For example, the cable 62 can be fixed to a position on the circumference of the rotating body 61.

[0101] The block guide 64 may be fixed to one side of the rotating body 61 and guide the movement of the tension adjusting block 63. For example, the block guide 64 may support both sides of the tension adjusting block 63.

[0102] The block adjuster 65 can adjust the position of the tension adjustment block 63. For example, the block adjuster 65 may include a bolt and a nut. The block adjuster 65 can push the tension adjustment block 63 in one direction using a change in the length of the bolt relative to the nut, thereby increasing or decreasing the tension of the cable 62.

[0103] Fig.15 is an enlarged side view illustrating a rack gear and a pinion gear of an exercise assisting device according to at least one example embodiment.

[0104] Reference Fig.15 , the exercise assisting device 1 may include a driving gear 90 rotatably installed in the proximal bracket 11. For example, the rotating body 61 may include the driving gear 90 along its outer peripheral surface, and the slider 141 may include a rack gear 80 configured to mesh with the driving gear 90. Fig.15 In the example of FIG. 1 , when the driving gear 90 rotates in the clockwise direction, the slider 141 may slide in the downward direction. When the driving gear 90 rotates in the counterclockwise direction, the slider 141 may slide in the upward direction.

[0105] Fig.16 is a side view showing a motion assisting device according to at least one example embodiment, Figures 17 to 19 is a perspective view illustrating an exercise assisting device according to at least one example embodiment.

[0106] Fig.17 An example showing a motion assisting device in a bent state, Fig.19 An example is shown in which the exercise assisting device is in an extended state.

[0107] Reference Figures 16 to 19 The motion assisting device 2 may include a proximal bracket 11 , a connecting bracket 12 , a distal bracket 13 , a power transmitter 14 , a restraining member 25 and a cam 26 .

[0108] The restraint 25 may be connected to the distal bracket 13 and overlap the proximal bracket 11 when viewed from the side. The restraint 25 may limit the rotation angle of the connection bracket 12 relative to the proximal bracket 11 around the rotation axis A. When the restraint 25 contacts the proximal bracket 11 when the connection bracket 12 rotates around the rotation axis A, the connection bracket 12 may no longer rotate and stop. The restraint 25 may include a restraint body 251 and a restraint protrusion 252, wherein the restraint body 251 is rotatably connected to the distal bracket 13 and the connection bracket 12, and the restraint protrusion 252 is formed to protrude from the restraint body 251 toward the proximal bracket 11.

[0109] The cam 26 may protrude from the proximal bracket 11 and support the constraint 25. The constraint 25 may slide along the top surface of the cam 26. The cam 26 may have a portion with a changed height and support the constraint 25, thereby assisting the connection bracket 12 to rotate relative to the proximal bracket 11. The cam 26 may have a portion whose height increases toward an upper position. For example, the height h1 of the front portion of the cam 26 may be greater than the height h2 of the rear portion of the cam 26. Here, the front portion refers to the portion that extends forward when the user wears the motion assisting device 2. In this example, when the distal bracket 13 rotates relative to the proximal bracket 11 in a direction in which the extension angle increases, the connection bracket 12 may rotate around the rotation axis A and extend outward, thereby reducing the load on the joints of the user with knee varus.

[0110] Meanwhile, although not shown in the drawings, the height h1 of the front portion of the cam 26 may be smaller than the height h2 of the rear portion of the cam 26. In this example, when the distal bracket 13 rotates relative to the proximal bracket 11 in a direction in which the extension angle increases, the connecting bracket 12 may rotate about the rotation axis A and bend inward, thereby reducing the load on the joint of the user with knee valgus.

[0111] Fig. 20 showing a motion assisting device in a bent state according to at least one example embodiment, Fig.21 An exercise assisting device in an extended state according to at least one example embodiment is shown.

[0112] Reference Fig. 20 and Fig.21 The motion assisting device 3 may include a proximal bracket 11 , a connecting bracket 32 ​​, a distal bracket 33 , a power transmitter 14 and an actuator 50 .

[0113] The connecting bracket 32 ​​and the distal bracket 33 are pivotally connected and perform 1DOF rotational motion.

[0114] The power transmitter 14 may include a slider 141, wherein the slider 141 slides using power received from the actuator 50, the pusher 142, a first coupler 143 connecting the slider 141 and the pusher 142 to perform at least 2DOF rotational movement, and a second coupler 144 connecting the pusher 142 and the distal support 33 to perform at least 2DOF rotational movement.

[0115] Fig. 22 is a side view showing a motion assisting device in a bent state according to at least one example embodiment, Fig.23 is a side view illustrating an exercise assisting device in an extended state according to at least one example embodiment.

[0116] Reference Fig. 22 and Fig.23 The motion assisting device 4 may include a proximal bracket 41 , a connecting bracket 12 , a distal bracket 13 , a power transmitter 14 , a driving elastic body 47 and an auxiliary elastic body 48 .

[0117] The proximal bracket 41 may have a shape that guides the sliding of the slider 141 of the power transmitter 14 .

[0118] The driving elastic body 47 can connect the proximal bracket 41 and the slider 141, and provide an elastic force for pushing the slider 141 toward the distal part of the user. For example, when the exercise assisting device 4 is in a bent state, the driving elastic body 47 can be contracted. The driving elastic body 47 can assist the user to extend the knee.

[0119] The auxiliary elastic body 48 may connect the proximal bracket 41 and the connecting bracket 12. The auxiliary elastic body 48 may provide an elastic force in a direction in which the angle between the proximal bracket 41 and the connecting bracket 12 increases. For example, when the exercise assisting device 4 is worn by a user with knee varus, the auxiliary elastic body 48 may extend and provide an elastic force in a direction in which the connecting bracket 12 becomes parallel to the proximal bracket 41.

[0120] A number of example embodiments have been described above. However, it should be understood that various modifications may be made to these example embodiments. For example, suitable results may be achieved if the described techniques are performed in a different order and / or if components in the described systems, architectures, devices, or circuits are combined in a different manner and / or replaced or supplemented by other components or their equivalents. Therefore, other implementations are within the scope of the claims.

Claims

1. A sports assisting device, include: a proximal support configured to support a proximal portion of a user; a connecting bracket rotatably connected to the proximal bracket; a distal support rotatably connected to the connection support, the distal support being configured to support a distal portion of a user; as well as A power transmitter comprises a slider, a pusher and a coupler, wherein the slider is configured to slide along the proximal bracket, the pusher is rotatably connected to the distal bracket and the slider, and the coupler is configured to rotatably connect the slider and the pusher. In which, when the coupler is maintained closer to the proximal part of the user than the rotation axis of the connecting bracket throughout the entire range of motion of the coupler, the pusher, the proximal bracket, the connecting bracket and the distal bracket move along one degree of freedom, and the pusher pushes the distal bracket so that the connecting bracket is constructed to: in response to the distal bracket rotating in the direction in which the extension angle between the distal bracket and the proximal bracket increases, rotate in a direction that causes the connecting bracket to be parallel to the proximal bracket.

2. The exercise assisting device according to claim 1, in, The power transmitter and the connecting bracket are configured to connect the distal bracket and the proximal bracket so that the distal bracket is configured to perform 2-DOF motion relative to the proximal bracket, wherein the 2-DOF motion includes motion in a direction passing through the sagittal plane of the user.

3. The exercise assisting device according to claim 1, in, The motion assisting device is configured to increase an extension angle between the distal bracket and the proximal bracket in response to the slider sliding toward a distal portion of the user.

4. The exercise assisting device according to claim 1, further comprising: include: A restraint is connected to the distal bracket, the restraint being configured to overlap the proximal bracket when viewed from the side of the user.

5. The exercise assisting device according to claim 4, further comprising: include: A cam is configured to protrude from the proximal support to support the constraint, the cam having a first end and a second end such that a height of the cam varies from the first end to the second end.

6. The exercise assisting device according to claim 1, further comprising: include: a rotatable body rotatably connected to the proximal support; as well as The cable is configured to connect the rotating body and the slider.

7. The exercise assisting device according to claim 1, in, The distal stent includes: A first bracket section connected to the connecting bracket; and The second bracket section is connected to the first bracket section in an adjustable angle.

8. The exercise assisting device according to claim 1, further comprising: include: The driving elastic body is configured to connect the proximal support and the slider so that the driving elastic body is configured to provide an elastic force for pushing the slider toward the distal end portion of the user.

9. The exercise assisting device according to claim 1, further comprising: include: The auxiliary elastic body is constructed to connect the proximal bracket and the connecting bracket.

10. The exercise assisting device according to claim 1, in, The distal bracket is in rolling contact with the connecting bracket.

11. The exercise assisting device according to claim 10, further comprising: include: a thigh wearable portion connected to the proximal bracket, the thigh wearable portion being configured to be worn on a thigh of a user; as well as The calf wearable part is connected to the distal support, and the calf wearable part is constructed to be worn on the user's calf.

12. A sports assisting device, include: a proximal support configured to support a proximal portion of a user; between the distal ends, configured to support a distal portion of a user; a connecting bracket rotatably connected to each of the proximal bracket and the distal bracket; as well as a power transmitter configured to transmit power from the proximal support to the distal support, The power transmitter includes a slider, a pusher and a coupler, wherein the slider is configured to slide along the proximal bracket, the pusher is rotatably connected to the distal bracket and the slider, and the coupler is configured to connect the slider and the pusher. In which, when the coupler is maintained closer to the proximal part of the user than the rotation axis of the connecting bracket throughout the entire range of motion of the coupler, the pusher, the proximal bracket, the connecting bracket and the distal bracket move along one degree of freedom, and the pusher pushes the distal bracket so that the connecting bracket is constructed to: in response to the distal bracket rotating in a direction in which the angle between the proximal bracket and the distal bracket increases, rotate in a direction that makes the connecting bracket parallel to the proximal bracket.

13. The exercise assisting device according to claim 12, in, The coupler is configured to rotatably connect the slider and the pusher such that the slider and the pusher are configured to perform a 2-degree-of-freedom rotational motion relative to each other.

14. The exercise assisting device according to claim 12, in, The power transmitter and the connecting bracket are configured to connect the distal bracket and the proximal bracket so that the distal bracket is configured to perform 2-DOF motion relative to the proximal bracket, the 2-DOF motion including motion in a direction passing through the sagittal plane of the user.

15. The exercise assisting device according to claim 12, further comprising: include: A restraint is connected to the distal bracket, the restraint being configured to overlap the proximal bracket when viewed from the side of the user.

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