Exercise aid device

Abstract

To provide a motion assistance apparatus to assist joint-disabled elderly and / or patients in walking.SOLUTION: A lock apparatus includes: a force transmitting frame that has a sliding space formed therein and is for supporting a distal part of a user; a slider slidable in the sliding space; and a driving frame that is connected to the slider and is rotatable relatively to a proximal part of the user.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The following description relates to an exercise assist device. [Background technology]

[0002] As the aging society becomes more serious, the number of people complaining of pain and inconvenience due to joint problems is increasing, and interest in exercise assist devices that help elderly people and patients with joint disabilities walk is growing. Summary of the Invention [Means for solving the problem]

[0003] According to one embodiment, exercise aid The device includes a force transmission frame having a sliding space formed therein for supporting a distal portion of the user, a slider slidable within the sliding space, and a drive frame connected to the slider and rotatable relative to a proximal portion of the user.

[0004] The exercise assist device may further include a plurality of elastic members connecting the force transmission frame and the slider.

[0005] At least one of the plurality of elastic members may be tensioned or compressed when the distance between the center of the force transmission frame and the slider changes.

[0006] The slider includes a body plate positioned in the sliding space and a before Face and rear It may include at least one slip plate attached to at least one or more of the surfaces.

[0007] The slip plate may include a friction reducing portion for reducing friction generated between the slip plate and the force transmission frame.

[0008] Either the slider or the drive frame may include a connecting member that connects the slider and the drive frame.

[0009] The force transmission frame may include an opening through which the connecting member passes.

[0010] The force transmission frame and the slider may at least partially overlap with each other in a direction perpendicular to the opening.

[0011] The force transmission frame and the slider can bend in one direction.

[0012] The force transfer frame may bend to surround a distal portion of the user.

[0013] The thickness of the slider and the sliding space may be constant, and the curvature of the force transmission frame and the curvature of the slider may be the same.

[0014] The slider is movable in the sliding space with two degrees of freedom in two directions intersecting each other.

[0015] The force transmission frame may further include detachable straps on both sides thereof.

[0016] The force transmission frame may include strap connection portions protruding from both sides, and the strap may include a plurality of strap grooves spaced apart along a longitudinal direction and sandwiched between the strap connection portions.

[0017] The exercise assist device may further include an actuator connected to one end of the drive frame to drive the drive frame.

[0018] The exercise assistance device may further include a sensor for detecting a force or torque acting between the drive frame and the slider, and a control unit capable of controlling the actuator based on information measured by the sensor.

[0019] The distal portion may be the user's thigh and the proximal portion may be at least one of the user's hip and pelvis.

[0020] An exercise assistance device according to one embodiment includes a proximal support part for supporting a proximal part of a user, a force transmission frame having a sliding space formed therein for supporting a distal part of the user, a slider that is slidable within the sliding space, and a drive frame that is connected to the slider and is rotatable relative to the proximal support part.

[0021] The slider is movable in the sliding space with two degrees of freedom in two directions intersecting each other.

[0022] The exercise assistance device may further include an actuator for rotating the drive frame relative to the proximal support portion about a first axis, and a hinge for rotating the drive frame relative to the proximal support portion about a second axis that intersects the first axis. [Brief explanation of the drawings]

[0023] [Figure 1] 1 is a diagram showing a state in which a user wears an exercise assistance device according to an embodiment. FIG. [Figure 2] FIG. 10 illustrates that the hip joint center moves on the sagittal plane when a user performs thigh flexion or extension movements. [Figure 3A] FIG. 10 is a diagram showing misalignment of the joints of the user and the exercise assist device on the frontal plane. [Figure 3B] FIG. 10 is a diagram showing misalignment of the joints of the user and the exercise assist device on the frontal plane. [Figure 4] 1 is a perspective view of an exercise assistance device according to an embodiment. [Figure 5] 1 is an exploded perspective view of an exercise assist device according to one embodiment. [Figure 6A] 10A and 10B are diagrams illustrating a configuration in which a slider is coupled to a force transmission frame according to one embodiment. [Figure 6B] 10A and 10B are diagrams illustrating a configuration in which a slider is coupled to a force transmission frame according to one embodiment. [Figure 6C] 10A and 10B are diagrams illustrating a configuration in which a slider is coupled to a force transmission frame according to one embodiment. [Figure 7A] 7 is a cross-sectional view of the exercise assist device taken along the line VII-VII in FIG. 4. FIG. [Figure 7B] 7 is a cross-sectional view of the exercise assist device taken along the line VII-VII in FIG. 4. FIG. [Figure 7C] 7 is a cross-sectional view of the exercise assist device taken along the line VII-VII in FIG. 4. FIG. [Figure 8A] 8 is a cross-sectional view of the exercise assist device showing the shape cut along the cut line VIII-VIII′ shown in FIG. 4. FIG. [Figure 8B] 8 is a cross-sectional view of the exercise assist device showing the shape cut along the cut line VIII-VIII′ shown in FIG. 4. FIG. [Figure 8C] 8 is a cross-sectional view of the exercise assist device showing the shape cut along the cut line VIII-VIII′ shown in FIG. 4. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, embodiments will be described with reference to illustrative drawings. When assigning reference numerals to components in each drawing, it should be noted that the same components are assigned the same numerals whenever possible, even if they are displayed in different drawings. Furthermore, in the description of the embodiments, if a detailed description of related known structures or functions is deemed to hinder understanding of the embodiments, such detailed description will be omitted.

[0025] Furthermore, in describing components of the embodiments, terms such as first, second, A, B, (a), and (b) may be used. Such terms are used to distinguish the component from other components, and do not limit the nature, order, or sequence of the components. When a component is described as being "coupled," "coupled," or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, but that additional components may be "coupled," "coupled," or "connected" between the components.

[0026] FIG. 1 is a diagram showing the shape of a user wearing an exercise support device according to one embodiment, FIG. 2 is a diagram showing that the center of the hip joint moves on the sagittal plane when the user bends or extends the thigh, and FIG. 3 is a diagram showing that the joints of the user and the exercise support device are misaligned on the frontal plane.

[0027] 1 to 3, an exercise support device 1 according to one embodiment is worn by a user to support the user's exercise. The user may be, but is not limited to, a human body, an animal, or a robot. The exercise support device 1 includes a distal support 10, a proximal support 20, a drive frame 12 that can move the distal support 10 relative to the proximal support 10, an actuator 19 that can drive the drive frame 12, and a hinge 18 that connects the actuator 19 and the drive frame 12.

[0028] The distal support portion 10 and the proximal support portion 20 are disposed on opposite sides of a user's body and support a distal part and a proximal part, respectively. The distal part may be the user's thighs, and the proximal part may be the user's hips and / or pelvis. For example, the distal support portion 10 supports the thighs, and the proximal support portion 20 supports the upper parts of the thighs, such as the hips and / or pelvis. For example, the distal support portion 10 includes an attached belt for overall support of the user's thighs, and the proximal support portion 20 includes an attached belt for overall support of the user's hips and / or pelvis.

[0029] In another example, the distal support unit 10 may support, for example, the forearm, and the proximal support unit 20 may support, for example, the shoulder and / or back. For example, the distal support unit 10 may include an attachment belt for entirely supporting the user's forearm or a structure that entirely surrounds the forearm, and the proximal support unit 20 may include an attachment belt for entirely supporting the user's shoulder. For convenience of explanation, the following description will be given based on the distal support unit 10 supporting the user's thigh. It should be clear that the position supported by the distal support unit 10 is not limited thereto.

[0030] 2 , while a user performs a thigh bending exercise around the hip joint, the center of the user's hip joint moves from a first position j1 ​​to a second position j2. As the hip joint center moves from the first position j1 ​​to the second position j2, the length from the hip joint center to the distal support unit 10 increases from a first length l1 to a second length l2. An exercise assistance device according to one embodiment can compensate for the longitudinal change that occurs between the hip joint center and the distal support unit 10, as described above, by realizing relative movement between the drive frame 12 and the distal support unit 10. As will be described later, the distal support unit 10 does not slide along the distal portion of the user toward the hip joint, and the distance between the hip joint center and the distal support unit 10 may change.

[0031] Referring to FIG. 3, the joints of the user and the exercise assist device are not aligned on the frontal plane. For example, the central axis A1 along which the user's thigh moves inward or outward, and the hinge 18 of the drive frame 12's central axis A2 of rotational movement, are spaced apart on the frontal plane. This structure causes the distal support 10 to slide away from the hip joint while exerting friction on the user's distal portion, causing discomfort to the user. By realizing relative movement between the drive frame 12 and the distal support 10, the exercise assist device according to one embodiment can reduce the problem of the distal support 10 exerting friction on the user's distal portion, resulting in a poor user experience. As described below, the distal support 10 does not move along the user's distal portion toward the hip joint, and the distance between the hip joint center and the distal support 10 may vary.

[0032] In summary, according to one embodiment of the present invention, relative movement between the drive frame 12 and the distal support 10 can be achieved, thereby compensating for the varying length between the hip joint center and the distal support 10, thereby eliminating the inconvenience experienced by the user. Exemplary means for achieving relative movement between the drive frame 12 and the distal support 10 will be described below.

[0033] FIG. 4 is a perspective view of an exercise assistance device according to one embodiment, and FIG. 5 is an exploded perspective view of the exercise assistance device according to one embodiment.

[0034] 4 and 5, the exercise assistance device 1 includes a force transmission frame 11, a slider 13, a drive frame 12, an elastic member 14, a strap 15, a hinge 18, and an actuator 19. The force transmission frame 11 and the strap 15 are understood to be components included in a distal support part 10 (see FIG. 1) that can support a distal portion of the user.

[0035] The force transmission frame 11 defines a sliding space therein and includes a front cover 111, a rear cover 112, a sliding space 113 (see FIG. 7A), an opening 114, and a strap connection portion 115.

[0036] The frame portions of the front cover 111 and the rear cover 112 are connected to each other, for example, by screws. At least one of the front cover 111 and the rear cover 112 includes a bulging shape that protrudes inward from the frame portion. The bulging shape forms a sliding space 113 (see FIG. 7A) when the front cover 111 and the rear cover 112 are connected to each other. For example, when the back surface of the front cover 111 and the front surface of the rear cover 112 come into contact with each other, the space surrounded by the inner surface of the bulging shape of the front cover 111 and the front surface of the rear cover 112 is called the sliding space 113.

[0037] The rear cover 112 contacts the user's distal portion. The rear cover 112 may be a plate curved to accommodate the distal portion in order to stably support the user's distal portion. This shape increases the contact area between the rear cover 112 and the user's distal portion, enabling more stable support of the user's distal portion. The rear surface of the rear cover 112 contacts the user's distal portion, and the front surface of the rear cover 112 contacts the front cover 111. Because the rear cover 112 can be in close contact with the user's distal portion, the height of the exercise support device 1 protruding from the user can be reduced, thereby enabling the overall size of the exercise support device 1 to be reduced. Furthermore, the close contact between the rear cover 112 and the distal portion minimizes drive play.

[0038] A friction member (not shown) may be provided on the underside of the rear cover 112. The friction member prevents the rear cover 112 from slipping on the distal portion of the user.

[0039] The front cover 111 is coupled to the rear cover 112. The front cover 111 may have a bulging shape to form a sliding space 113. The bulging shape is formed in the center of the front cover 111.

[0040] In the drawings of the present application, the front cover 111 is illustrated as having a convex shape and the rear cover 112 is illustrated as having a flat plate shape, but it is clear that this is not limiting. For example, the rear cover 112 may have a convex shape that protrudes toward the distal part of the user, and the front cover 111 may have a flat plate shape. In a different example, the rear cover 112 may have a convex shape that protrudes toward the distal part of the user, and the front cover 111 may also have a convex shape that protrudes away from the distal part of the user.

[0041] The sliding space 113 (see FIG. 7A) is understood to be the space formed between the front cover 111 and the rear cover 112. When the vertical distance from the surface of the rear cover 112 to the front cover 111 is defined as the thickness of the sliding space 113, the thickness of the sliding space 113 is uniform.

[0042] The opening 114 is formed in the front cover 111. Main surface The slider 13 disposed inside the sliding space 113 is connected by a connecting member 16 (see FIG. 7A) passing through the opening 114.

[0043] The strap connection parts 115 are formed to protrude from both sides of the force transmission frame 11. For example, the strap connection parts 115 are shaped to protrude from both side ends of the force transmission frame 11 in a direction away from the distal part of the user and then bend toward the opening 114. The strap connection parts 115 are connected to the straps 15.

[0044] The slider 13 is slidable within the sliding space 113 (see FIG. 7A). The slider 13 is movable along the sliding space 113 in a direction corresponding to the longitudinal direction of the distal portion of the user. The slider 13 is also movable along the sliding space 113 in a direction corresponding to the width direction of the distal portion of the user. In other words, the slider 13 is capable of two-degree-of-freedom movement in two intersecting directions within the sliding space 113.

[0045] The thickness of the slider 13 and the sliding space 113 (see FIG. 7A) may be uniform. In this way, when the thickness of the slider 13 and the sliding space 113 is uniform, the slider 13 can move smoothly within the sliding space 113 without being locked.

[0046] The drive frame 12 connects the slider 13 and the actuator 19. The actuator 19 can rotate the drive frame 12 around a first axis a1. For example, when the actuator 19 is disposed on a user's proximal support portion 20 (see FIG. 1 ), the drive frame 12 is rotatable relative to the user's proximal support portion 20. A hinge 18 is disposed between the drive frame 12 and the actuator 19. The hinge 18 can rotate the actuator 19 around a second axis a2. The hinge 18 is also rotatable together with the drive frame 12 around the first axis a1 by the operation of the actuator 19. The second axis a2 intersects with the first axis a1. In other words, the drive frame 12 rotates with two degrees of freedom around the two intersecting axes a1 and a2. With this structure, the drive frame 12 can rotate in response to not only the bending or extension movement of the thigh, but also the adduction or abduction movement of the thigh.

[0047] The drive frame 12 has a curved shape. For example, the portion of the drive frame 12 connected to the actuator 19 is curved to surround the side of the user, and the portion of the drive frame 12 connected to the slider 13 is curved to surround the front of the user. With this structure, the drive frame 12 transmits a normal force to the distal part of the user. By transmitting a normal force to the distal part of the user, the drive frame 12 can efficiently assist the bending or extension movement of the user's thighs.

[0048] The force transmission frame 11 and the slider 13 are at least partially overlapped with each other in the direction perpendicular to the opening 114. For example, the frame portion of the slider 13 overlaps with the force transmission frame 11. Even when the slider 13 slides to the maximum in one direction within the sliding space 113 (see FIG. 7A), both sides of the slider 13 are at least partially overlapped with the force transmission frame 11. Both sides of the slider 13 refer to two side surfaces located on opposite sides with respect to the connecting member 16 (FIG. 6A). For example, at least a portion of the left and right sides of the slider 13 overlap with the force transmission frame 11. The portion of the slider 13 that overlaps with the force transmission frame 11 transmits force or torque to the force transmission frame 11.

[0049] The force transmission frame 11 and the slider 13 include a shape that is curved in one direction. For example, in order to increase the contact area with the distal part of the user, the force transmission frame 11 includes a shape that is curved so as to surround the distal part of the user. For example, backward Cover 112 and forward The bulging portion of the cover 111 includes a curved plate shape; backward Cover 112 and forward The sliding space 113 (see FIG. 7A), which is the space between the cover 111, includes a curved shape. With this structure, the force transmission frame 11 can be manufactured into a shape that is suitable for the circumference of the user's leg, i.e., a shape that can minimize the protruding height, and the slider 13 can slide.

[0050] The slider 13 may have a curved shape with the same curvature as the force transmission frame 11. With this structure, the slider 13 can slide smoothly within the curved sliding space 113. Furthermore, since the slider 13 moves in a translational motion rather than a rotational motion within the sliding space 113, unnecessary degrees of freedom of movement are eliminated, and the stability of the device can be improved.

[0051] For example, the slider 13 can move with two degrees of freedom within the sliding space 113. For example, the slider 13 slides in the longitudinal direction and width direction of the sliding space 113. Here, the longitudinal direction of the sliding space 113 means the up-down direction with reference to FIG. 6A, and the width direction of the sliding space 113 means the left-right direction with reference to FIG. 6A.

[0052] When the slider 13 and the sliding space 113 have a curved shape, the rotation of the slider 13 is restricted. In this case, the slider 13 moves integrally with the drive frame 12, and the relative rotation between the slider 13 and the force transmission frame 11 is restricted, so that when the drive frame 12 rotates about the second axis a2, the force transmission frame 11 rotates about the second axis a2 together with the drive frame 12. In other words, because the relative rotation between the slider 13 and the force transmission frame 11 is restricted, the force transmission frame 11 rotates about the second axis a2 without slipping relative to the drive frame 12.

[0053] The plurality of elastic members 14 connect the force transmission frame 11 and the slider 13. The plurality of elastic members 14 may be made of an elastic material. For example, the plurality of elastic members 14 may be elastic bands or springs. At least one of the plurality of elastic members 14 is tensioned or compressed as the slider 13 moves away from the center of the force transmission frame 11. For example, referring to FIG. 5, when the bottom surface of the slider 13 is roughly square, one end of the plurality of elastic members 14 is connected to each vertex of the slider 13. It is clear that the shape of the slider 13 and the connection positions of the plurality of elastic members 14 are not limited thereto.

[0054] The plurality of elastic members 14 return the slider 13 to its initial position when no external force is applied to the slider 13. For example, if the initial position of the slider 13 is the center of the force transmission frame 11, at least one of the plurality of elastic members 14 will return to its initial position when the slider 13 moves away from the center of the force transmission frame 11. be stretched This allows a pulling force to act on the slider 13, pulling the slider 13 to the initial position.

[0055] The actuator 19 is connected to one end of the drive frame 12 and is capable of driving the drive frame 12. The actuator 19 is disposed on one side of the proximal support portion 20 (see FIG. 1). The actuator 19 is capable of rotating the drive frame 12 about a first axis a1.

[0056] The straps 15 are detachably attached to both sides of the force transmission frame 11. The length of the straps 15 is adjustable. For example, the straps 15 may have a length adjustment section or may be made of an elastic material. The straps 15 have a plurality of strap grooves 155 spaced apart along the length of the straps 15. The strap grooves 155 engage with strap connectors 115 formed on both sides of the force transmission frame 11. The user can adjust the circumference of the distal support part 10 (see FIG. 1 ) by selecting one of the strap grooves 155 to engage with the strap connectors 115. This structure allows the distal support part 10 to fit the user's body and allows the user to easily adjust the circumference of the distal support part 10 with one hand. The straps 15 press against the back of the user's thighs when the thighs are bending.

[0057] The inner circumferential surface of the strap 15 is provided with a friction member (not shown) that prevents the strap 15 from slipping on the distal portion of the user.

[0058] The exercise assist device 1 according to an embodiment may further include a sensor (not shown) and a control unit (not shown).

[0059] The sensor detects the force or torque acting between the drive frame 12 and the slider 13. For example, the sensor may be disposed between the drive frame 12 and the slider 13, or between the slider 13 and the force transmission frame 11. It is clear that the location of the sensor is not limited thereto. For example, the sensor may be an FT sensor (force-torque sensor) using a strain gauge.

[0060] The control unit controls the actuator 19 based on information measured by the sensor. For example, the control unit may be disposed in the distal support portion. It is clear that the location of the control unit is not limited thereto. The control unit can optimize the force applied to the user. For example, the power generated by the actuator 19 may be reduced as it is transmitted to the force transmission frame 11. For example, if the force or torque measured by the sensor is smaller than the size required to assist the user in a shape optimal for walking, the control unit controls the actuator 19 to generate a higher torque. The control unit also prevents the application of a force or torque that would strain the user's joints. For example, the control unit can stop the operation of the actuator 19 if the magnitude of the force or torque measured by the sensor is greater than a set value.

[0061] 6A to 6C are diagrams showing a shape in which a slider according to one embodiment is connected to a force transmission frame.

[0062] 6A to 6C, the shapes of the sliders 13, 23, and 33 and the connection positions of the multiple elastic members 14, 24, and 34 vary.

[0063] 6A, the plurality of elastic members 14 are connected symmetrically to four vertices of the slider 13. For example, when the slider 13 moves upward along the sliding space 113, two of the plurality of elastic members 14 connected to the lower side are stretched. For example, when the slider 13 moves leftward along the sliding space 113, two of the plurality of elastic members 14 connected to the right side are stretched. Referring to FIG. 6B, the plurality of elastic members 24 may be connected symmetrically to four corners of the slider 23.

[0064] 6C, the slider 33 may have a circular shape. The sliding space 113 may also have a circular shape. The multiple elastic members 34 may be connected to the slider 33 at regular intervals along the circumference thereof.

[0065] 7A to 7C are cross-sectional views of the exercise assist device showing the shape cut along the cut line VII-VII shown in Fig. 4. Before proceeding with the explanation, it should be made clear that, in order to simplify the drawings, the multiple elastic members 14 are not shown in Figs. 7A to 7C.

[0066] 7A to 7C show the movement of slider 13 when a user performs internal and external thigh rotation exercises. FIG. 7A shows the shape of slider 13 in its initial state. FIG. 7B shows the movement of slider 13 when a user performs internal thigh rotation exercises. FIG. 7C shows the movement of slider 13 when a user performs external thigh rotation exercises.

[0067] 7B, when the user rotates their thighs inward, the slider 13 slides in the direction of the arrow within the sliding space 113. The sliding of the slider 13 allows the force transmission frame 11 to move relative to the drive frame 12. The force transmission frame 11 can move together with the user's thighs when the user rotates their thighs inward. This structure allows the user to freely rotate their thighs inward without any inconvenience even while wearing the exercise assist device.

[0068] Referring to Figure 7C, when the user performs an outward thigh rotation exercise, the slider 13 slides in the sliding space 113 in the direction of the arrow. The sliding of the slider 13 allows the force transmission frame 11 to move relative to the drive frame 12. The force transmission frame 11 can move together with the user's thigh when the user performs an outward thigh rotation exercise. With this structure, the user can freely perform outward thigh rotation without any inconvenience even while wearing the exercise assist device.

[0069] The slider 13 includes a body plate 131 and slip plates 132 and 133. The slip plates 132 and 133 are rear Can be attached to a surface rearThe surface slip plate 132 and the body plate 132 before Can be attached to a surface before Includes a face slip plate 133.

[0070] The slip plates 132 and 133 are made of a material with a low coefficient of friction. For example, the slip plates 132 and 133 are made of Teflon. (registered trademark) (Teflon) may also be used.

[0071] The slip plates 132, 133 include a friction reducing portion 1321 for reducing friction occurring between the slip plates 132, 133 and the force transmission frame 11. For example, the friction reducing portion 1321 may be rear The friction reducing portion 1321 may be a hole formed in the center of the surface slip plate 132. rear Surface slip plate 132 and backward The area of ​​friction between the cover 112 can be reduced.

[0072] The connecting member 16 connects the slider 13 and the drive frame 12. Either the slider 13 or the drive frame 12 includes the connecting member 16. For example, either the slider 13 or the drive frame 12 may be integrally formed with the connecting member 16.

[0073] 8A to 8C are cross-sectional views of the exercise assist device showing the shape cut along the cut line VIII-VIII' shown in Fig. 4. Before proceeding with the explanation, it should be made clear that, in order to simplify the drawings, the multiple elastic members 14 are not shown in Figs. 8A to 8C.

[0074] Fig. 8A shows the shape of the slider 13 in its initial state. Fig. 8B shows the movement of the slider 13 when the user performs a thigh bending exercise or an inner thigh rotation exercise. Fig. 8C shows the movement of the slider 13 when the user performs a thigh extension exercise or an outer thigh abduction exercise.

[0075] Referring to FIG. 8B, when a user bends their thighs, the slider 13 slides in the sliding space 113 in the direction of the arrow. The sliding of the slider 13 allows the force transmission frame 11 to move relative to the drive frame 12. The force transmission frame 11 can move together with the user's thighs when the user bends their thighs. With this structure, even if the hip joint center moves as shown in FIG. 2 due to the user's thigh bending, this can be compensated for by the slider 13 sliding in the direction of the arrow. With this structure, the user can freely bend their thighs without any inconvenience even while wearing the exercise assist device.

[0076] Similarly, as shown in Fig. 4, even if the rotation axis a2 (see Fig. 4) of the drive frame 12 does not coincide with the adduction and abduction axes of the thighs based on the coronal plane, this can be compensated for by the slider 13 sliding in the direction of the arrow. With this structure, the user can freely perform thigh adduction exercises without any inconvenience even while wearing the exercise assist device.

[0077] Referring to FIG. 8C, when the user performs thigh stretching exercises, slider 13 slides in the direction of the arrow within sliding space 113. The sliding of slider 13 allows force transmission frame 11 to move relative to drive frame 12. When the user performs thigh stretching exercises, force transmission frame 11 can move together with the user's thighs. With this structure, even if the hip joint center moves as shown in FIG. 2 due to the user's thigh stretching exercises, this can be compensated for by slider 13 sliding in the direction of the arrow. With this structure, the user can freely perform thigh stretching exercises without any inconvenience even while wearing the exercise assist device.

[0078] Similarly, as shown in Fig. 4, even if the rotation axis a2 (see Fig. 4) of the drive frame 12 does not coincide with the adduction and abduction axes of the thighs based on the coronal plane, this can be compensated for by the slider 13 sliding in the direction of the arrow. With this structure, the user can freely perform thigh abduction exercises without any inconvenience even while wearing the exercise assist device.

[0079] The above-described embodiments are merely illustrative of preferred embodiments, and the scope of the present invention is not limited to the described embodiments. Various modifications, variations, or substitutions may be made by those skilled in the art within the technical spirit of the present invention and the scope of the claims, and such embodiments should be considered to fall within the scope of the present invention.

[0080] [Appendix 1] a force transmission frame having a sliding space formed therein for supporting a distal portion of a user; a slider that is slidable within the sliding space; a drive frame coupled to the slider and rotatable relative to a proximal portion of the user. [Appendix 2] 2. The exercise assistance device of claim 1, further comprising a plurality of elastic members connecting the force transmission frame and the slider. [Appendix 3] 3. The exercise support device of claim 2, wherein at least one of the plurality of elastic members is stretched or compressed when the distance between the center of the force transmission frame and the slider changes. [Appendix 4] The slider includes: a body plate positioned within the sliding space; 2. The exercise support device of claim 1, including at least one slip plate attached to at least one of the front and rear surfaces of the body plate. [Appendix 5] 5. The exercise assistance device according to claim 4, wherein the slip plate includes a friction reduction portion for reducing friction generated between the slip plate and the force transmission frame. [Appendix 6] 6. The exercise assist device according to claim 1, wherein one of the slider and the drive frame includes a connecting member that connects the slider and the drive frame. [Appendix 7] 7. The exercise assistance device according to claim 6, wherein the force transmission frame includes an opening through which the connecting member passes. [Appendix 8] 8. The exercise assistance device according to claim 7, wherein the force transmission frame and the slider at least partially overlap in the penetrating direction of the opening. [Appendix 9] The exercise assistance device according to any one of claims 1 to 8, wherein the force transmission frame and the slider have a shape that is curved in one direction. [Appendix 10] 10. The exercise support device according to any one of claims 1 to 9, wherein the force transmission frame has a shape curved in a direction surrounding a distal portion of the user. [Appendix 11] The thickness of the slider and the sliding space is constant, 11. The exercise assistance device according to claim 9, wherein the curvature of the force transmission frame and the curvature of the slider are the same. [Appendix 12] 12. The exercise assist device according to any one of claims 1 to 11, wherein the slider is capable of moving with two degrees of freedom in two directions intersecting each other within the sliding space. [Appendix 13] 13. The exercise support device according to any one of claims 1 to 12, further comprising detachable straps on both sides of the force transmission frame. [Appendix 14] the force transmission frame includes strap connection portions protruding from both sides of the force transmission frame, 14. The exercise support device of claim 13, wherein the strap includes a plurality of strap grooves spaced apart along the length of the strap and engageable with the strap connecting portion. [Appendix 15] 15. The exercise assistance device according to any one of claims 1 to 14, further comprising an actuator coupled to one end of the drive frame and configured to drive the drive frame. [Appendix 16] a sensor for detecting a force or torque acting between the drive frame and the slider; 16. The exercise assistance device according to claim 15, further comprising a control unit capable of controlling the actuator based on information measured by the sensor. [Appendix 17] the distal portion is the user's thigh; 17. The exercise support device according to any one of claims 1 to 16, wherein the proximal portion is at least one of the user's waist and pelvis. [Appendix 18] a proximal support for supporting a proximal portion of a user; a force transmission frame having a sliding space formed therein for supporting a distal portion of a user; a slider that is slidable within the sliding space; a drive frame connected to the slider and rotatable relative to the proximal support portion. [Appendix 19] 19. The exercise assist device according to claim 18, wherein the slider is capable of moving with two degrees of freedom in two directions intersecting each other within the sliding space. [Appendix 20] an actuator for rotating the drive frame relative to the proximal support about a first axis; 20. The exercise assistance device of claim 18, further comprising a hinge for rotating the drive frame relative to the proximal support portion about a second axis that intersects with the first axis.

Claims

1. a proximal support portion worn on the user's waist; an actuator disposed on one side of the proximal support; a force transmission frame having a sliding space formed therein and configured to support the user's thighs; a slider that is slidable within the sliding space; a drive frame connecting the actuator and the slider and rotatable relative to the user's waist; a plurality of elastic members connecting the force transmission frame and the slider; Including, the slider allows relative movement between the force transmission frame and the drive frame in a direction extending from a distal portion to a proximal portion and in a direction transverse to said direction of extension. Exercise aids.

2. The exercise assistance device according to claim 1 , wherein at least one of the plurality of elastic members is stretched or compressed when the distance between the center of the force transmission frame and the slider changes.

3. The slider includes: a body plate positioned within the sliding space; The exercise assistance device according to claim 1 , further comprising at least one slip plate attached to at least one of the front and rear surfaces of the body plate.

4. The exercise assist device according to claim 3 , wherein the slip plate includes a friction reducing portion for reducing friction occurring between the slip plate and the force transmitting frame.

5. The exercise assist device according to claim 1 , wherein one of the slider and the drive frame includes a connecting member that connects the slider and the drive frame.

6. The exercise assistance device according to claim 5 , wherein the force transmission frame includes an opening through which the connecting member passes.

7. The exercise assistance device according to claim 6 , wherein the force transmission frame and the slider at least partially overlap in the penetrating direction of the opening.

8. The exercise assist device according to claim 1 , wherein the force transmission frame and the slider have a shape curved in one direction.

9. The exercise support device according to claim 1 , wherein the force transmission frame has a shape curved in a direction surrounding the thighs of the user.

10. The thickness of the slider and the sliding space is constant, The exercise assist device according to claim 8 or 9, wherein the curvature of the force transmission frame and the curvature of the slider are the same.

11. The exercise assist device according to claim 1 , wherein the slider is capable of moving with two degrees of freedom in two directions intersecting each other within the sliding space.

12. The exercise assistance device according to claim 1 , further comprising detachable straps on both sides of the force transmission frame.

13. the force transmission frame includes strap connection portions protruding from both sides of the force transmission frame, The exercise assist device according to claim 12 , wherein the strap includes a plurality of strap grooves spaced apart along a longitudinal direction of the strap and adapted to be engaged with the strap connecting portion.

14. The exercise assistance device according to claim 1 , further comprising an actuator connected to one end of the drive frame to drive the drive frame.

15. a sensor for detecting a force or torque acting between the drive frame and the slider; The exercise assistance device according to claim 14 , further comprising a control unit capable of controlling the actuator based on information measured by the sensor.

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