Wearable muscle strength assist device

Abstract

The present invention discloses a wearable muscle strength assisting device, which includes: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up and down directions with one side as the rotation center in a state of contact with the back of the wearer; a fixing frame, one side of which is twistably combined to the other side of the shoulder blade frame; a supporting member, which supports the upper arm of the wearer in a shape of covering a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the supporting member and can be rotatably combined with the supporting member to the fixing frame with the shoulder axis of the wearer as a reference, thereby generating a supporting force that changes according to the angle of rotation with the fixing frame as a reference.

Description

Technical Field

[0001] The present invention relates to a wearable muscle strength assisting device, and more particularly, to a device that compensates for the load caused by gravity to support the upper arm of the wearer. Background Art

[0002] A wearable robot is a robot that is worn on a specific part of the body or supports a specific part of the body to assist the movement of the body, and is designed for medical, military or work. In particular, a wearable robot for work is designed to prevent injuries and assist muscle strength by reducing the load applied to the operator. This wearable robot simulates the external skeleton of the wearer, so the core of its technology is to design the joints to have the same movement as the actual movement of the body.

[0003] In particular, the wearable upper arm muscle strength assist mechanism includes a manual support device configured to assist a user in supporting the weight of a tool. A typical manual support device is configured to compensate for gravity within a range of positions using a combination of structural components, springs, cables, and pulleys. Such a manual support device is configured to provide gravity compensation within a limited range of motion.

[0004] However, the up and down movement of the human shoulder is not simply achieved by the rotation of the upper arm joint. The up and down movement of the shoulder is the result of complex joint movement involving the scapula and clavicle joints. When the upper arm rises, the upper arm joint rotates and rises, and the scapula, which serves as the rotation axis, also rises at the same time. In other words, it has the motion characteristic of the rotation axis rising while rotating.

[0005] In the wearable upper arm muscle strength assist mechanism according to the prior art, the wearer's movements are restricted by the external skeleton, and since the joint driving range of the shoulder compound joint is limited, the wearer's movements are hindered and movement is inconvenient when the wearer is working.

[0006] The above contents described as background technology are only used to enhance the understanding of the background of the present invention and should not be understood as the prior art known to ordinary technicians in the field.

[0007] Prior art literature

[0008] (Patent Document 1) KR 10-1896181B Summary of the invention

[0009] 1. Technical issues to be resolved

[0010] The present invention is proposed to solve the above-mentioned problems, and its object is to provide a device that provides a compensation force for compensating the load to the wearer's upper arm without hindering the movement of the wearer's shoulder complex joint.

[0011] (II) Technical solution

[0012] The wearable muscle strength assisting device of the present invention for achieving the above-mentioned purpose comprises: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up and down directions with one side as the rotation center on the back of the wearer; a fixing frame, one side of which is twistably combined to the other side of the shoulder blade frame; a support member, which supports the upper arm of the wearer in a shape that covers a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the support member and can be rotatably combined with the support member to the fixing frame with the wearer's shoulder axis as a reference, thereby generating a supporting force that changes according to the angle of rotation with the fixing frame as a reference.

[0013] The fixing body may include: an upper fixing portion, which is coupled to the back of the wearer at a height close to the wearer's shoulder blade; a lower fixing portion, which is separated from the upper fixing portion in the up-down direction and coupled to the back of the wearer at a position close to the wearer's lumbar vertebra; and a fixing link, which extends in the up-down direction to connect the upper fixing portion and the lower fixing portion.

[0014] The lower fixing part can be combined with the wearer's waist or hips through a lower protective belt, and the upper fixing part can be combined with the wearer through an upper protective belt that extends to the front of the wearer through the wearer's shoulders and is combined with the lower protective belt or the lower fixing part.

[0015] The fixing link may be slidably coupled to the lower fixing portion in an up-and-down direction.

[0016] The fixed body may further include a first connecting link and a second connecting link, the first connecting link and the second connecting link being coupled to the fixed link and the lower fixing part to respectively connect the fixed link and the lower fixing part at positions spaced apart from each other in the up and down directions in the fixed link and the lower fixing part, and the first connecting link and the second connecting link being rotatably coupled to one or more of the fixed link and the lower fixing part.

[0017] The wearable muscle strength assistance device may further include a supporting link, one end of which is rotatably and slidably connected to the scapular frame around a rotation axis parallel to the fixed link, and the other end is connected to the fixed link and can rotate in an axial direction parallel to the fixed link, and one end can rotate in an up and down direction around the other end.

[0018] The wearable muscle strength assistance device may further include a support link, one end of which can slide laterally along the scapular frame and be rotatably coupled to a rotation axis perpendicular to the sliding direction, and the other end of which can be rotatably coupled to a fixed body through a rotation axis in the up and down directions, and transmits a reaction force to the support force of the compensation frame to the fixed body.

[0019] The shoulder blade frame may include: a first shoulder blade part coupled to a fixed body; and a second shoulder blade part that slides laterally relative to the first shoulder blade part on the back of the wearer and is rotatably coupled laterally with reference to the first shoulder blade part.

[0020] The second shoulder blade portion may be rotatably coupled to the first shoulder blade portion in a sideward direction with reference to the first shoulder blade portion, and may be limited to a rotation angle within a predetermined angle with reference to the first shoulder blade portion.

[0021] The first shoulder blade portion may be formed with a first sliding groove extending to the side of the wearer, and one side end portion of the second shoulder blade portion may be inserted into the first sliding groove and slidably coupled along the first sliding groove.

[0022] A second sliding groove extending to the side of the wearer may be formed in the second shoulder blade portion, and the shoulder blade frame may further include a limiting portion, one end of which is rotatably coupled to the first shoulder blade portion at a position spaced laterally from the first sliding groove of the first shoulder blade portion, and the other end of which is slidably and rotatably coupled to the second sliding groove to limit the relative rotation angle between the first shoulder blade portion and the second shoulder blade portion.

[0023] The fixing body may include a stopper to which the other side of the first shoulder blade is rotatably coupled in the up-down direction with one side as the center, and the stopper restricts the other side of the first shoulder blade to rotate only within a predetermined angle.

[0024] The shoulder blade frame may further include: a third shoulder blade portion, which is rotatably coupled to the second shoulder blade portion located on the back of the wearer and extends to the side of the wearer; and a fourth shoulder blade portion, which is located on the side of the wearer and rotatably coupled to the third shoulder blade portion to allow one side of the fixed frame to be twisted.

[0025] One side of the fixed frame can be coupled to the scapula frame via an insertion rotation axis that is twistably coupled to the other side of the scapula frame, an insertion protrusion can be formed on the fixed frame, the insertion protrusion protruding toward the scapula frame side at a position separated from the insertion rotation axis in a coupling surface between the one side of the fixed frame and the other side of the scapula frame, and an insertion groove can be formed on the scapula frame, the insertion groove being formed along a trajectory of the insertion protrusion generated according to the twisting of the fixed frame by a predetermined angle to allow the fixed frame to be twisted by a predetermined angle with the insertion protrusion inserted into the inside of the insertion groove.

[0026] The compensating frame may include a spring inside thereof, wherein the spring changes elastic force according to an angle at which the compensating frame rotates with respect to the fixed frame to generate a supporting force against gravity.

[0027] The wearable muscle strength assistance device may further include a switch, which can be combined with the compensation frame to slide integrally with the support member along the extension direction of the compensation frame extending in a direction parallel to the wearer's upper arm and prevent the support member from sliding. When the switch is combined with the compensation frame, the support member is prevented from sliding, so that the support member rotates integrally with the compensation frame.

[0028] The compensation frame may be formed with a slide rail that can slide along the extension direction, and fixing holes may be formed at multiple positions separated along the slide rail. The switch may include a rod, and when the rod rotates inside the compensation frame, fixing protrusions at both ends of the rod protruding toward the compensation frame side are inserted into or disengaged from the fixing holes. When the fixing protrusions are inserted into the fixing holes, the switch 600 is prevented from sliding along the compensation frame 400.

[0029] The switch may include an elastic member applying an elastic force in a direction to rotate the rod in a direction in which the fixing protrusion is inserted into the fixing hole.

[0030] The switch may be formed with a pressing portion protruding to the side of the rod to press the rod at a position spaced apart from the rotation center of the rod, and when the pressing portion is pressed with a pressing force greater than the elastic force of the elastic member, the rod rotates in a direction in which the fixing protrusion is separated from the fixing hole.

[0031] A permanent magnet may be disposed at at least one of the fixing protrusion and the fixing hole to interact with an attractive force generated by magnetism.

[0032] The wearable muscle strength assisting device of the present invention for achieving the above-mentioned purpose comprises: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up and down directions with the side combined to the fixing body as the rotation center; a support member, which supports the upper arm of the wearer in a shape that covers a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the support member and rotates together with the support member with the shoulder axis of the wearer as a reference, and is connected to the shoulder blade frame on the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer as a reference.

[0033] The wearable muscle strength assisting device of the present invention for achieving the above-mentioned purpose comprises: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up-and-down direction with the side combined to the fixing body as the rotation center; a supporting link, one end of which can slide laterally along the shoulder blade frame, and is rotatably combined to a rotation axis perpendicular to the sliding direction, and the other end of which is rotatably combined to the fixing body through the rotation axis in the up-and-down direction, and transmits the reaction force of the supporting force of the compensation frame to the fixing body; a support member, which supports the upper arm of the wearer in the shape of covering a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the support member, and rotates together with the support member with the shoulder axis of the wearer as a reference, and is connected to the shoulder blade frame on the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer as a reference.

[0034] (III) Beneficial effects

[0035] According to the wearable muscle strength assisting device of the present invention, the movement restriction of the wearer is minimized by the assisting device having an external skeleton structure, thereby enabling the natural movement of the wearer.

[0036] In particular, the structure that can slide sideways along the wearer's shoulder axis naturally simulates the action of rotating the upper arm in a direction parallel to the horizontal plane, and can achieve a twisting action of pronating the upper arm inward or supinating the upper arm outward. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a perspective view showing a wearable muscle strength assisting device according to an embodiment of the present invention.

[0038] Figure 2 1 is a diagram showing a state in which a wearer wears a wearable muscle strength assisting device according to an embodiment of the present invention.

[0039] Figure 3 and Figure 4 2 is a diagram showing a fixing body of a wearable muscle strength assisting device according to an embodiment of the present invention.

[0040] Figures 5 to 7 is a diagram showing a shoulder blade frame according to an embodiment of the present invention.

[0041] Figures 8 to 10 is a diagram showing a fixing frame according to an embodiment of the present invention.

[0042] Figures 11 to 14 is a diagram illustrating a compensation framework according to one embodiment of the present invention.

[0043] Description of Reference Numerals

[0044] 100: Fixed body 200: Scapular frame

[0045] 300: Fixed frame 400: Compensation frame

[0046] 500: Support 600: Switch

[0047] 700: Support link DETAILED DESCRIPTION

[0048] The specific structural descriptions and functional descriptions of the embodiments of the present invention disclosed in this specification or in this application are merely illustrative for the purpose of describing the embodiments of the present invention. Therefore, the embodiments of the present invention can be implemented in various ways and should not be interpreted as limiting the embodiments described in this specification or in this application.

[0049] Various modifications and implementations can be made to the embodiments of the present invention, so specific embodiments are exemplarily shown in the drawings and described in detail in this specification or this application. However, it should be understood that this is not intended to limit the embodiments of the concepts according to the present invention to the specific embodiments disclosed, but includes all changes, equivalents and substitutes within the scope of the concept and technology of the present invention.

[0050] The terms first and / or second can be used to describe various components, but the components should not be limited by the terms. The terms are only used to distinguish one component from another component. For example, without departing from the scope of rights of the concept according to the present invention, the first component can be named as the second component, and similarly, the second component can also be named as the first component.

[0051] When a component is referred to as being “connected” or “coupled” to another component, it should be understood that the component may be directly connected or coupled to the other component, or other components may exist between the one component and the other component. On the other hand, when a component is referred to as being “directly connected” or “directly coupled” to another component, it should be understood that no other components exist between the one component and the other component. Other expressions used to describe the relationship between components should also be interpreted in the same manner, for example, “between” versus “directly between”, “adjacent to” versus “directly adjacent to”, etc.

[0052] The terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention. Unless the context clearly indicates otherwise, the singular includes the plural. In this specification, it should be understood that the terms "including" or "having" are used to specify the existence of the described features, numbers, steps, operations, components, accessories or combinations thereof, and do not preclude the possibility of the existence or addition of one or more other features, numbers, steps, operations, components, accessories or combinations thereof.

[0053] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those of ordinary skill in the art. Terms commonly used with the same meanings as those defined in dictionaries should be interpreted as having the same meanings as those in the context of the relevant technology, and should not be interpreted as having ideal or overly formal meanings unless explicitly defined in this specification.

[0054] Hereinafter, the preferred embodiments of the present invention will be described with reference to the accompanying drawings, so as to explain the present invention in detail. The same reference numerals shown in the various drawings represent the same components.

[0055] Figure 1 is a perspective view showing a wearable muscle strength assisting device according to an embodiment of the present invention, Figure 2 1 is a diagram showing a state in which a wearer X wears a wearable muscle strength assisting device according to an embodiment of the present invention.

[0056] Reference Figure 1 and Figure 2 , a wearable muscle strength assisting device according to an embodiment of the present invention includes: a fixing body 100, which is combined and fixed to the upper body of a wearer X; a shoulder blade frame 200, one side of which is combined to the fixing body 100 on the back of the wearer X, and the other side of which can rotate in the up and down directions with one side as the rotation center in a state of contact with the back of the wearer X; a fixing frame 300, one side of which is twistably combined to the other side of the shoulder blade frame 200; a support member 500, which supports the upper arm of the wearer X in a shape of covering a part of the upper arm of the wearer X; and a compensation frame 400, which is integrally combined with the support member 500, and can be rotatably combined with the support member 500 to the fixing frame 300 with the shoulder axis of the wearer X as a reference, to generate a supporting force that changes according to the angle of rotation with the fixing frame 300 as a reference.

[0057] In the wearable muscle strength assistance device, the scapular frame 200, the fixing frame 300, the compensation frame 400 and the support member 500 can be arranged on both sides of a fixing body 100 to be installed on both arms of the wearer, and can also be arranged only on one side of the fixing body 100.

[0058] According to one embodiment of the present invention, a wearable muscle strength assisting device has a structure that can rotate based on multiple rotation axes. In particular, the structure of the wearable muscle strength assisting device includes a structure that can rotate in the rolling direction (rotation axis A and rotation axis E, such as a direction perpendicular to the back of the wearer X or a direction parallel to the direction), a structure that can rotate in the pitch direction (rotation axis F, such as a direction perpendicular to the side of the wearer X or a direction parallel to the direction), and a structure that can rotate in the yaw direction with the direction parallel to the gravity direction as the rotation axis (rotation axis B, rotation axis C and rotation axis D). In particular, since each rotatable structure of the rotation axis rotates in the Roll direction, Pitch direction or Yaw direction, the rotation axis of other rotatable structures can be partially changed.

[0059] That is, the structure of the wearable muscle strength assisting device according to the present invention has a structure that can rotate in the Roll direction, Pitch direction and Yaw direction to simulate the movement of the shoulder compound joint of the wearer X without hindering the movement of the shoulder compound joint of the wearer X.

[0060] In particular, the wearer X can perform a motion to rotate the upper arm or forearm along the horizontal plane (rotation axis B, rotation axis C, and rotation axis D), and can perform a motion to raise or rotate the shoulder blade upward (rotation axis A), and can perform a twisting motion to pronate the upper arm inward or supinate the upper arm outward (rotation axis E). In addition, the wearer X can perform a motion to rotate the upper arm upward or downward with the shoulder joint as the center (rotation axis F), and in particular, in this operation, the support force is generated by the gravity compensation device of the compensation frame 400 described later.

[0061] Figure 3 and Figure 4 FIG. 1 is a diagram showing a fixing body 100 of a wearable muscle strength assisting device according to an embodiment of the present invention.

[0062] Reference Figure 3 and Figure 4 The fixing body 100 includes: an upper fixing portion 110, which is coupled to the back of the wearer X at a height close to the shoulder blade of the wearer X; a lower fixing portion 120, which is separated from the upper fixing portion 110 in the up-down direction and is coupled to the back of the wearer X at a position close to the lumbar vertebra of the wearer X; and a fixing link 130, which extends in the up-down direction to connect the upper fixing portion 110 and the lower fixing portion 120.

[0063] The upper fixing part 110 is located at the upper part of the back of the wearer X and is coupled to the wearer X. The upper fixing part 110 may be located at a height close to the shoulder blade in the spine of the wearer X. The upper fixing part 110 may include an upper protective belt 111 extending in a plane direction corresponding to the back of the wearer X and contacting the back of the wearer X.

[0064] The lower fixing part 120 is located at the lower part of the back of the wearer X and is coupled to the wearer X. The lower fixing part 120 may be located in the spine of the wearer X at a height close to the lumbar vertebra.

[0065] The fixing link 130 may extend in the up-down direction parallel to the direction in which the spine of the wearer X extends to correspond to the spine of the wearer X, and be located on the back of the wearer X. The fixing link 130 is a structure that connects the upper fixing part 110 and the lower fixing part 120, and the upper fixing part 110 and the lower fixing part 120 can be combined and fixed to the upper body of the wearer X at the same time.

[0066] In addition, the lower fixing portion 120 can be coupled to the waist or hips of the wearer X through the lower protective belt 121, and the upper fixing portion 110 can be coupled to the wearer X through the upper protective belt 111, which extends to the front of the wearer X through the shoulders of the wearer X and is coupled to the lower protective belt 121 or the lower fixing portion 120.

[0067] The lower protection belt 121 may be firmly coupled to the lower upper body of the wearer X or the lower body of the wearer X in a manner of surrounding the waist of the wearer X or surrounding the hips of the wearer X. That is, the lower protection belt 121 may be fixed to the body at the side of the wearer X like a waist belt.

[0068] The upper protective belt 111 may extend forward through the shoulder on the back of the wearer X and be coupled to the lower protective belt 121 or the lower fixing portion 120. That is, the upper protective belt 111 may extend forward through the shoulder on the back of the wearer X and be coupled to the lower protective belt 121 in the form of a shoulder strap.

[0069] The fixing link 130 may be slidably coupled to the lower fixing portion 120 in the up-down direction. Specifically, the fixing link 130 may form a 4-bar link structure together with the lower link to slide in the up-down direction according to the waist length of the wearer X, and the lower fixing portion 120 may also move in the front-back direction to compensate for the curvature of the back of the wearer X by sliding in the up-down direction.

[0070] More specifically, the fixed body 100 may further include a first connecting link 140 and a second connecting link 150, which are coupled to the fixed link 130 and the lower fixed portion 120 to respectively connect the fixed link 130 and the lower fixed portion 120 at positions spaced apart from each other in the up and down directions in the fixed link 130 and the lower fixed portion 120, and the first connecting link 140 and the second connecting link 150 are rotatably coupled to one or more of the fixed link 130 and the lower fixed portion 120.

[0071] The first connecting link 140 and the second connecting link 150 may be respectively coupled to the lower fixing portion 120 and the fixing link 130 at both side ends of the first connecting link 140 and the second connecting link 150 at positions spaced apart from each other in the up-down direction. At least one of the both side ends of the first connecting link 140 and the second connecting link 150 may be rotatably coupled to the fixing link 130 or the lower fixing portion 120.

[0072] That is, the first and second connecting links 140 and 150 and the lower fixing portion 120 and the fixing link 130 may form a 4-bar link structure such that the lower fixing portion 120 and the fixing link 130 may change the distance spaced apart in the front-rear direction while sliding in the up-down direction.

[0073] In addition, the wearable muscle strength assistance device can further include a support link 700, one end of which can slide laterally along the scapular frame 200 and can be rotatably coupled to a rotation axis perpendicular to the sliding direction, and the other end can be coupled to the fixed body 100 through the rotation axis in the up and down directions, and transmit the reaction force of the support force of the compensation frame 400 to the fixed body 100.

[0074] Specifically, one end of the support link 700 can be rotated relative to the scapula frame 200 with the rotation axis parallel to the fixed link 130 as the center and can be slidably connected to the scapula frame 200, and the other end can be connected to the fixed link 130 so that the other end can be rotated in the axial direction parallel to the fixed link 130, and one end can be rotated in the up and down direction with the other end as the center.

[0075] That is, one end of the support link 700 may be slidably coupled to the shoulder blade frame 200 (especially, the second shoulder blade portion 220 to be described later), and the other end may be rotatably coupled to the fixed link 130 .

[0076] The support link 700 may transmit the reaction force to the fixed body 100 to support the reaction force to the support force generated from the compensation frame 400. In other words, the support link 700 may connect the fixed link 130 connecting the upper fixed part 110 and the lower fixed part 120 and the scapula frame 200 to stably support the reaction force to the support force.

[0077] In particular, one end of the support link 700 is slidably coupled to the second shoulder blade 220 in the side direction which is the extension direction of the second shoulder blade 220, and can be rotatably coupled with the rotation axis parallel to the fixed link 130 as a center. In addition, the other end of the support link 700 can be rotatably coupled with the rotation axis 131 as a reference, and the rotation axis 131 is spaced to the side of the fixed link 130 and has a gravity direction parallel to the fixed link 130. Therefore, it is possible to compensate for the change in length or direction caused by the shoulder blade rotating with the front-back direction perpendicular to the back of the wearer X as the rotation axis or the first shoulder blade 210 and the second shoulder blade 220 sliding against each other.

[0078] Figures 5 to 7 FIG. 2 is a diagram showing a scapular frame 200 according to an embodiment of the present invention.

[0079] Reference Figures 5 to 7 The wearable muscle strength assistance device may include a shoulder blade frame 200, one side of which is connected to the fixing body 100 on the back of the wearer X, and the other side of which can rotate in the up and down directions with one side as the rotation center while contacting the back of the wearer X.

[0080] The shoulder frame 200 may include a first shoulder blade portion 210, a second shoulder blade portion 220, a third shoulder blade portion 230, and a fourth shoulder blade portion 250, which are described later, in order from one side to the other side. The first shoulder blade portion 210 may be rotatably coupled to the fixed body 100 with the rotation axis in the front-back direction as the center in a state of contacting the back of the wearer X. That is, the other side of the first shoulder blade portion 210 may be rotatable in the up-and-down direction with the side coupled to the fixed body 100 as the rotation center.

[0081] Therefore, the wearable muscle strength assisting device can naturally simulate the action of raising the shoulder blade by the wearer X raising the shoulder blade or rotating the upper arm of the wearer X upward around the shoulder joint.

[0082] The shoulder blade frame 200 may include: a first shoulder blade portion 210 coupled to the fixing body 100; and a second shoulder blade portion 220 that can slide laterally relative to the first shoulder blade portion 210 on the back of the wearer X and is rotatably coupled laterally with the first shoulder blade portion 210 as a reference. The first shoulder blade portion 210 and the second shoulder blade portion 220 may be shaped to extend laterally parallel to the ground on the back of the wearer X.

[0083] The first shoulder blade 210 and the second shoulder blade 220 may be slidably coupled to each other in parallel with the ground from the center of the wearer X to the side to change the distance in the side. In addition, the first shoulder blade 210 and the second shoulder blade 220 may be rotatably coupled to each other with the up-down direction (gravity direction) perpendicular to the ground as the rotation axis.

[0084] The second shoulder blade 220 is rotatably coupled to the first shoulder blade 210 coupled to the fixed body 100 in the lateral direction, and can be limited to be rotated only within a predetermined angle with respect to the first shoulder blade 210. In other words, the second shoulder blade 220 rotatably coupled to the first shoulder blade 210 with the vertical direction (gravity direction) perpendicular to the ground as the rotation axis can be prevented from being rotated only within a predetermined angle with respect to the first shoulder blade 210 and cannot be rotated by an angle greater than or equal to the predetermined angle.

[0085] Specifically, a first sliding groove 211 extending to the side of the wearer X may be formed in the first shoulder blade portion 210 , and one side end portion of the second shoulder blade portion 220 may be inserted into the first sliding groove 211 and slidably coupled along the first sliding groove 211 .

[0086] The first shoulder blade 210 may be formed with a first sliding groove 211, which may extend in the same direction as the direction in which the first shoulder blade 210 extends, parallel to the ground, to the side of the wearer X, and a first roller 221 may be formed at one end of the second shoulder blade 220, and the first roller 221 slides while rotating inside the first sliding groove 211 in a state of being inserted into the first sliding groove 211, so that one end of the second shoulder blade 220 slides. Therefore, since the second shoulder blade 220 slides to the side with reference to the first shoulder blade 210, the change in the distance from the fixed body 100 located at the center of the wearer X to the side of the wearer X according to the action of rotating the upper arm parallel to the horizontal plane of the wearer X can be compensated.

[0087] A second sliding groove 222 extending to the side of the wearer X is formed in the second shoulder blade 220, and the second shoulder blade 220 may further include a limiting portion 240, one end of which is rotatably coupled to the first shoulder blade 210 at a position separated laterally from the first sliding groove 211 of the first shoulder blade 210, and the other end is slidably and rotatably coupled to the second sliding groove 222 to limit the relative rotation angle between the first shoulder blade 210 and the second shoulder blade 220.

[0088] A second sliding groove 222 may be formed in the second shoulder blade 220, and the second sliding groove 22 extends in a direction parallel to the direction in which the second shoulder blade extends, and a second roller 241 inserted into the second sliding groove 222 may be formed at the other end of the restriction portion 240, and the second roller 241 rotates inside the second sliding groove 222, so that the other end of the restriction portion 240 can slide along the second sliding groove 222. One end of the restriction portion 240 may be coupled to the first shoulder blade 210, and may be rotatably coupled to the first shoulder blade 210 at a position spaced from the first sliding groove 211 of the first shoulder blade 210 toward the second shoulder blade 220 side.

[0089] Therefore, since the second shoulder blade portion 220 slides along the extension direction of the first shoulder blade portion 210, and the limiting portion 240 coupled to the first shoulder blade portion 210 slides along the extension direction of the second shoulder blade portion 220, the angle of relative rotation of the second shoulder blade portion 220 in a direction perpendicular to the ground with respect to the first shoulder blade portion 210 as a reference can be limited due to the length of the limiting portion 240.

[0090] The fixing body 100 may include a stopper 212 to which the other side of the first shoulder blade 210 is rotatably coupled in the up-down direction with one side as the rotation center, and the stopper 212 limits the other side of the first shoulder blade 210 to rotate only within a predetermined angle.

[0091] In particular, the stopper 212 can prevent the first shoulder blade 210 from rotating downward in a direction parallel to the ground between the first shoulder blade 210 and the fixing body 100. In addition, the stopper 212 can also limit the angle of the first shoulder blade 210 rotating upward toward the shoulder axis parallel to the ground. Therefore, it has the effect of preventing unnecessary rotation or movement while simulating the movement of the wearer X.

[0092] The shoulder blade frame 200 may further include: a third shoulder blade portion 230, which is rotatably coupled to the second shoulder blade portion 220 located on the back of the wearer X and extends to the side of the wearer X; and a fourth shoulder blade portion 250, which is located on the side of the wearer X and is rotatably coupled to the third shoulder blade portion 230 to allow one side of the fixed frame 300 to be twisted.

[0093] The third shoulder frame 230 can be rotatably coupled to the second shoulder blade 220 in a direction parallel to the ground with the second shoulder blade 220 as a reference and the rotation axis perpendicular to the ground as a center. The fourth shoulder blade 250 can be rotatably coupled to the second shoulder blade 220 in a direction parallel to the ground with the rotation axis perpendicular to the ground as a reference.

[0094] In particular, the third shoulder blade 230 may be coupled to the outer side end of the second shoulder blade 220 in contact with the back of the wearer X, and extend to the side of the wearer X. The fourth shoulder blade 250 may rotate laterally in parallel with the ground with respect to the third shoulder blade 230 on the side of the wearer X with the rotation axis perpendicular to the ground as the center. That is, the third shoulder blade 230 and the fourth shoulder blade 250 may cover the shoulder of the wearer X between the second shoulder blade 220 located on the back of the wearer X and the compensation frame 400 located on the side of the wearer X, and may achieve a rotation angle close to a right angle through two rotation axes. Therefore, the shoulder blade frame 200 may extend to stably cover the wearer X from the back of the wearer X to the side and allow the wearer X to perform natural movements.

[0095] One side of the fixing frame 300 may be rotatably coupled to the fourth shoulder blade portion 250 .

[0096] Figures 8 to 10 is a diagram illustrating a fixing frame 300 according to an embodiment of the present invention.

[0097] Reference Figures 8 to 10 The wearable muscle strength assisting device may further include a fixing frame 300, one side of which is twistably coupled to the other side of the scapular frame 200. The fixing frame 300 may be coupled to an end of a fourth scapular portion 250 extending laterally in the scapular frame 200.

[0098] An insertion rotation shaft 310 may be formed on one side of the fixed frame 300, and the insertion rotation shaft 310 is twistably coupled to the other side of the scapula frame 200, and an insertion protrusion 320 may be formed in the fixed frame 300, and the insertion protrusion 320 protrudes toward the scapula frame 200 side at a position separated from the insertion rotation shaft 310 in the coupling surface between the one side of the fixed frame 300 and the other side of the scapula frame 200, and the scapula frame 200 may be formed with an insertion groove 251, which is formed along the trajectory of the insertion protrusion 320 generated according to the twisting of the fixed frame 300 by a predetermined angle to allow the fixed frame 300 to be twisted by a predetermined angle with the insertion protrusion 320 inserted into the inside of the insertion groove 251.

[0099] The fixing frame 300 may be coupled to extend from the shoulder blade frame 200 in a direction parallel to the horizontal plane, the insertion rotation shaft 310 may be formed at the center of the side surface of one side of the fixing frame 300, and the insertion rotation shaft 310 may be inserted into the side surface of the fourth shoulder blade part 250. The insertion rotation shaft 310 may be rotatably coupled to the other side of the fourth shoulder blade part 250 in a state of protruding or penetrating from the side surface of the one side of the fixing frame 300 facing the other side of the fourth shoulder blade part 250.

[0100] The fourth shoulder blade portion 250 is rotatably coupled to the third shoulder blade portion 230 extending obliquely to the side from the back of the wearer X, so that the fixing frame 300 rotatably coupled to the fourth shoulder blade portion 250 with a rotation axis perpendicular to the ground as a reference can extend from the side of the wearer X in the front and rear directions.

[0101] That is, the fixing frame 300 can be twistably coupled to the fourth shoulder blade 250 at the side of the wearer X through a rotation axis parallel to the front-back direction with the fourth shoulder blade 250 as a reference. Therefore, the wearer X can perform a twisting action of rotating the upper arm inward or outward.

[0102] In addition, an insertion protrusion 320 protruding in a direction parallel to the insertion rotation axis 310 may be formed at a position spaced apart from the insertion rotation axis 310 on the side surface of the fixing frame 300 that faces the other side of the scapula frame 200 (fourth scapula part 250 ).

[0103] An insertion groove 251 may be formed in the side surface of the other side of the scapula frame 200 facing the fixing frame 300, and the insertion groove 251 is formed according to the trajectory of the insertion protrusion 320 generated by the twisting between the scapula frame 200 and the fixing frame 300. The insertion groove 251 may be formed to restrict the insertion protrusion 320 from rotating only within a predetermined angle. The insertion groove 251 and the insertion protrusion 320 may also be formed on the opposite sides to each other.

[0104] Figures 11 to 14 is a diagram illustrating a compensation frame 400 according to one embodiment of the present invention.

[0105] Reference Figures 11 to 14 The wearable muscle strength assisting device may further include: a support member 500, which supports the upper arm of the wearer X in a shape that covers a portion of the upper arm of the wearer X; and a compensation frame 400, which is integrally combined with the support member 500 and can be rotatably combined with the support member 500 to the fixed frame 300 with the shoulder axis of the wearer X as a reference, thereby generating a supporting force that changes according to the angle of rotation with the fixed frame 300 as a reference.

[0106] The compensation frame 400 may be rotatably coupled to the fixed frame 300 with the shoulder axis perpendicular to the side of the wearer X as the rotation axis. That is, the compensation frame 400 may be rotatably coupled to the fixed frame 300 so that the upper arm of the wearer X supported by the support 500 rotates in the up and down directions with the shoulder joint as the reference.

[0107] The support member 500 has a shape that covers a portion of the upper arm of the wearer X. Since the upper arm is not completely covered, the upper arm can perform partial relative movement while being supported by the support member 500. Preferably, the support member 500 covers the lower portion of the upper arm to apply a supporting force to the upper arm.

[0108] In particular, the compensating frame 400 may generate a supporting force that changes according to the angle of rotation based on the fixing frame 300. The supporting force may generate a torque that rotates the upper arm of the wearer X upward based on the shoulder joint to resist gravity.

[0109] The compensation frame 400 may include: a first plate 410 located on the side of the upper arm of the wearer X and in contact with the side of the upper arm of the wearer X; and a second plate 420 spaced laterally from the first plate 410, and a space spaced laterally between the first plate 410 and the second plate 420 may include a gravity compensation device and a switch 600, etc. The support member 500 may be coupled to the first plate 410 or the second plate 420.

[0110] The wearable muscle strength assistance device may further include a switch 600, which can be combined with the compensation frame 400 to slide integrally with the support member 500 along the extension direction of the compensation frame 400 extending in a direction parallel to the upper arm of the wearer X and prevent the support member 500 from sliding. When the switch 600 is combined with the compensation frame 400, the support member 500 is prevented from sliding, so that the support member 500 can rotate integrally with the compensation frame 400.

[0111] The switch 600 may be formed in a space spaced laterally between the first plate 410 and the second plate 420 of the compensation frame 400 and extend in a direction parallel to the upper arm of the wearer X so as to be slidable along the extension direction of the compensation frame 400 .

[0112] The switch 600 may be formed integrally with the support 500, so that the support 500 may slide along the compensation frame 400 together with the switch 600 according to the sliding of the switch 600. When the switch 600 integrally combined with the support 500 is combined to the compensation frame 400, the support 500 may be fixed to rotate or move integrally with the compensation frame 400. Therefore, the support 500 may slide to fit the body structure of the wearer X, and thus may be adjusted to stably support the upper arm.

[0113] Specifically, the compensation frame 400 may be formed with a slide rail 430 that can slide along the extension direction, and fixing holes 440 may be formed at multiple positions separated along the slide rail 430. The switch 600 may include a rod 610, and when the rod 610 rotates inside the compensation frame 400, the fixing protrusions 611 at both ends of the rod 610 protruding toward the side of the compensation frame 400 are inserted into or disengaged from the fixing holes 440. When the fixing protrusions 611 are inserted into the fixing holes 440, the switch 600 is prevented from sliding along the compensation frame 400.

[0114] The switch 600 can slide along the slide rail 430 of the compensation frame 400 in the extension direction of the compensation frame 400, and the switch 600 includes a rod 610 that can rotate inside the compensation frame 400. The rod 610 can rotate with a rotation axis perpendicular to the upper arm of the wearer X or the support member 500 as a reference, and when the rod 610 rotates, both ends of the rod 610 can be between the first plate 410 and the second plate 420 of the compensation frame 400, close to or away from the first plate 410 and the second plate 420 side.

[0115] In particular, fixing protrusions 611 protruding toward the compensation frame 400 may be formed at both ends of the rod 610 , and when the rod 610 rotates, the fixing protrusions 611 may move closer to or farther from the first plate 410 and the second plate 420 of the compensation frame 400 .

[0116] Fixing holes 440 may be formed in a plurality of locations spaced apart along the slide rail 430 in the compensation frame 400. In particular, the fixing holes 440 are respectively formed on the surfaces of the first plate 410 and the second plate 420 facing each other, so that when the rod 610 rotates, the fixing protrusions 611 formed at both ends of the rod 610 may be inserted into or out of the fixing holes 440. When the fixing protrusions 611 are inserted into the fixing holes 440, the switch 600 may be fixed so as not to slide along the extending direction of the compensation frame 400.

[0117] The switch 600 may include an elastic member (not shown) that applies an elastic force in a direction that causes the rod to rotate in a direction in which the fixing protrusion 611 is inserted into the fixing hole 440. The elastic member (not shown) may apply an elastic force to cause the rod 610 to rotate in a direction in which the fixing protrusions 611 formed at both ends of the rod 610 are inserted into the fixing holes 440 of the compensation frame 400. The elastic member (not shown) may be a coil spring located at the rotation axis of the rod 610. Therefore, when no external force resisting the elastic force is applied, the state in which the fixing protrusion 611 is inserted into the fixing hole 440 is maintained, thereby preventing the switch 600 from sliding.

[0118] The switch 600 can be formed with a pressing portion 620 protruding to the side of the rod 610 to press the rod 610 at a position separated from the rotation center of the rod 610. When the pressing portion 620 is pressed with a pressing force greater than the elastic force of the elastic member (not shown), the rod 610 can rotate in the direction in which the fixing protrusion 611 disengages from the fixing hole 440.

[0119] The pressing parts 620 may be respectively located at both ends of the rod 610 to respectively press both ends of the rod 610, so that the rod can be rotated at positions close to both ends of the rod 610. That is, when the wearer X presses the pressing part 620, the pressing part 620 rotates the rod 610 while sliding, and thus, the fixing protrusion 611 is disengaged from the fixing hole 440, so that the switch 600 can slide. Therefore, the wearer X can easily press the pressing part 620 exposed to the outside to press both end sides of the rod 610 to rotate the rod 610 by a compressive force.

[0120] A permanent magnet may be provided at at least one of the fixing protrusion 611 and the fixing hole 440 to interact with the attraction generated by magnetism. The permanent magnet may be formed in the fixing protrusion 611 formed in both ends of the rod 610, and a permanent magnet or a conductor generating attraction through the permanent magnet is formed in the fixing hole 440, so that the attraction generated by the magnetic force can interact. Therefore, the fixing protrusion 611 can be guided to the direction of insertion into the fixing hole 440 by the magnetic force, so that it can be easily inserted into the fixing hole 440.

[0121] In addition, due to the elastic force and magnetic force of the elastic member (not shown), when no pressing force is applied to the pressing portion 620, the support member 500 and the switch 600 are prevented from sliding along the extension direction of the compensation frame 400, so that a fixed state can be maintained, and the fixing protrusion 611 can be guided by magnetic force to be inserted into the fixing hole 440.

[0122] Referring to the interior of the compensation frame 400 Fig.14 , the compensation frame 400 may include a spring 450, which changes elastic force according to the angle at which the compensation frame 400 rotates with the fixed frame 300 as a reference to generate a supporting force against gravity. That is, the gravity compensation device includes the spring 450, so that the supporting force can be changed by the elastic force that changes according to the angle at which the compensation frame 400 rotates with the fixed frame 300 as a reference.

[0123] In addition, in the gravity compensation device inside the compensation frame 400, when the compensation frame 400 is relatively rotated with respect to the fixed frame 300, a coil (Wire, not shown) is wound or unwound, so that the cam 460 fixed to the shaft rotatably coupled to the first plate 410 and the second plate 420 can be rotated by the coil. The cam 460 has an asymmetric shape and is connected to the spring 450, and a cam profile can be formed to change the elastic force of the spring 450 according to the angle of rotation with respect to the fixed frame 300.

[0124] For example, the cam profile may be formed to provide a maximum supporting force when the upper arm of the wearer X is in a position parallel to a horizontal plane, and the supporting force gradually decreases as the upper arm of the wearer X rotates downward.

[0125] According to another embodiment of the present invention, a wearable muscle strength assisting device includes: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can be rotated in the up and down directions on the back of the wearer with one side as the rotation center; a support member, which supports the upper arm of the wearer in a shape that covers a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the support member and rotates together with the support member with the shoulder axis of the wearer as a reference, and is connected to the shoulder blade frame on the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer as a reference.

[0126] According to another embodiment of the present invention, a wearable muscle strength assisting device includes: a fixing body, which is combined and fixed to the upper body of the wearer; a shoulder blade frame, one side of which is combined to the fixing body on the back of the wearer, and the other side of which can rotate in the up-and-down direction with one side as the rotation center on the back of the wearer; a supporting link, one end of which can slide laterally along the shoulder blade frame and is rotatably combined to the sliding shaft, and the other end of which is rotatably combined to the fixing body through the rotation shaft in the up-and-down direction, and transmits the reaction force of the supporting force of the compensation frame to the fixing body; a support member, which supports the upper arm of the wearer in a shape that covers a part of the upper arm of the wearer; and a compensation frame, which is integrally combined with the support member, and rotates together with the support member with the shoulder axis of the wearer as a reference, and is connected to the shoulder blade frame on the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer as a reference.

[0127] A wearable muscle strength assisting device according to another embodiment of the present invention includes: a fixing body 100, which is combined and fixed to the upper body of a wearer X; a shoulder blade frame 200, one side of which is combined to the fixing body 100 on the back of the wearer X, and the other side of which can rotate in the up and down directions with the side combined to the fixing body 100 as the rotation center; a support member 500, which supports the upper arm of the wearer X in a shape covering a part of the upper arm of the wearer X; and a compensation frame 400, which is integrally combined with the support member 500 and rotates together with the support member 500 with the shoulder axis of the wearer X as a reference, and is connected to the shoulder blade frame 200 on the side of the wearer X, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer X as a reference.

[0128] A wearable muscle strength assisting device according to another embodiment of the present invention includes: a fixing body 100, which is combined and fixed to the upper body of a wearer X; a shoulder blade frame 200, one side of which is combined to the fixing body 100 on the back of the wearer X, and the other side of which can rotate in the up-down direction with the side combined to the fixing body 100 as the rotation center; a support link 700, one end of which can slide laterally along the shoulder blade frame 200 and is rotatably combined to the sliding shaft, and the other end of which is rotatably combined to the fixing body 100 through the rotation shaft in the up-down direction, and transmits the reaction force of the supporting force of the compensation frame 400 to the fixing body 100; a support member 500, which supports the upper arm of the wearer X in a shape covering a part of the upper arm of the wearer X; and the compensation frame 400, which is integrally combined with the support member 500, and rotates with the support member 500 with the shoulder axis of the wearer X as a reference, and is connected to the shoulder blade frame 200 on the side of the wearer X, thereby generating a supporting force that changes according to the angle of rotation with the shoulder axis of the wearer X as a reference.

[0129] Specific embodiments of the present invention have been shown and described above, but it is obvious to those skilled in the art that various modifications and changes may be made to the present invention without departing from the scope of the technical concept of the present invention provided by the claims.

Claims

1. A wearable muscle strength assist device, comprising: A fixing body, combined and fixed to the upper body of the wearer; A shoulder blade frame, one side of which is connected to the fixed body on the back of the wearer, and the other side of which is rotatable in the up-down direction with one side as the rotation center on the back of the wearer; a fixed frame, one side of which is rotationally coupled to the other side of the scapular frame; a support member that supports the upper arm of the wearer in a shape that covers a portion of the upper arm of the wearer; as well as The compensating frame is integrally combined with the supporting member and is rotatably combined with the supporting member to the fixing frame with the wearer's shoulder axis as the reference, generating a supporting force that changes according to the angle of rotation with the fixing frame as the reference, It is characterized in that the shoulder blade frame comprises: A first scapular portion coupled to a fixed body; and The second shoulder blade part slides laterally relative to the first shoulder blade part on the back of the wearer and is rotatably connected to the first shoulder blade part laterally.

2. The wearable muscle strength assisting device according to claim 1, characterized in that: The fixed body includes: an upper fixing portion, which is attached to the back of the wearer at a height close to the wearer's shoulder blades; a lower fixing portion spaced apart from the upper fixing portion in the up-down direction and coupled to the back of the wearer at a position close to the lumbar vertebra of the wearer; and The fixing link extends in the up-down direction to connect the upper fixing part and the lower fixing part.

3. The wearable muscle strength assisting device according to claim 2, characterized in that: The lower fixing part is connected to the waist or hips of the wearer through the lower protective belt. The upper fixing part is joined to the wearer by an upper protection belt which extends to the front of the wearer via the wearer's shoulders and is joined to the lower protection belt or the lower fixing part.

4. The wearable muscle strength assisting device according to claim 2, characterized in that: The fixing link is slidably coupled to the lower fixing portion in an up-and-down direction.

5. The wearable muscle strength assisting device according to claim 4, characterized in that: The fixed body further includes a first connecting link and a second connecting link, which are coupled to the fixed link and the lower fixing part to respectively connect the fixed link and the lower fixing part at positions spaced apart from each other in the up and down directions in the fixed link and the lower fixing part, and the first connecting link and the second connecting link are rotatably coupled to one or more of the fixed link and the lower fixing part.

6. The wearable muscle strength assisting device according to claim 2, characterized in that: It further includes a supporting link, one end of which is rotatably and slidably connected to the scapula frame around a rotation axis parallel to the fixed link, and the other end is connected to the fixed link and can be rotated in an axial direction parallel to the fixed link, and one end can be rotated in an up and down direction around the other end.

7. The wearable muscle strength assisting device according to claim 1, characterized in that: further comprising a supporting link, One end of the support link can slide laterally along the scapular frame and is rotatably coupled to a rotation axis perpendicular to the sliding direction, and the other end is rotatably coupled to a fixed body via a rotation axis in the up and down directions, and transmits a reaction force to the supporting force of the compensation frame to the fixed body.

8. The wearable muscle strength assisting device according to claim 1, characterized in that: The second shoulder blade portion is rotatably coupled to the first shoulder blade portion in the lateral direction with reference to the first shoulder blade portion, and is restricted to a rotation angle within a predetermined angle with reference to the first shoulder blade portion.

9. The wearable muscle strength assisting device according to claim 1, characterized in that: The first shoulder blade portion is formed with a first sliding groove extending to the side of the wearer, and one end portion of the second shoulder blade portion is inserted into the first sliding groove and slidably coupled along the first sliding groove.

10. The wearable muscle strength assisting device according to claim 9, characterized in that: A second sliding groove extending to the side of the wearer is formed on the second shoulder blade. The shoulder blade frame further includes a limiting portion, one end of which is rotatably coupled to the first shoulder blade portion at a position spaced laterally from the first sliding groove of the first shoulder blade portion, and the other end of which is slidably and rotatably coupled to the second sliding groove to limit the relative rotation angle between the first shoulder blade portion and the second shoulder blade portion.

11. The wearable muscle strength assisting device according to claim 1, characterized in that: The fixing body includes a stopper, to which the other side of the first shoulder blade is rotatably coupled in the up-down direction with one side as the center, and the stopper restricts the other side of the first shoulder blade to rotate only within a predetermined angle.

12. The wearable muscle strength assisting device according to claim 1, characterized in that: The shoulder blade frame further comprises: A third shoulder blade portion is rotatably coupled to the second shoulder blade portion located on the back of the wearer and extends to the side of the wearer; and The fourth shoulder blade portion is located at the side of the wearer and is rotatably coupled to the third shoulder blade portion laterally so that one side of the fixed frame can be twisted.

13. The wearable muscle strength assisting device according to claim 1, characterized in that: One side of the fixed frame is coupled to the scapular frame via an interposed rotation axis that is rotatably coupled to the other side of the scapular frame. An insertion protrusion is formed on the fixed frame, and the insertion protrusion protrudes toward the shoulder blade frame side at a position separated from the insertion rotation axis in the joint surface between one side of the fixed frame and the other side of the shoulder blade frame. An insertion groove can be formed on the shoulder blade frame, and the insertion groove is formed along a trajectory of the insertion protrusion generated according to the fixed frame being twisted by a predetermined angle to allow the fixed frame to be twisted by a predetermined angle with the insertion protrusion inserted into the insertion groove.

14. The wearable muscle strength assisting device according to claim 1, characterized in that: The compensating frame includes a spring inside, and the spring changes elastic force according to the angle at which the compensating frame rotates with respect to the fixed frame to generate a supporting force against gravity.

15. The wearable muscle strength assisting device according to claim 1, characterized in that: further comprising a switch that can be coupled to the compensation frame to slide integrally with the support member in an extension direction of the compensation frame extending in a direction parallel to the upper arm of the wearer and to prevent the support member from sliding, When the switch is coupled to the compensation frame, the support is prevented from sliding, so that the support rotates integrally with the compensation frame.

16. The wearable muscle strength assisting device according to claim 15, characterized in that: The compensation frame is formed with a slide rail that can slide along the extension direction, and fixing holes are formed at a plurality of positions spaced apart along the slide rail. The switch comprises a rod, and when the rod rotates inside the compensation frame, fixing protrusions at both ends of the rod protruding toward the compensation frame are inserted into or out of the fixing holes. When the fixing protrusions are inserted into the fixing holes, the switch (600) is prevented from sliding along the compensation frame (400).

17. The wearable muscle strength assisting device according to claim 16, characterized in that: The switch includes an elastic member that applies an elastic force in a direction to rotate the rod in a direction in which the fixing protrusion is inserted into the fixing hole.

18. The wearable muscle strength assisting device according to claim 17, characterized in that: The switch is formed with a pressing portion protruding to the side of the rod to press the rod at a position spaced from the rotation center of the rod. When the pressing portion is pressed with a pressing force greater than the elastic force of the elastic member, the rod rotates in a direction in which the fixing protrusion is separated from the fixing hole.

19. The wearable muscle strength assisting device according to claim 15, characterized in that: A permanent magnet is disposed at at least one of the fixing protrusion and the fixing hole to interact with the attractive force generated by magnetism.

20. A wearable muscle strength assisting device, comprising: A fixing body, combined and fixed to the upper body of the wearer; A shoulder blade frame, one side of which is coupled to a fixed body on the back of the wearer, and the other side of which can rotate in an up-and-down direction with the side coupled to the fixed body as a rotation center; a support member that supports the upper arm of the wearer in a shape that covers a portion of the upper arm of the wearer; as well as a compensating frame, which is integrally combined with the support member and rotates with the support member with reference to the shoulder axis of the wearer, and is connected to the shoulder blade frame at the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with reference to the shoulder axis of the wearer, It is characterized in that the shoulder blade frame comprises: A first scapular portion coupled to a fixed body; and The second shoulder blade part slides laterally relative to the first shoulder blade part on the back of the wearer and is rotatably connected to the first shoulder blade part laterally.

21. A wearable muscle strength assisting device, comprising: A fixing body, combined and fixed to the upper body of the wearer; A shoulder blade frame, one side of which is coupled to a fixed body on the back of the wearer, and the other side of which can rotate in an up-and-down direction with the side coupled to the fixed body as a rotation center; A supporting link, one end of which can slide laterally along the shoulder blade frame and is rotatably coupled to a rotation axis perpendicular to the sliding direction, and the other end of which is rotatably coupled to a fixed body via a rotation axis in the up-down direction and transmits a reaction force to the supporting force of the compensation frame to the fixed body; a support member that supports the upper arm of the wearer in a shape that covers a portion of the upper arm of the wearer; as well as a compensating frame, which is integrally combined with the support member and rotates with the support member with reference to the shoulder axis of the wearer, and is connected to the shoulder blade frame at the side of the wearer, thereby generating a supporting force that changes according to the angle of rotation with reference to the shoulder axis of the wearer, It is characterized in that the shoulder blade frame comprises: A first scapular portion coupled to a fixed body; and The second shoulder blade part slides laterally relative to the first shoulder blade part on the back of the wearer and is rotatably connected to the first shoulder blade part laterally.

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