Power-assisted device

Abstract

The present invention relates to a power assist device including a base frame, a plurality of rotating bodies provided on left and right sides of the base frame and rotatably connected to the base frame, a plurality of actuators rotatably connected to the respective rotating bodies and generating respective restoring torques according to a rotation angle with respect to the rotating bodies, and a cable connecting the rotating bodies. Specifically, the rotating motions of the rotating bodies with respect to the base frame are mutually restricted by a tension of the cable.

Description

[0001] Cross-references to related applications

[0002] This application claims priority and benefit to Korean Patent Application No. 10-2020-0156982, filed on November 20, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates to a force-assisting device, and more specifically, to a force-assisting device designed to assist a user (pedestrian or operator) in their activities or work. Background Technology

[0004] The statements in this section are provided only as background information in relation to the present invention and do not constitute prior art.

[0005] Force assist devices designed to support a user’s activities or work can generate torque through elasticity near rotatable joints (e.g., hip joints), thereby reducing the load applied to parts of the user’s body (e.g., the lower back) during activities or work.

[0006] Such force-assisting devices typically have torque-generating structures formed on the left and right sides respectively. Force-assisting devices can be categorized as: i) devices in which two structures are interconnected, allowing them to move in an interlocking manner; ii) devices in which two structures are independently arranged, allowing them to move independently.

[0007] However, we found that the size of the strength assist device cannot be adjusted according to the user's body size and shape, and the two structures that generate torque in the strength assist device operate independently, making the user feel uncomfortable when walking while wearing the strength assist device. Summary of the Invention

[0008] One aspect of the present invention provides a strength-assisting device that can adjust its size by taking into account the user's body shape and significantly reduce discomfort that may occur during walking or other activities.

[0009] According to one aspect of the invention, the force-assist device may include: a base frame, a first rotating body, a second rotating body, a first actuator, a second actuator, and a cable, wherein the first rotating body is disposed on the left side of the base frame and rotatably connected to the base frame; the second rotating body is disposed on the right side of the base frame and rotatably connected to the base frame; the first actuator is rotatably connected to one side of the first rotating body and configured to provide a first restoring torque based on a rotation angle relative to the first rotating body; the second actuator is rotatably connected to one side of the second rotating body and configured to provide a second restoring torque based on a rotation angle relative to the second rotating body; and the cable connects the first rotating body and the second rotating body, wherein the rotational movement of the first rotating body relative to the base frame and the rotational movement of the second rotating body relative to the base frame are mutually limited by the tension of the cable.

[0010] The base frame may further include: a first frame and a second frame, wherein the first rotating body is rotatably connected to the first frame; and the second rotating body is rotatably connected to the second frame. The first frame and the second frame may be movable relative to each other.

[0011] The cable may wrap around at least a portion of the outer circumference of the first rotating body and at least a portion of the outer circumference of the second rotating body.

[0012] When the first actuator and the second actuator rotate in the same direction relative to the base frame, the first actuator can rotate relative to the first rotating body and generate a first restoring torque, and the second actuator can rotate relative to the second rotating body and generate a second restoring torque.

[0013] When the first actuator and the second actuator rotate in opposite directions relative to the base frame, the first actuator can be fixed relative to the first rotating body, so that the first restoring torque is not generated, and the second actuator can be fixed relative to the second rotating body, so that the second restoring torque is not generated.

[0014] The actuator may include: an actuator body component and a plate, the actuator body component forming the body of the actuator; the plate is rotatably connected to the actuator body component and fixedly connected to the rotating body.

[0015] The rotating body may include: a rotating body component and a locking part, wherein the rotating body component forms the main body of the rotating body; and the locking part protrudes from the rotating body component.

[0016] The plate may include a recess that extends inward from the outer peripheral edge of the plate, and a locking portion engages with the recess.

[0017] The rotating body may further include a latch portion that engages with a locking portion, and the latch portion may move the locking portion to allow the locking portion to engage with or disengage from the recess.

[0018] When the locking part engages with the recessed part, the plate can be fixedly connected to the rotating body.

[0019] When the actuator body rotates relative to the rotating body and the plate is fixedly connected to the rotating body, a restoring torque can be generated.

[0020] The actuator may further include a linkage structure disposed inside the actuator body component and comprising a plurality of links and a plurality of elastic bodies, and a restoring torque may be generated by the positional change between the links and elastic bodies when the actuator body component rotates relative to the plate.

[0021] When the locking part disengages from the recess, the plate can rotate relative to the rotating body and is fixed relative to the actuator body.

[0022] The base frame may further include a third frame between the first frame and the second frame. Each of the first frame and the second frame may include a horizontal guide hole, which is a through hole formed in the first frame and the second frame and extending in the horizontal direction. The third frame may include a fixing part inserted into the horizontal guide hole, and the fixing part may be movable in the horizontal direction along the horizontal guide hole, thereby adjusting the interval between the first frame and the second frame.

[0023] The cable can be a bowden cable.

[0024] The first frame may include a first pulley, the second frame may include a second pulley, and the third frame may include a third pulley, wherein the third pulley may move vertically relative to the first and second pulleys.

[0025] The third frame may further include a vertical guide hole, which is a through hole formed in the third frame and extending in the vertical direction, and the third pulley can be inserted into the vertical guide hole.

[0026] The cable can be placed between the first pulley and the third pulley, and the cable can also be placed between the second pulley and the third pulley.

[0027] Further applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are for illustrative purposes only and are not intended to limit the scope of the invention. Attached Figure Description

[0028] To better understand the invention, various embodiments of the invention, given by way of example, will now be described with reference to the accompanying drawings, in which:

[0029] Figure 1A perspective view of a user strength assist device according to an exemplary embodiment of the present invention, worn by a user, is shown;

[0030] Figure 2 It shows Figure 1 An enlarged 3D view of the force-assisted device shown;

[0031] Figure 3 An enlarged perspective view of the actuator and rotating body in a force-assisting device according to an exemplary embodiment of the present invention is shown;

[0032] Figure 4 Various side views of the rotation of the actuator relative to the rotating body in a force-assisted device according to an exemplary embodiment of the present invention are shown;

[0033] Figure 5 The engagement of the actuator plate and the rotating body in a force-assisted device according to an exemplary embodiment of the present invention is shown;

[0034] Figure 6 The disengagement of the actuator plate and the rotating body in a force-assisted device according to an exemplary embodiment of the present invention is shown;

[0035] Figure 7 A force assist device according to an exemplary embodiment of the present invention, worn by a user with the lateral length of the force assist device increased, is shown.

[0036] Figure 8 An exemplary embodiment of the power assist device according to the invention is shown, which is worn by a user when the lateral length of the power assist device is reduced.

[0037] Figure 9 A force assist device according to another exemplary embodiment of the invention, worn by a user with the lateral length of the force assist device increased, is shown; and

[0038] Figure 10 A force assist device according to another exemplary embodiment of the invention is shown, which is worn by a user when the lateral length of the force assist device is reduced.

[0039] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. Detailed Implementation

[0040] The following description is exemplary in nature only and is not intended to limit the invention, application, or use. It should be understood that in all the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0041] The structure and working principle of the force-assisted device according to an exemplary embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] Figure 1 A perspective view of a user strength assist device according to an exemplary embodiment of the present invention, worn by a user, is shown, and Figure 2 It shows Figure 1 An enlarged perspective view of the force-assist device shown. Furthermore, Figure 3 An enlarged perspective view of the actuator and rotating body in a force-assisted device according to an exemplary embodiment of the present invention is shown.

[0043] like Figure 1 As shown, the strength assist device 10 may include a base frame 300. The base frame 300 may form the main body of the strength assist device 10 and may surround a part of the user's body so that the user can wear the strength assist device 10. Figure 1 and Figure 2 As shown, the base frame 300 can wrap around the user's waist. In addition, the strength assist device 10 can reduce the load applied to the user's waist.

[0044] The base frame 300 can be an assembly of multiple components. For example, such as... Figure 1 and Figure 2 As shown, the base frame 300 may include a first frame 310 disposed on the left side and a second frame 320 disposed on the right side. Here, the first frame 310 and the second frame 320 are movable relative to each other. In one embodiment, when the user wears the strength assist device 10, the first frame 310 and the second frame 320 can move relative to each other in the horizontal direction. Therefore, by moving the first frame 310 and the second frame 320 according to the user's body size, the lateral length of the strength assist device 10 can be adjusted.

[0045] Meanwhile, the force-assisting device 10 according to an exemplary embodiment of the present invention may further include a rotating body 200, which is disposed on one side of the base frame 300 and rotatably connected to the base frame 300. More specifically, the rotating body 200 may include a first rotating body 210 disposed on the left side of the base frame 300 and rotatably connected to the base frame 300, and a second rotating body 220 disposed on the right side of the base frame 300 and rotatably connected to the base frame 300. In one embodiment, the first rotating body 210 may be connected to the left side of the first frame 310 and rotatably connected to the first frame 310, and the second rotating body 220 may be connected to the right side of the second frame 320 and rotatably connected to the second frame 320.

[0046] Furthermore, the force-assisting device 10 according to an exemplary embodiment of the present invention may further include an actuator 100 rotatably connected to one side of the rotating body 200. The actuator 100 can generate a restoring torque based on the rotation angle of the actuator 100 relative to the rotating body 200. Therefore, the restoring torque generated by the actuator 100 can help reduce the load applied to the user.

[0047] Figure 4 Various side views of the rotation of the actuator relative to the rotating body in a force-assisted device according to an exemplary embodiment of the present invention are shown.

[0048] refer to Figure 4 The rightmost reference view shows a state where no restoring torque is generated because the actuator 100 does not rotate relative to the rotating body 200, while the other views show a state where restoring torque is generated as the actuator 100 rotates relative to the rotating body 200. Specifically, in Figure 4 In the view provided on the left side of the reference view, the rotation angle of actuator 100 relative to rotating body 200 is shown to gradually increase. As the rotation angle increases, the restoring torque increases. Figure 4 In this process, when the actuator 100 rotates clockwise relative to the rotating body 200, the restoring torque generated by the actuator 100 can be formed in the counterclockwise direction.

[0049] Reference Figure 1 and Figure 2 The actuator 100 may include a first actuator 110 and a second actuator 120. The first actuator 110 is rotatably connected to one side of the first rotating body 210 and forms a first recovery torque according to the rotation angle relative to the first rotating body 210. The second actuator 120 is rotatably connected to one side of the second rotating body 220 and forms a second recovery torque according to the rotation angle relative to the second rotating body 220. Figure 1 and Figure 2 A first actuator 110 is shown located on the left side of the first rotating body 210, and a second actuator 120 is shown located on the right side of the second rotating body 220.

[0050] Reference Figure 1 and Figure 2 According to an exemplary embodiment of the invention, the force-assist device 10 may further include a cable 400 connecting the first rotating body 210 to the second rotating body 220. For example... Figure 2 As shown, the cable 400 may surround at least a portion of the outer circumference of the first rotating body 210 and at least a portion of the outer circumference of the second rotating body 220.

[0051] The cable 400 can limit the rotational movement of the first rotating body 210 relative to the base frame 300 and the rotational movement of the second rotating body 220 relative to the base frame 300. More specifically, the rotational movement of the first rotating body 210 relative to the base frame 300 and the rotational movement of the second rotating body 220 relative to the base frame 300 can be mutually limited by the tension of the cable 400. According to an exemplary embodiment of the present invention, when the first rotating body 210 rotates relative to the base frame 300 in one direction, the second rotating body 220 can rotate relative to the base frame 300 in the opposite direction due to the tension of the cable 400. For example, as Figure 2 As indicated by the arrows, when the first rotating body 210 rotates clockwise relative to the base frame 300, the cable 400 can move in the direction of winding around the first rotating body 210. In this case, due to the tension of the cable 400, the cable 400 can move in the direction of unwinding from the second rotating body 220, and correspondingly, the second rotating body 220 can rotate counterclockwise. Therefore, the rotation directions of the first rotating body 210 and the second rotating body 220 can be opposite to each other by the tension of the cable 400.

[0052] More specifically, according to an exemplary embodiment of the present invention, when the rotation direction of the first actuator 110 relative to the base frame 300 and the rotation direction of the second actuator 120 relative to the base frame 300 are opposite to each other due to the tension of the cable 400, the first actuator 110 can be fixed relative to the first rotating body 210, so that the aforementioned first restoring torque can not be formed, and the second actuator 120 can be fixed relative to the second rotating body 220, so that the aforementioned second restoring torque can not be formed.

[0053] In one embodiment, when the first actuator 110 and the second actuator 120 rotate in opposite directions relative to the base frame 300, the first rotating body 210 can rotate relative to the base frame 300 together with the first actuator 110, and the second rotating body 210 can rotate relative to the base frame 300 together with the second actuator 120. In this case, since the first actuator 110 does not rotate relative to the first rotating body 210, a first restoring torque may not be generated, and since the second actuator 120 does not rotate relative to the second rotating body 220, a second restoring torque may not be generated.

[0054] This can be applied to situations where a user wearing the strength assist device 10 is walking. For example, consider the following scenario: the user wears the strength assist device 10 such that the base 300 wraps around the user's waist, with the first actuator 110 mounted on the user's left leg, wherein the first rotating body 210 is located on the user's left hip joint, and the second actuator 120 mounted on the user's right leg, wherein the second rotating body 220 is located on the user's right hip joint. For example, during the user's walking, when the user's left leg is positioned forward, the user's right leg may be positioned backward; therefore, the first actuator 110 can rotate forward, and the second actuator 120 can rotate backward.

[0055] However, when the user is simply walking, the user does not need the restoring torque generated by the force assist device 10 for assistance. Therefore, the first and second restoring torques of the first actuator 110 and the second actuator 120 are not required. According to an exemplary embodiment of the present invention, during the user's walking process, the force assist device 10 can cause the first rotating body 210 and the second rotating body 220 to rotate in opposite directions by the tension of the cable 400, thereby fixing the first rotating body 210 and the second rotating body 220 relative to the first actuator 110 and the second actuator 120, respectively. Therefore, when the user is simply walking, the aforementioned restoring torque is not required.

[0056] On the other hand, according to an exemplary embodiment of the present invention, when the rotation direction of the first actuator 110 relative to the base frame 300 and the rotation direction of the second actuator 120 relative to the base frame 300 are the same as each other, the first actuator 110 can rotate relative to the first rotating body 210, thereby generating a first restoring torque, and the second actuator 120 can rotate relative to the second rotating body 220, thereby generating a second restoring torque.

[0057] In another embodiment, when the first actuator 110 and the second actuator 120 rotate in the same direction relative to the base frame 300, the first actuator 110 can rotate relative to the first rotating body 210 while the first rotating body 210 is fixed relative to the base frame 300, and the second actuator 120 can rotate relative to the second rotating body 220 while the second rotating body 220 is fixed relative to the base frame 300.

[0058] This can be applied to situations where a user wearing the strength assist device 10 is working. For example, when a user wearing the strength assist device 10 bends at the waist to lift an object, the user's waist may rotate relative to the user's legs. Therefore, relative rotational movement may occur between the actuators 110 and 120 mounted on the user's legs and the base 300.

[0059] Here, the rotating bodies 210 and 220 connected to actuators 110 and 120 attempt to rotate in the direction in which actuators 110 and 120 rotate relative to the base frame 300. However, since the first rotating body 210 and the second rotating body 220 attempt to rotate in the same direction, the tension in the cable 400 may increase. Therefore, the first rotating body 210 and the second rotating body 220 may not be able to rotate relative to the base frame 300, but may instead be fixed relative to the base frame 300. Thus, a rotation angle can be formed between the first rotating body 210 and the first actuator 110, and between the second rotating body 220 and the second actuator 120. As a result, a first restoring torque and a second restoring torque can be formed by the first actuator 110 and the second actuator 120, respectively, and due to the first restoring torque and the second restoring torque, the load applied to the user's waist can be significantly reduced.

[0060] At the same time, refer to Figure 3 The actuator 100 may include an actuator body component 102 forming the body of the actuator 100, and a plate 104 rotatably connected to the actuator body component 102 and fixedly connected to the rotating body 200.

[0061] In addition, the rotating body 200 may include a rotating body component 202 forming the main body of the rotating body 200, and a locking part 204 protruding from the rotating body component 202 in one direction.

[0062] As described above, plate 104 can be fixedly connected to rotating body 200. However, according to an exemplary embodiment of the invention, plate 104 and rotating body 200 can also be released (detached) from each other according to the user's intention.

[0063] More specifically, such as Figure 3 As shown, plate 104 may include a recessed portion 106 that recesses inward from its outer peripheral edge. Locking portion 204 may engage with the recessed portion 106. When locking portion 204 engages with the recessed portion 106, plate 104 is fixedly connected to the rotating body 200; when locking portion 204 disengages from the recessed portion 106, plate 104 and the rotating body 200 are released from each other. Simultaneously, Figure 5 and Figure 6 A plate 104 with two recesses 106 is shown. In this case, the locking part 204 can selectively engage with either of the two recesses 106.

[0064] Figure 5 The engagement of the actuator plate and the rotating body in a force-assisted device according to an exemplary embodiment of the present invention is shown. Figure 6 The disengagement of the actuator plate and the rotating body in a force-assisted device according to an exemplary embodiment of the present invention is shown.

[0065] refer to Figure 5 and Figure 6 The rotating body 200 may further include a latch 206 that engages with and is movable from the locking portion 204. According to an exemplary embodiment of the invention, the latch 206 can move the locking portion 204 such that the locking portion 204 engages with or disengages from the recess 106. Specifically, as... Figure 5 As shown, when the locking part 204 engages with the recessed part 106, the plate 104 can be fixedly connected to the rotating body 200 as described above.

[0066] Specifically, with plate 104 fixedly connected to rotating body 200, the aforementioned restoring torque can be generated when actuator main body 102 rotates relative to rotating body 200 and plate 104. More specifically, actuator 100 may further include a link structure (not shown) disposed inside actuator main body 102 and including multiple links and multiple elastic bodies. Here, the aforementioned restoring torque can be generated by the positional change between the links and elastic bodies caused by the rotation of actuator main body 102 relative to plate 104.

[0067] At the same time, such as Figure 6 As shown, when the latch 206 moves the locking part 204 and the locking part 204 disengages from the recess 106, the plate 104 can rotate freely relative to the rotating body 200 and can be fixed relative to the actuator body 102. This can be illustrated by the following example: when the locking part 204 disengages from the recess 106, the user wearing the force assist device 10 sits in a chair to relax. In this case, since no restoring torque is required, the locking part 204 can disengage from the recess 106, preventing rotational movement between the plate 104 and the actuator body 102.

[0068] Figure 7 An exemplary embodiment of the force-assisting device according to the invention, worn by a user with the lateral length of the device increased, is shown. Figure 8 An exemplary embodiment of the power assist device according to the invention is shown, which is worn by a user when the lateral length of the power assist device is reduced.

[0069] Reference Figure 7 and Figure 8 The base frame 300 may further include a third frame 330 between the first frame 310 and the second frame 320.

[0070] Here, each of the first frame 310 and the second frame 320 may include a horizontal guide hole 340, which is a through hole formed in the first frame 310 and the second frame 320 and extending in the horizontal direction, and the third frame 330 may include a fixing part 350 inserted into the horizontal guide hole 340.

[0071] The fixing part 350 can move horizontally along the horizontal guide hole 340, thereby adjusting the interval between the first frame 310 and the second frame 320. According to an exemplary embodiment of the present invention, the lateral length of the force-assisting device 10 can be adjusted by adjusting the horizontal position of the fixing part 350 in the horizontal guide hole 340. For example, as... Figure 7 As shown, when a larger user wears the strength assist device 10, the fixing part 350 can be located at or near the inner end of the horizontal guide hole 340, thereby increasing the lateral length of the strength assist device 10. Figure 8 As shown, when a smaller user wears the strength assist device 10, the fixing part 350 can be located at or near the outer end of the horizontal guide hole 340, thereby reducing the lateral length of the strength assist device 10.

[0072] Furthermore, according to an exemplary embodiment of the present invention, cable 400 may be a Boden cable. A Boden cable may be a flexible cable for transmitting force or energy, and may include a cable housing and an inner cable disposed within the cable housing. A Boden cable can transmit force or energy through the relative movement of the inner cable relative to the cable housing. Details of the Boden cable can be understood based on existing technology, and various types of Boden cable structures known in the prior art can be applied to cable 400.

[0073] Figure 9 A force assist device according to another exemplary embodiment of the invention, worn by a user with the lateral length of the force assist device increased, is shown. Figure 10 A force assist device according to another exemplary embodiment of the invention, worn by a user in a state where the lateral length of the force assist device is reduced, is shown. Hereinafter, the force assist device 10 according to another exemplary embodiment of the invention will be described by focusing on the differences compared to the force assist device 10 according to a previous exemplary embodiment. Unless otherwise defined, the above-described features of the force assist device in the previous exemplary embodiment are equally applicable to the following exemplary embodiments of the invention.

[0074] According to another exemplary embodiment of the present invention, the first frame 310 may include a first pulley 360, the second frame 320 may include a second pulley 370, and the third frame 330 may include a third pulley 332. The third pulley 332 may move vertically relative to the first pulley 360 and the second pulley 370.

[0075] More specifically, the third frame 330 may further include a vertical guide hole 334, which is a through hole formed in the third frame 330 and extending in the vertical direction. Here, the third pulley 332 can be inserted into the vertical guide hole 334. Therefore, the third pulley 332 can move vertically along the vertical guide hole 334.

[0076] At the same time, such as Figure 9 and Figure 10 As shown, cable 400 can be disposed between the first pulley 360 and the third pulley 332, and between the second pulley 370 and the third pulley 332.

[0077] According to another exemplary embodiment of the present invention, such as Figure 10 As shown, when a smaller user wears the strength assist device 10, they may wish to reduce the lateral length of the strength assist device 10. However, in this case, the tension of the cable 400 may be reduced, and therefore, the constraint of the cable 400 between the first rotating body 210 and the second rotating body 220 may not be properly achieved.

[0078] According to another exemplary embodiment of the invention, the third pulley 332 can move upward, thereby maintaining the tension of the cable 400 even if the lateral length of the force assist device 10 decreases. In this case, a portion of the cable 400 between the first pulley 360 and the third pulley 332 and a portion of the cable 400 between the second pulley 370 and the third pulley 332 can move upward through the third pulley 332. When a larger user wears the force assist device 10, the third pulley 332 can move upward as follows: Figure 9 As shown, it moves downwards, thereby maintaining the tension of cable 400.

[0079] As described above, the strength assist device according to an exemplary embodiment of the present invention can adjust its size by taking into account the user's body shape and significantly reduce discomfort that may occur during walking or other processes.

[0080] In the foregoing, although the present invention has been described with reference to exemplary embodiments and accompanying drawings, the present invention is not limited thereto, but can be modified and changed by those skilled in the art without departing from the spirit and scope of the present invention.

Claims

1. A force-assisting device, comprising: Base frame; A first rotating body is disposed on the left side of the base frame and rotatably connected to the base frame; The second rotating body is located on the right side of the base frame and is rotatably connected to the base frame; A first actuator, rotatably connected to one side of a first rotating body, is configured to provide a first restoring torque based on a rotation angle relative to the first rotating body; A second actuator is rotatably connected to one side of the second rotating body and configured to provide a second restoring torque based on the rotation angle relative to the second rotating body; as well as The cable connects the first rotating body and the second rotating body. The rotational motion of the first rotating body relative to the base frame and the rotational motion of the second rotating body relative to the base frame are mutually restricted by the tension of the cable. When the first actuator and the second actuator rotate in opposite directions relative to the base frame, the first actuator is fixed relative to the first rotating body, so that no first restoring torque is generated, and the second actuator is fixed relative to the second rotating body, so that no second restoring torque is generated.

2. The force-assisting device according to claim 1, wherein, The base frame includes: A first frame, a first rotating body rotatably connected to the first frame; and A second frame, wherein a second rotating body is rotatably connected to the second frame, wherein... The first frame and the second frame are movable relative to each other.

3. The force-assisting device according to claim 1, wherein, The cable is configured to surround at least a portion of the outer circumference of the first rotating body and at least a portion of the outer circumference of the second rotating body.

4. The force-assisting device according to claim 3, wherein, When the first actuator and the second actuator rotate in the same direction relative to the base, the first actuator is configured to rotate relative to the first rotating body and generate a first restoring torque, and the second actuator is configured to rotate relative to the second rotating body and generate a second restoring torque.

5. The force-assisting device according to claim 1, wherein, The first actuator and the second actuator each include: Actuator main body components; and A plate, which is rotatably connected to the actuator body component, The plate of the first actuator is fixedly connected to the first rotating body, and the plate of the second actuator is fixedly connected to the second rotating body.

6. The force-assisting device according to claim 5, wherein, The first rotating body and the second rotating body each include: Rotating body components; and The locking part protrudes from the rotating part.

7. The force-assisting device according to claim 6, wherein, The plates of the first actuator and the second actuator each include a recessed portion that extends inward from the outer peripheral edge of the plate. The locking part engages with the recessed part.

8. The force-assisting device according to claim 7, wherein: The first rotating body and the second rotating body each further include a latch portion that engages with the locking portion. The latch is configured as a movable locking part, such that the locking part engages with or disengages from the recess.

9. The force-assisting device according to claim 8, wherein, When the locking part engages with the recessed part, the plate of the first actuator and the plate of the second actuator are respectively fixedly connected to the first rotating body and the second rotating body.

10. The force-assisting device according to claim 9, wherein, When the actuator body component of the first actuator and the actuator body component of the second actuator rotate relative to the first rotating body and the second rotating body respectively, and the plates of the first actuator and the second actuator are fixedly connected to the first rotating body and the second rotating body respectively, a restoring torque is formed respectively.

11. The force-assisting device according to claim 10, wherein: The first and second actuators each further include a linkage structure disposed inside the actuator body component and comprising multiple linkages and multiple elastic bodies. The restoring torque is generated by the positional changes of multiple links and multiple elastic bodies between the actuator body component of the first actuator and the actuator body component of the second actuator when they rotate relative to the plates of the first actuator and the second actuator, respectively.

12. The force-assisting device according to claim 8, wherein, When the locking part disengages from the recess, the corresponding plate of the first actuator and the corresponding plate of the second actuator can rotate relative to the corresponding rotating body of the first rotating body and the second rotating body, and are fixed relative to the corresponding actuator body component of the first actuator and the corresponding actuator body component of the second actuator.

13. The force-assisting device according to claim 2, wherein: The base frame further includes a third frame between the first frame and the second frame. Each of the first frame and the second frame includes a horizontal guide hole, which is a through hole formed in the first frame and the second frame and extending in the horizontal direction. The third frame includes a fixing part that is inserted into a horizontal guide hole. The fixing part is configured to move along a horizontal guide hole in the horizontal direction, thereby allowing the interval between the first frame and the second frame to be adjusted.

14. The force-assisting device according to claim 1, wherein, The cable in question is a Boden cable.

15. The force-assisting device according to claim 13, wherein: The first frame includes a first pulley. The second frame includes a second pulley. The third frame includes a third pulley. The third pulley is configured to move vertically relative to the first and second pulleys.

16. The force-assisting device according to claim 15, wherein, The third frame further includes a vertical guide hole, which is a through hole formed in the third frame and extending in the vertical direction. The third pulley is inserted into the vertical guide hole.

17. The force-assisting device according to claim 16, wherein: The cable is positioned between the first pulley and the third pulley, and, The cable is positioned between the second and third pulleys.

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