Walking aid deformable on the basis of the shape of the thigh

Abstract

A walking assistance device deformable based on a shape of a thigh includes a hip joint actuator, an upper thigh support connected to the hip joint actuator and configured to receive power from the hip joint actuator and rotate about a first axis and rotate about a second axis crossing the first axis, a motion support connected to the upper thigh support, wherein the motion support includes a plurality of segmented supports configured to rotate relative to each other, and a lower thigh support connected to the motion support.

Description

Technical Field

[0001] At least one example embodiment relates to a walking aid that can be based on thigh shape deformation. Background Technology

[0002] Walking aids are being developed to enable patients with joint problems and / or the elderly to walk with less effort, as well as walking aids for military purposes to increase the user's muscle strength. Summary of the Invention

[0003] Some example embodiments relate to a walking aid that is deformable based on the shape of the thigh to fit the user’s body shape closely, thereby improving wearability and reducing the size of the device.

[0004] Some example embodiments relate to a walking assistance device configured to assist a user.

[0005] In some example embodiments, the walking assist device includes a hip actuator; an upper thigh support connected to the hip actuator, the upper thigh support being configured to rotate about a first axis and about a second axis intersecting the first axis in response to power received from the hip actuator; a motion support connected to the upper thigh support, the motion support including a plurality of segmented supports, wherein the plurality of segmented supports are configured to rotate relative to each other based on the shape of the user's thigh; and a lower thigh support connected to the motion support.

[0006] In some example embodiments, the plurality of segmented supports include: an upper segment support connected to the upper thigh support; and a lower segment support connected to the lower thigh support, wherein the lower segment support is configured to rotate relative to the upper segment support.

[0007] In some example embodiments, the upper support segment is integrally formed with the upper thigh support segment, and the lower support segment is integrally formed with the lower thigh support segment.

[0008] In some example embodiments, the upper support segment can be detachably connected to the upper thigh support, and the lower support segment can be detachably connected to the lower thigh support.

[0009] In some example embodiments, the motion support further includes an elastomer comprising a first end fixed to the upper support and a second end fixed to the lower support.

[0010] In some example embodiments, the motion support further includes a rotation axis configured to connect the upper support and the lower support, such that the rotation axis is parallel to the second axis, wherein the elastomer is configured to surround the rotation axis.

[0011] In some example embodiments, the motion support further includes a stop configured to limit the rotation angle of the upper support relative to the lower support.

[0012] In some example embodiments, the stop extends from the first segment of the upper bracket and the lower bracket toward the second segment of the upper bracket and the lower bracket.

[0013] In some example embodiments, the plurality of segmented supports include: a first segment support; a second segment support rotatably connected to a first end of the first segment support; a third segment support rotatably connected to a second end of the first segment support; a fourth segment support rotatably connected to the second segment support; and a fifth segment support rotatably connected to the third segment support and the fourth segment support, wherein the upper thigh support is connected to the second segment support.

[0014] In some example embodiments, the motion support further includes an elastomer comprising a first end fixed to the fourth segment support and a second end fixed to the fifth segment support.

[0015] In some example embodiments, the motion support further includes: a first stop configured to limit the rotation angle of the second segment support relative to the fourth segment support; and a second stop configured to limit the rotation angle of the third segment support relative to the fifth segment support.

[0016] In some example embodiments, the second segment of the support can be detachably connected to the upper thigh support, and the third segment of the support can be detachably connected to the lower thigh support.

[0017] In some example embodiments, multiple motion supports are configured to be connected in series with each other.

[0018] In some example embodiments, the plurality of motion supports include: a first motion support including a first magnet having a first polarity and a first support body configured to receive the first magnet; and a second motion support including a second magnet having a second polarity and a second support body rotatably connected to the first support body, wherein the second motion support is configured to receive the second magnet configured to face the first magnet.

[0019] In some example embodiments, each of the first support body and the second support body includes circular ends facing each other.

[0020] Other example embodiments relate to a walking assistance device configured to assist a user.

[0021] In some example embodiments, the walking assistance device includes: an upper thigh support; a lower thigh support; and a motion support connected between the upper thigh support and the lower thigh support, wherein the motion support includes a plurality of segmented supports configured to determine the angle between the upper thigh support and the lower thigh support by rotating relative to adjacent segmented supports among the plurality of segmented supports, so as to adjust the relative angle with respect to the adjacent segmented supports among the plurality of segmented supports based on the shape of the user's thigh.

[0022] In some exemplary embodiments, the motion support is configured to rotate about one or more third axes that are parallel to the second axis and perpendicular to the first axis.

[0023] In some example embodiments, the motion support is configured to adjust a predetermined distance between the upper support and the lower support.

[0024] In some example embodiments, the motion support extends downward from the upper support when the user is upright.

[0025] In some example embodiments, the walking aid further includes a wearable portion attached to the lower end of the lower support, wherein the wearable portion is configured to secure the user's thigh.

[0026] Additional aspects of the exemplary embodiments will be set forth in part in the description which follows, and will be apparent in part from the description, or may be learned by practice of this disclosure. Attached Figure Description

[0027] These and / or other aspects will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings, wherein:

[0028] Figure 1 A user wearing a walking aid device according to at least one example embodiment is shown;

[0029] Figure 2 The illustration depicts a user wearing a walking aid device according to at least one example embodiment, wherein the user is in contact with... Figure 1 Compared to other users, those users have thicker thighs;

[0030] Figure 3This is a front view showing a walking assistance device according to at least one example embodiment;

[0031] Figure 4 This is a front view showing a motion support according to at least one example embodiment;

[0032] Figure 5 It is along Figure 4 A cross-sectional view of line VV;

[0033] Figure 6 It is shown Figure 5 Cross-sectional view of the deformation of the motion support;

[0034] Figure 7 A user wearing a walking aid device according to at least one example embodiment is shown;

[0035] Figure 8 This is a side view showing a motion support according to at least one example embodiment;

[0036] Figure 9 It is shown Figure 8 Cross-sectional view of the deformation of the motion support;

[0037] Figure 10 This is a front view showing a motion support according to at least one example embodiment;

[0038] Figure 11 It is along Figure 10 A cross-sectional view taken from line XI-XI; and

[0039] Figure 12 It is shown Figure 11 A cross-sectional view of the deformation of the motion support. Detailed Implementation

[0040] In the following, some exemplary embodiments will be described in detail with reference to the accompanying drawings. Regarding the reference numerals assigned to the elements in the drawings, it should be noted that even if the same element is shown in different drawings, the same element will be represented by the same reference numeral whenever possible. Furthermore, in the description of the exemplary embodiments, detailed descriptions of well-known related structures or functions will be omitted where such detailed descriptions would lead to a vague interpretation of this disclosure.

[0041] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used herein to describe components. Each of these terms is not used to define the nature, order, or sequence of the corresponding component, but only to distinguish the corresponding component from other components. It should be noted that if a component is described in the specification as being "connected," "joined," or "engaged" to another component, then although the first component may be directly connected, joined, or engaged to the second component, the third component may also be "connected," "joined," or "engaged" between the first and second components.

[0042] The same names may be used to describe elements included in the above example embodiments and elements having common functions. Unless otherwise stated, the description of the example embodiments is applicable to the following example embodiments, and therefore, for the sake of brevity, repeated descriptions will be omitted.

[0043] Figure 1 A user wearing a walking aid device according to at least one example embodiment is shown, and Figure 2 The illustration depicts a user wearing a walking aid device according to at least one example embodiment, wherein the user is in contact with... Figure 1 Compared to other users, those users have thicker thighs.

[0044] Reference Figure 1 and Figure 2 In one or more example embodiments, the walking aid 100 can be deformed based on the shape of the user's thigh. For example, the walking aid 100 can fit snugly to a user with relatively thin thighs, and it can also fit snugly to a user with relatively thick thighs. When the walking aid 100 fits snugly to the user's thigh, the distance between the walking aid 100 and the user's thigh can be reduced. The user can wear clothing over the walking aid 100, and the wearability perceived by the user can be improved.

[0045] The walking assist device 100 assists a user's hip joint. The walking assist device 100 may include a wearable waist section 90, a hip joint actuator 91, an upper thigh support 92, a motion support 1, a lower thigh support 93, and a wearable thigh section 94. The motion support 1 can deform according to the shape of the user's thigh. The upper thigh support 92 is adjustable in angle relative to the hip joint actuator 91. Through the adjustment of the angle of the upper thigh support 92 and the degree of deformation of the motion support 1, the walking assist device 100 can closely conform to the user's thigh.

[0046] The wearable waist part 90 can support the user's waist. The wearable waist part 90 can have an adjustable length based on the user's waist circumference. The wearable waist part 90 can support the hip joint actuator 91. The wearable waist part 90 can be positioned such that the hip joint actuator 91 can be arranged next to the hip joint.

[0047] The hip joint actuator 91 generates power to assist the user's hip joint. The hip joint actuator 91 supports the upper thigh support 92. The hip joint actuator 91 allows the upper thigh support 92 to rotate about a first axis A1. The hip joint actuator 91 assists in thigh extension and flexion.

[0048] The upper thigh support 92 can be connected to the hip joint actuator 91 and receives power from the hip joint actuator 91, rotating about a first axis A1 and about a second axis A2 intersecting the first axis A1. The upper thigh support 92 can rotate about the hip joint actuator 91 in response to thigh adduction or abduction. In addition to thigh adduction or abduction, the upper thigh support 92 can also rotate about the hip joint actuator 91 based on the user's thigh shape. For example, when a user with relatively thick thighs wears the walking assistance device 100, the upper thigh support 92 can rotate outward about the hip joint actuator 91.

[0049] The motion support 1 may include additional degrees of freedom (DOF) to deform based on the user's thigh shape. The motion support 1 is deformable and determines the angle between the upper thigh support 92 and the lower thigh support 93. The motion support 1 may be positioned between the upper thigh support 92 and the lower thigh support 93. The motion support 1 may include a plurality of segmented supports 11 and 12 configured to rotate relative to each other. The plurality of segmented supports 11 and 12 may include an upper segment support 11 and a lower segment support 12 connected to perform 1-DOF rotation.

[0050] For example, when a user with relatively thick thighs wears the walking aid device 100, the angle between the upper support 11 and the lower support 12 can be smaller than the angle between the upper support 11 and the lower support 12 when a user with relatively thin thighs wears the walking aid device 100.

[0051] The exercise support 1 can deform based on the angle of the upper thigh support 92 around the hip joint actuator 91. For example, when a user with relatively thick thighs wears the walking aid 100, the walking aid 100 can fit closely to the user's thighs in such a way that the thighs push the upper thigh support 92 outwards and the lower support 12 bends relative to the upper support 11 in a direction toward the thigh.

[0052] The exercise support 1 can be integrated with the upper thigh support 92 and the lower thigh support 93, or it can be detachably connected to the upper thigh support 92 and the lower thigh support 93. When the exercise support 1 is detachably connected to the upper thigh support 92 and the lower thigh support 93, the user can install the exercise support 1 between the upper thigh support 92 and the lower thigh support 93 when necessary, or remove the exercise support 1 from the walking aid 100. For example, if the exercise support 1 is removed from the walking aid 100, the lower thigh support 93 can be directly installed on the upper thigh support 92.

[0053] The exercise support 1 may include a fixing member (not shown) configured to fix the angle between the upper thigh support 92 and the lower thigh support 93.

[0054] The lower thigh support 93 can be connected to the exercise support 1. The lower thigh support 93 can be integrated with the exercise support 1 or detachably connected to the exercise support 1.

[0055] The wearable thigh portion 94 can support the user's thigh. The wearable thigh portion 94 can have an adjustable length based on the user's leg circumference.

[0056] Reference Figure 1 A wearable walking aid 100 for users with relatively thin thighs. In this example, the angle between the upper support 11 and the lower support 12 of the motion support 1 can be relatively large. Specifically, the upper support 11 and the lower support 12 can form an approximately straight line, such that the angle between the upper support 11 and the lower support 12 can be approximately 180 degrees.

[0057] Reference Figure 2 A wearable walking aid 100 for users with relatively thick thighs. In this example, the upper thigh support 92 is held in a position where it is pushed outward (i.e., counterclockwise) by the thigh about a second axis A2. The lower support 12 is held in a position where it rotates inward (i.e., clockwise) about the upper support 11, and the lower thigh support 93 fits snugly against the user's thigh.

[0058] Figure 3 This is a front view showing a walking assistance device according to at least one example embodiment. Figure 4 This is a front view showing a motion support according to at least one example embodiment. Figure 5 It is along Figure 4 The cross-sectional view of line VV, and Figure 6 It is shown Figure 5 A cross-sectional view of the deformation of the motion support.

[0059] Reference Figures 3 to 6The motion support 1 may include an upper support 11, a lower support 12, a rotating shaft 13, an elastic body 14, a stop 15, an upper connecting member 17, a button 18, and a lower connecting member 19.

[0060] The upper support 11 can be connected to the upper thigh support 92 located on the upper side. The upper support 11 can be rotatably connected to the lower support 12 via a rotating shaft 13. The upper support 11 may include a first upper hollow portion 11a and a second upper hollow portion 11b.

[0061] The lower support 12 can be connected to the lower thigh support 93 located on the lower side. The lower support 12 can be rotatably connected to the upper support 11 via a rotating shaft 13.

[0062] The rotating shaft 13 rotatably connects the upper support 11 and the lower support 12. For example, the rotating shaft 13 may be a rod that passes through one of the segmented supports in the upper support 11 and the lower support 12 and inserts into the other segmented support. Alternatively, the rotating shaft 13 may be a rod integrally formed with one of the segmented supports in the upper support 11 and the lower support 12 and protruding toward the other segmented support. The rotating shaft 13 may be configured to be parallel to a second axis A2, which serves as the axis of rotation for the upper thigh support 92.

[0063] The rotation axis 13 can be arranged at 90 degrees relative to the first axis A1, which serves as the drive axis of the hip joint actuator 91. Here, the 90-degree arrangement indicates that a virtual auxiliary line parallel to the first axis A1, which serves as the drive axis of the hip joint actuator 91, is perpendicular to the rotation axis 13. In this configuration, deformation of the motion support 1 caused by the hip joint actuator 91 can be prevented while the power of the hip joint actuator 91 is transmitted to the lower thigh support 93, and power loss can be reduced.

[0064] The walking assist device can move around the first axis A1 via the hip joint actuator 91, rotate around the second axis A2 via the upper thigh support 92 connected to the hip joint actuator 91, and rotate around the upper support 11 via the lower support 12 connected to the upper support 11.

[0065] The elastic body 14 assists the motion support 1 in maintaining its basic straight shape. One end of the elastic body 14 can be fixed to the upper support 11, and the other end of the elastic body 14 can be fixed to the lower support 12. For example, one end of the elastic body 14 can be accommodated in the first upper hollow portion 11a of the upper support 11 and fixed to the inner wall of the upper support 11, and the other end of the elastic body 14 can be accommodated in the first lower hollow portion 12a of the lower support 12 and fixed to the inner wall of the lower support 12. The elastic body 14 can be a spring. As the lower support 12 rotates clockwise relative to the upper support 11 about the rotation axis 13, the elastic energy stored in the elastic body 14 can gradually increase.

[0066] The central portion of the elastomer 14 can surround the rotating shaft 13. Even when the end of the elastomer 14 is separated from the upper support 11 and / or the lower support 12, the elastomer 14 can be stably suspended on the rotating shaft 13.

[0067] The stop 15 limits the rotation angle of the upper bracket 11 and the lower bracket 12. Figure 6 In the example, the stop 15 prevents the lower bracket 12 from rotating counterclockwise relative to the upper bracket 11. The stop 15 also assists the lower bracket 12 to rotate only in the inward direction.

[0068] The stop 15 can extend from one of the upper bracket 11 and the lower bracket 12 toward the other bracket. Figure 5 and Figure 6 The image shows an example where the stop 15 extends from the lower support 12 and is housed in the first upper hollow portion 11a of the upper support 11. However, the example is not limited to this.

[0069] In some other example embodiments, in addition to the elastomer 14 associated with the rotation axis 13 of the motion support 1, the rotation axis of the second axis A2 may have an associated elastomer for the following operation: pushing the upper thigh support 92 clockwise toward the user's thigh when the upper thigh support 92 is pushed outward (i.e., counterclockwise) about the second axis A2 by the thigh.

[0070] As described above, the exercise support 1 can be integrated with the upper thigh support 92 and the lower thigh support 93, or it can be detached from the upper thigh support 92 and the lower thigh support 93. In the following, based on the example that the exercise support 1 can be detached from the upper thigh support 92 and the lower thigh support 93, the detachable structure will be described in detail.

[0071] The upper connecting member 17 connects the upper support 11 to the upper thigh support 92. A portion of the upper connecting member 17 can be accommodated in the upper support 11, and another portion of the upper connecting member 17 can be inserted into the upper thigh support 92. The upper connecting member 17 may include a connecting hole 7a. The upper connecting member 17 can be accommodated in the second upper hollow portion 11b and supported by an elastomer.

[0072] Button 18 can be attached to one side of the upper connecting member 17, such that at least a portion of button 18 can protrude outward toward the upper bracket 11. The user can push button 18 to push the upper connecting member 17.

[0073] The upper thigh support 92 may include a protrusion (not shown) that will be inserted into a connection hole 7a of the upper connecting member 17. The user can insert the upper connecting member 17 into the upper thigh support 92 by pushing the button 18, and then releasing the button 18. In this example, the upper connecting member 17 can return to its original position, and the protrusion in the upper thigh support 92 can be inserted into the connection hole 7a of the upper connecting member 17.

[0074] The lower connecting member 19 may include a protrusion (not shown) that functions similarly to the protrusion of the upper thigh support 92, and the lower thigh support 93 may include elements corresponding to the upper connecting member 17 and the button 18.

[0075] However, the structure for separating the motion support 1 from the upper thigh support 92 and / or the lower thigh support 93 is not limited thereto.

[0076] Figure 7 A user wearing a walking aid device according to at least one example embodiment is shown. Figure 8 This is a side view showing a motion support according to at least one example embodiment, and Figure 9 It is shown Figure 8 A cross-sectional view of the deformation of the motion support.

[0077] Reference Figures 7 to 9 The walking assist device 200 can be deformed according to the shape of the user's thigh. For example, the walking assist device 200 can fit closely to a user with relatively thin thighs, and it can also fit closely to a user with relatively thick thighs.

[0078] The walking assistance device 200 may include a wearable part 90 for the waist, a hip joint actuator 91, an upper thigh support 92, a motion support 2, a lower thigh support 93, and a wearable part 94 for the thigh.

[0079] Multiple motion supports 2 may be provided. For example, the multiple motion supports 2 may include a first motion support 21, a second motion support 22, and a third motion support 23 connected in series with each other. Each of the multiple motion supports 2 may include multiple segment supports. The multiple motion supports 2 may be connected to rotate relative to each other. The rotation of the multiple motion supports 2 allows the walking assist device 200 to fit snugly against the user's thigh, regardless of the user's thigh shape. In the following description, the multiple segment supports will be based on the first motion support 21. However, the multiple segment supports of the first motion support 21 may be applied to the second motion support 22 and / or the third motion support 23.

[0080] The first motion support 21 may include a first support segment 211, a second support segment 212, a third support segment 213, a fourth support segment 214, and a fifth support segment 215 connected in a pentagonal form.

[0081] The first segment 211, the second segment 212, the third segment 213, the fourth segment 214, and the fifth segment 215 can all be hinged to adjacent segmented segments. The first segment 211 can be aligned with the upper thigh support 92 and / or the lower thigh support 93. The second segment 212 can be rotatably connected to the upper end of the first segment 211, and the third segment 213 can be rotatably connected to the lower end of the first segment 211. The fourth segment 214 can be rotatably connected to the second segment 212, and the fifth segment 215 can be rotatably connected to the third segment 213 and the fourth segment 214.

[0082] The first motion support 21 may further include an elastic body 218, wherein one end of the elastic body 218 is fixed to the fourth segment support 214 and the other end is fixed to the fifth segment support 215. The elastic body 218 may be disposed inside the fourth segment support 214 and the fifth segment support 215. If the angle between the fourth segment support 214 and the fifth segment support 215 increases, the elastic energy stored in the elastic body 218 may increase.

[0083] The first moving support 21 may further include a first stop 216 and a second stop 217, wherein the first stop 216 is configured to limit the rotation angle of the second support segment 212 and the fourth support segment 214, and the second stop 217 is configured to limit the rotation angle of the third support segment 213 and the fifth support segment 215. The first stop 216 may be fixed to the end of the second support segment 212 and contact the outer side of the fourth support segment 214. The second stop 217 may be fixed to the end of the third support segment 213 and contact the outer side of the fifth support segment 215.

[0084] The second support segment 212 can be integrally formed with the upper thigh support 92, or detachably connected to the upper thigh support 92. The third support segment 213 can be integrally formed with the lower thigh support 93, or detachably connected to the lower thigh support 93. For example, the first connecting member 291 can be inserted into the upper thigh support 92. The first connecting member 291 can be disposed in the upper thigh support 92, and the second connecting member 292 can be disposed in the lower thigh support 93.

[0085] A first motion support 21 may be arranged between an upper thigh support 92 and a lower thigh support 93, wherein motion supports other than the first motion support 21 may be connected in series side by side. For example, a second motion support 22 and a third motion support 23 may be connected side by side below the first motion support 21. In this example, a second connecting member 292 disposed on the bottom of the first motion support 21 may be connected to the second motion support 22. The second motion support 22 or the third motion support 23 may include a third connecting member 293. A fourth connecting member 294 may be disposed on the bottom of the third motion support 23 and detachably connected to the lower thigh support 93.

[0086] The second motion support 22 may include a first support segment 221, a second support segment 222, a third support segment 223, a fourth support segment 224, and a fifth support segment 225 connected in a pentagonal form, a first stop 226 and a second stop 227, and an elastic body 228. The third motion support 23 may include a first support segment 231, a second support segment 232, a third support segment 233, a fourth support segment 234, and a fifth support segment 235 connected in a pentagonal form, a first stop 236 and a second stop 237, and an elastic body 238.

[0087] For example, a first connecting member 291 may be disposed in the second segment 212 of the first motion support 21 and detachably connected to the upper thigh support 92. More specifically, a second connecting member 292 detachably connecting the first motion support 21 and the second motion support 22 may be disposed in the third segment 213 of the first motion support 21 and / or the second segment 222 of the second motion support 22. A third connecting member 293 detachably connecting the second motion support 22 and the third motion support 23 may be disposed in the third segment 223 of the second motion support 22 and / or the second segment 232 of the third motion support 23. A fourth connecting member 294 may be disposed in the third segment 233 of the third motion support 23 and detachably connected to the lower thigh support 93. The number of motion supports 21, 22, and 23 may be determined based on the user's selection. For example, for a user with relatively long thighs, the number of motion supports may be increased.

[0088] In some other example embodiments, the motion support may be a sliding assembly including a support bracket and a sliding bracket, wherein the sliding bracket is configured to move relative to the motion support within a receiving space in the motion support to compensate for a length corresponding to the user's height difference.

[0089] Figure 10 This is a front view showing a motion support according to at least one example embodiment. Figure 11 It is along Figure 10 The cross-sectional view taken from line XI-XI, and Figure 12 It is shown Figure 11 A cross-sectional view of the deformation of the motion support.

[0090] Reference Figures 10 to 12 Multiple motion supports 3 can be provided. For example, the motion support 3 may include a first motion support 31, a second motion support 32 and a third motion support 33 connected in series with each other.

[0091] The first motion support 31 may include a first support body 311 and one or more first magnets 312 and 313.

[0092] The first support body 311 can be rotatably connected to the upper thigh support 92 (see...). Figure 7 The first support body 311 may include an upward-facing thigh support 92 (see also...) and a second movement support 32. Figure 7 The first upper circular portion 311a is formed at the end of the first motion support 31, and the first lower circular portion 311b is formed at the end facing the second motion support 32. The first circular portions 311a and 311b can reduce the size of the magnet disposed in the first motion support 31 and the magnet disposed in the upper thigh support 92 (see Figure 7 The minimum distance between the magnets in the second motion support 32 and / or the second motion support 32.

[0093] One or more first magnets 312 and 313 may be accommodated in the first support body 311. Here, two first magnets 312 and 313 may be provided, specifically a first upper magnet 312 and a first lower magnet 313. However, the example is not limited to this. For example, a single first magnet or three or more magnets may be provided in the first support body 311.

[0094] For example, the first upper magnet 312 may face a magnet (not shown) of opposite polarity disposed in the upper thigh support 92. The attraction between the magnet (not shown) disposed in the upper thigh support 92 and the first upper magnet 312 can help the first motion support 31 maintain a straight shape relative to the upper thigh support 92. Furthermore, even when the angle between the upper thigh support 92 and the first motion support 31 changes based on the user's body shape, the attraction can help the first motion support 31 fit closely to the user's body.

[0095] The second motion support 32 may include a second support body 321 and one or more second magnets 322 and 323. The second support body 321 may be rotatably connected to the first motion support 31 and the third motion support 33, wherein the second support body 321 is rotatable about a rotation axis 391. The second support body 321 may include a second upper circular portion 321a formed at the end facing the first motion support 31 and a second lower circular portion 321b formed at the end facing the third motion support 33. The second circular portions 321a and 321b may reduce the minimum distance between the magnets disposed in the second motion support 32 and the magnets disposed in the first motion support 31 and / or the second motion support 32.

[0096] One or more second magnets 322 and 323 may be accommodated in the second support body 321. The second upper magnet 322 may face the first lower magnet 313 with opposite polarity accommodated in the first motion support 31. The second lower magnet 323 may face the third upper magnet 332 with opposite polarity accommodated in the third motion support 33. The third motion support 33 will be further described below.

[0097] The attraction between the first lower magnet 313 and the second upper magnet 322, and / or the attraction between the second lower magnet 323 and the third upper magnet 332, can help the motion support 3 maintain a straight shape. Even when the angle of the motion support 3 changes based on the user's body shape, one or more second magnets 322 and 323 can help the motion support 3 fit closely to the user's body.

[0098] The third motion support 33 may include a third support body 331 and one or more third magnets 332 and 333.

[0099] The third support body 331 can be rotatably connected to the second motion support 32 and the lower thigh support 93 (see...). Figure 7 The third support body 331 is rotatable about the rotation axis 392. The third support body 331 may include a third upper circular portion 331a and a third lower circular portion 331b.

[0100] One or more third magnets 332 and 333 may be accommodated in the third support body 331. For example, the third upper magnet 332 may face the second lower magnet 323 with opposite polarity. The magnet (not shown) disposed in the lower thigh support 93 and the third lower magnet 333 may face each other with opposite polarities. Even when the angle of the motion support 3 changes based on the user's body shape, one or more third magnets 332 and 333 can help the motion support 3 fit closely to the user's body.

[0101] In some exemplary embodiments, magnets 312, 313, 322, 323, 332, and 333 may be electromagnets configured to selectively create a magnetic field in response to an electric current supplied thereto. For example, a walking aid may include a controller (not shown) configured to determine the presence of a condition and, based on that condition, selectively create and / or change the strength of the magnetic field. For instance, when the user's walking speed increases, the controller may increase the magnetic field to increase the stiffness of the motion support 3.

[0102] The controller (not shown) may include processing circuitry, including but not limited to a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field-programmable gate array (FPGA), a programmable logic unit, a microprocessor, an application-specific integrated circuit (ASIC), etc. The processing circuitry may be dedicated processing circuitry that adjusts the magnetic field to control the stiffness of the motion support 3. Furthermore, in some example embodiments, the processing circuitry may also control the hip joint actuator 91 to provide auxiliary torque to the user.

[0103] Several exemplary embodiments have been described above. However, it should be understood that various modifications can be made to these exemplary embodiments. For example, suitable results may be achieved if the described techniques are performed in a different order and / or if components in the described system, architecture, apparatus, or circuit are combined and / or replaced or supplemented by other components or their equivalents in different ways. Therefore, other implementations are within the scope of the appended claims.

Claims

1. A walking aid configured to assist a user, the walking aid comprising: a hip joint actuator; an upper thigh support connected to the hip joint actuator, the upper thigh support being configured to rotate about a first axis and rotate about a second axis that intersects the first axis in response to power received from the hip joint actuator; a motion support connected to the upper thigh support, the motion support comprising a plurality of segment supports, wherein the plurality of segment supports are configured to rotate relative to each other based on a shape of a thigh of the user; and a lower thigh support connected to the motion support, wherein the plurality of segment supports comprises a first segment support, a second segment support, a third segment support, a fourth segment support, and a fifth segment support, wherein each of the plurality of segment supports is rotatably connected to two segment supports adjacent to the each of the plurality of segment supports, respectively. 2.The walking aid of claim 1, wherein the second segment support is rotatably connected to a first end of the first segment support; the third segment support is rotatably connected to a second end of the first segment support; the fourth segment support is rotatably connected to the second segment support; and the fifth segment support is rotatably connected to the third segment support and the fourth segment support, wherein the upper thigh support is connected to the second segment support. The motion support further comprises:

3. The walking assistance device of claim 2, wherein, an elastomer comprising a first end fixed to the fourth segment support and a second end fixed to the fifth segment support. The motion support further comprises:

4. The walking assistance device of claim 3, wherein, a first stopper configured to limit a rotation angle of the second segment support with respect to the fourth segment support; and a second stopper configured to limit a rotation angle of the third segment support with respect to the fifth segment support. 5.The walking aid of claim 2, wherein the second segment support is detachably connected to the upper thigh support, and the third segment support is detachably connected to the lower thigh support. The motion support comprises a plurality of motion supports configured to be connected in series to each other.

6. The walking assistance device of claim 2, wherein, The plurality of motion supports comprises:

7. The walking assistance device of claim 6, wherein, a first motion support comprising a first magnet having a first polarity and a first support body configured to accommodate the first magnet; and a second motion support comprising a second magnet having a second polarity and a second support body rotatably connected to the first support body, wherein the second motion support is configured to accommodate the second magnet configured to face the first magnet. Each of the first support body and the second support body comprises a circular end portion facing each other.

8. The walking assistance device of claim 7, wherein, ​

Images