Wearable module and motion assistance device comprising a wearable module

Abstract

A wearable module according to one embodiment can include a cover including a cover body and a cover hole formed penetratingly in the cover body, a support part including a support body made of a material more flexible than a material of the cover, a support head connected to the support body and attachable to / detachable from the cover body, and an attachment part connected to the support body, wherein the attachment part is located on an opposite side of the support head with respect to the support body and passes through the cover hole to be attached to an outer surface of the support body, and an elastic layer, a portion of which is fixed to the support part and is movable with respect to the cover.

Description

Technical Field

[0001] The present disclosure relates to a wearable module and a motion assisting device including the wearable module. Background Art

[0002] Exercise-assist devices are devices or mechanisms that help patients who are unable to walk independently due to various illnesses, accidents, or other factors perform exercises for rehabilitation purposes. With the recent aging of society, an increasing number of people are experiencing difficulty exercising or experiencing difficulty performing normal exercises due to joint dysfunction, leading to a growing interest in exercise-assist devices. Exercise-assist devices are worn on the user's body to assist with exercise by providing the necessary muscle strength and guiding the user's walking, allowing them to exercise normally.

[0003] Typically, users who wear exercise assisting devices are physically disabled. For these people, the process of putting on the exercise assisting device itself can be difficult. A technology is needed that enables physically disabled users to wear an exercise assisting device independently without the help of others.

[0004] The above descriptions have been possessed or obtained by the inventors in the process of conceiving the present disclosure and are not necessarily publicly known technologies before filing this application. Summary of the Invention

[0005] Technical Solutions

[0006] According to an example embodiment, a wearable module includes: a cover, including a cover body and a cover hole formed through the cover body; a support component, including a support body formed of a material more flexible than a material of the cover, a support head connected to the support body and detachable from the cover body, and an attachment component connected to the support body, wherein the attachment component is located on an opposite side of the support head relative to the support body and passes through the cover hole to be attached to an outer surface of the support body; and an elastic layer, partially fixed to the support component and movable relative to the cover.

[0007] A portion of the elastic layer may be fixed to the inner surface of the support body, and another portion of the elastic layer may be slidable along the inner surface of the cover body.

[0008] The wearable module may further include a main guide connected to the cover and configured to guide sliding of the elastic layer.

[0009] Based on a state in which the support head is mounted on the cover, when the attachment member moves toward the support head by passing through the cover, the elastic layer may move toward the support head.

[0010] The attachment module can further include a buffer connected to the main guide and located on opposite sides of the support body with respect to the main guide.

[0011] The potential energy of the elastic layer can increase as a distance between the support head and the cover increases.

[0012] The elastic layer can have a minimum potential energy in a state in which the support head is mounted on the cover.

[0013] The support head can be formed of a material that is stiffer than the support body.

[0014] The wearing module can include an auxiliary guide connected to the support part and configured to guide movement of the elastic layer.

[0015] The wearing module can further include a strap having one end fixed to the cover and the other end fixed to the support part or the auxiliary guide.

[0016] The wearing module can further include a strap guide connected to the support part and configured to support the strap.

[0017] The support part can be detachable from the cover by magnetic force.

[0018] According to an example embodiment, a motion assisting apparatus includes a main frame, an actuator provided on the main frame, a driving frame rotatable by receiving power from the actuator, a cover connected to the driving frame, a support part including a support body formed of a material that is more flexible than a material of the cover, a support head connected to the support body and detachable from the cover, and an attachment part formed at an end of the support body and attached to the support body by passing through the cover, and an elastic layer partially fixed to the support part and movable with respect to the cover.

[0019] A portion of the elastic layer can be fixed to an inner surface of the support body, and another portion of the elastic layer can be slidable along an inner surface of the cover.

[0020] The motion assisting apparatus can further include a main guide connected to the cover and configured to guide sliding of the elastic layer.

[0021] The potential energy of the elastic layer can increase as a distance between the support head and the cover increases.

[0022] The main frame can be configured to support a waist of a user, and the cover and the support part can be configured to wrap thighs of the user. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1is a front view of a motion assisting device according to an example embodiment.

[0024] Figure 2 is a side view of a motion assisting device according to an example embodiment.

[0025] Figure 3 is a plan view schematically showing an example of a wearing module of a motion assisting device according to an example embodiment.

[0026] Figure 4 is a plan view showing an example of adjusting a size of a wearing module according to an example embodiment.

[0027] Figure 5 is a sectional view of the wearing module taken along a line V-V of Figure 3

[0028] Figure 6 is a side view schematically showing an example in which a user wearing a motion assisting device moves forward according to an example embodiment.

[0029] Figure 7 is a plan view schematically showing a state of the wearing module in the example of Figure 6

[0030] Figure 8 and Figure 9 is a plan view schematically showing another example of a wearing module according to an example embodiment.

[0031] Figure 10 is a plan view schematically showing another example of a wearing module of a motion assisting device according to an example embodiment.

[0032] Figure 11 is a view showing an example in which a wearing module of a motion assisting device according to an example embodiment is worn on an upper arm of a user. DETAILED DESCRIPTION

[0033] The following detailed description includes mechanisms and instrumentalities so as to provide a thorough understanding of the example embodiments. However, the example embodiments can be practiced without those specific details. In other instances, well-known mechanisms and instrumentalities have not been described in detail so as not to obscure the example embodiments. Accordingly, the specific structural and functional details disclosed herein are merely representative for purposes of describing and disclosing the example embodiments.

[0034] Terms such as first, second, etc. can be used herein to describe various components. Each of these terms is not intended to define a particular essence, order or sequence of the corresponding components, but is used merely to distinguish the corresponding components from other components. For example, a "first" component can be referred to as a "second" component, and similarly, a "second" component can be referred to as a "first" component.

[0035] ​​It should be noted that when a component is described as being "connected," "coupled," or "coupled" to another component, a third component can be connected, coupled, or coupled between the first component and the second component, although the first component can be directly connected, coupled, or coupled to the second component.

[0036] The singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this document, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0037] The same names can be used to describe elements included in the above-described example embodiments and elements having a common function. Unless otherwise stated, the description of the example embodiments can be applied to the following example embodiments, and thus, repetitive descriptions will be omitted for the sake of brevity.

[0038] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0039] Hereinafter, example embodiments will be described in detail with reference to the accompanying drawings. When the example embodiments are described with reference to the accompanying drawings, the same reference numerals refer to the same elements, and any repetitive description related thereto will be omitted.

[0040] Figure 1 is a front view of a motion assisting device according to an example embodiment, and Figure 2 is a side view of a motion assisting device according to an example embodiment.

[0041] Referring to Figure 1 and Figure 2 , the motion assisting device 1 can be worn by a user and assist the user's motion. The user can be, for example, and without limitation, a human, an animal, or a robot. In addition, although Figure 1 An example in which the motion assisting device 1 assists the motion of the user's thigh is shown, but the motion assisting device 1 can also assist the motion of other parts of the user's upper body, such as the hand, the upper arm, and the lower arm, or other parts of the user's lower body, such as the foot and the lower leg. In other words, the motion assisting device 1 can assist the motion of a part of the user. Hereinafter, an example in which the motion assisting device 1 assists the motion of the user's thigh is explained.

[0042] The motion assist device 1 can include a main body 80, a pair of main frames 20, a pair of straps 60, an assist strap 70 connected to one strap of the pair of straps 60, an actuator 30, a joint member 40, a driving frame 50, a cover 11, and a support member 12.

[0043] The motion assist device 1 can individually support a proximal portion and a distal portion of a user to assist relative motion between the proximal portion and the distal portion. Components of the motion assist device 1 worn on the proximal portion of the user can be referred to as a "proximal wearing unit", and components worn on the distal portion can be referred to as a "wearing module" (or a distal wearing unit). For example, the main body 80, the pair of main frames 20, the pair of straps 60, and the assist strap 70 of the components of the motion assist device 1 can correspond to the proximal wearing unit, and the cover 11 and the support member 12 can correspond to the wearing module. For example, the proximal wearing unit can be worn on the waist or the pelvis of the user, and the wearing module can be worn on the upper leg or the lower leg of the user. Note that the wearing positions of the proximal wearing unit and the wearing module are not limited thereto. For example, the proximal wearing unit can be worn on the torso or the shoulder of the user, and the wearing module can be worn on the upper arm or the lower arm of the user.

[0044] The main body 80 can accommodate a controller (not shown) configured to control the actuator 30 and a power supply (not shown) configured to supply power to the actuator 30. For example, the main body 80 can be disposed on the back of the user based on a state in which the motion assist device 1 is worn on the body of the user.

[0045] The pair of main frames 20 can be connected to the main body 80. The main frame 20 can support a portion of the body of the user. The main frame 20 can contact at least a portion of the outer surface of the user. The main frame 20 can have a shape that surrounds the outside of the user along the outside of the user. The main frame 20 can be formed to be curved in a shape corresponding to the contact portion of the user. In other words, the main frame 20 can include a curved surface that contacts the user. For example, the main frame 20 can support the waist of the user.

[0046] The pair of straps 60 can be connected to the pair of main frames 20. Before the user wears the motion assist device 1, the pair of straps 60 can be maintained in a state of extending in the forward (+x direction) and can not hinder the user from wearing the pair of main frames 20. In a state in which the user wears the pair of main frames 20, the pair of straps 60 can be deformed and wrap around the front of the user as shown in the drawing. The main body 80, the pair of main frames 20, and the pair of straps 60 can completely wrap around the circumference of the upper leg of the user.

[0047] The pair of assist straps 70 can fix the pair of straps 60 to each other in a state in which the straps 60 overlap each other. For example, one strap 60 of the pair of straps 60 can wrap the other strap together with the pair of assist straps 70.

[0048] The actuator 30 can provide power for transmission to the joint member 40. The actuator 30 can include a motor configured to generate power by receiving voltage or current from a power source. For example, the actuator 30 can be disposed in a transverse direction of the joint member 40. In other words, a rotation axis of the actuator 30 and a rotation axis of the joint member 40 can be spaced apart from each other. In this example, a height of a portion protruding from the user can be reduced compared to a case where the actuator 30 and the joint member 40 share a rotation axis. In another example, unlike the drawing, the actuator 30 can be disposed to be spaced apart from the joint member 40. In this example, a power transmission module for transmitting power from the actuator 30 to the joint member 40 can be provided. The power transmission module can be a rotating body such as a gear, or can be a longitudinal member such as a wire, a cable, a rope, a rubber band, a spring, a belt, or a chain. However, in example embodiments, the position and power transmission structure of the actuator 30 are not limited.

[0049] The joint member 40 can receive power for assisting the movement of a joint portion of the user from the actuator 30. The joint member 40 can be disposed at a position corresponding to the joint portion of the user. The joint member 40 can be disposed at one side of the main frame 20. One side of the joint member 40 can be connected to the actuator 30, and the other side can be connected to the driving frame 50, the cover 11, and the support member 12. The joint member 40 can be rotated by power received from the actuator 30. An encoder for measuring the rotation angle of the joint member 40 can be disposed on one side of the joint member 40.

[0050] The driving frame 50 can transmit an assistive force for assisting the movement of a portion of the user. Here, the assistive force can be understood as a force acting in the same direction as the direction of movement of the portion of the user. In other words, the assistive force can be understood as a force obtained by excluding a force applied in a direction intersecting the direction of movement of the portion of the user from a force applied to the portion of the user. One end of the driving frame 50 can be connected to the joint member 40 and can be rotatable. The other end of the driving frame 50 can be connected to the support member 12 and can transmit the assistive force to the portion of the user. For example, the driving frame 50 can push or pull the thigh of the user. The driving frame 50 can extend in the longitudinal direction of the thigh of the user. The driving frame 50 can be bent to encircle at least a portion of the circumference of the thigh of the user. For example, the upper portion of the driving frame 50 can cover a portion of the body of the user facing the side (+y direction or -y direction), and the lower portion of the driving frame 50 can cover a portion of the body of the user facing the front (+x direction).

[0051] The cover 11 can apply an auxiliary force to a part of the user. The cover 11 can be disposed between the other end of the driving frame 50 and the support member 12. For example, the cover 11 can be disposed on one side of the user's thigh to push or pull the user's thigh. The cover 11 can be disposed on a front surface of the user's thigh. The cover 11 can be disposed in a circumferential direction of the user's thigh. The cover 11 can extend toward both sides around the other end of the driving frame 50. The cover 11 can include a curved surface corresponding to the user's thigh.

[0052] The support member 12 can be connected to one side of the cover 11. For example, the support member 12 can be disposed to cover at least a part of the circumference of the user's thigh to prevent the user's thigh from being separated from the driving frame 50.

[0053] Figure 3 FIG. 1 is a plan view schematically showing a wearing module of a motion assisting apparatus according to an embodiment, Figure 4 FIG. 2 is a plan view showing an example of adjusting the size of the wearing module according to an embodiment, Figure 5 FIG. 3 is a cross-sectional view of the wearing module taken along a line V-V of FIG. 2. Figure 3

[0054] Referring to FIGS. 1 to 3, Figures 3 to 5 The motion assisting apparatus can be easily worn on the user's body by elasticity. The motion assisting apparatus can include a driving frame 50, a cover 11 connected to the driving frame 50, a support member 12 detachably connected to the cover 11, an elastic layer 10 disposed in a longitudinal direction of the cover 11 and the support member 12, a main guide 13 configured to guide the elastic layer 10, an auxiliary guide 14, and a buffer 19.

[0055] The cover 11 can transmit power of the driving frame 50 to the support member 12. The power of the driving frame 50 can be transmitted to the support member 12 through the cover 11, and can finally assist the motion of the user's joint. The cover 11 can cover a part of the user's body. For example, the cover 11 can be disposed on a front portion of the user's thigh, and can be curved to surround a partial area of the front portion of the thigh. The cover 11 can include a cover body 111, a cover head 112 connected to the cover body 111, and a cover hole 113 formed through the cover body 111.

[0056] The support member 12 can support a distal end portion of the user. The support member 12 can also support the distal end portion together with the cover 11 by surrounding the distal end portion of the user. For example, the support member 12 and the cover 11 can surround the user's thigh. The support member 12 can include a support body 121 formed of a material more flexible than that of the cover 11, a support head 122 connected to the support body 121 and detachable from the cover head 112, and an attachment member 123 connected to the support body 121, the attachment member 123 being located on an opposite side of the support head 122 with respect to the support body 121 and passing through the cover hole 113 to be attached to an outer surface of the support body 121.​

[0057] The cover 11 and the support member 12 can have a shape that completely surrounds the distal portion of the user based on a state in which the cover 11 and the support member 12 are engaged with each other. First and second attachment areas A1 and A2 that are attached to each other can be respectively provided on a surface of the support body 121 and a surface of the attachment member 123. For example, the first attachment area A1 can be formed on an outer surface of the support body 121, and the second attachment area A2 can be formed on a surface of the attachment member 123 that faces the support body 121. In an example, the first and second attachment areas A1 and A2 can be Velcro areas. In another example, the first and second attachment areas A1 and A2 can each include a plurality of buttons formed in a longitudinal direction.

[0058] Since the attachment member 123 has a shape that penetrates the cover 11, the size of the inner area of each of the cover 11 and the support member 12 can be adjusted using a scheme in which the attachment member 123 is moved through the cover hole 113 (e.g., a scheme in which the attachment member 123 is pulled). Accordingly, the user can easily adjust the size of the wearable module.

[0059] The elastic layer 10 can be partially fixed to the support member 12 and can be movable with respect to the cover 11. The elastic layer 10 can be movable along the cover 11 in a circumferential direction of the cover 11. Here, the circumferential direction can refer to a direction in which the cover 11 and the support member 12 cover the distal portion of the user. The elastic layer 10 can provide an elastic force to the support member 12 before the support member 12 and the cover 11 are engaged with each other, to help the support member 12 to be engaged to the cover.

[0060] If the distance between the support head 122 and the cover 11 increases, the potential energy of the elastic layer 10 can increase. In order for the user to wear the wearable module, a process of unfolding the support member 12 is first required. Here, the unfolding of the support member 12 can refer to an operation of providing a space in which the user's thigh is to be put by sufficiently spacing the support head 122 apart from the cover 11 by separating the support head 122 from the cover 11. In a state in which the user's thigh is put in the cover 11 and the support member 12, the elastic layer 10 can provide a restoring force to the support member 12, and the support head 122 can be disposed adjacent to the cover 11. The user can easily attach the support member 12 to the cover 11 by easily holding the support head 122 disposed adjacent to the cover 11.

[0061] The cover head 112 and the support head 122 can respectively accommodate magnets, and the cover 11 and the support member 12 can be detachably attached by a magnetic force.

[0062] A partial area of the elastic layer 10 can be fixed to the support member 12, and other areas can be movable with respect to the support member 12 and the cover 11. For example, in a state in which the support member 12 is attached to the cover 11, the elastic layer 10 can be disposed to be in contact with the support member 12 and the cover 11. Figure 3The elastic layer 10 can be fixed to the support member 12 in an area between the first point P1 and the second point P2. For example, at least a portion of the elastic layer 10 can be fixed to the inner surface of the support body 121. Another portion of the elastic layer 10 can be movable with respect to the cover 11. For example, the elastic layer 10 can slide along the inner surface of the cover body 111. When a point at which the first attachment area A1 of the support body 121 and the second attachment area A2 of the attachment member 123 are attached to each other is referred to as a third point P3, the elastic layer 10 can slide along the inner surface of the cover body 111 during a change in the distance between the third point P3 and the cover hole 113.

[0063] The elastic layer 10 can have a minimum potential energy in a state in which the support head 122 is mounted on the cover 11. Due to this feature, the durability of the portion of the elastic layer 10 fixed to the support member 12 can be enhanced.

[0064] Based on a state in which the cover 11 and the support member 12 are engaged with each other, the elastic layer 10 can include a first end 10a disposed in the support member 12 and a second end 10b disposed in the cover 11. The distance between the first end 10a and the support head 122 can remain constant. Meanwhile, the distance between the second end 10b and the cover head 112 can vary according to the movement of the elastic layer 10.

[0065] The main guide 13 can be connected to the cover 11 and guide the movement of the elastic layer 10. The main guide 13 can prevent the elastic layer 10 from being separated from the cover 11. The main guide 13 and the cover 11 can enclose the elastic layer 10. The main guide 13 can also be formed of a material that is stiffer than the support body 121. For example, compared to the support body 121, the main guide 13 can be formed of a material that is relatively stiff and is not easily deformed by an external force. In addition, the main guide 13 can also have an accommodation space for accommodating the elastic layer 10 inside. The width W1 of the accommodation space can be greater than the width W2 of the elastic layer 10. Based on this structure, the phenomenon in which the main guide 13 is pressed by the user's body can be reduced or prevented. Thereby, even in a state in which the wearable module is worn on the user's body, the sliding of the elastic layer 10 can be smoothly performed.

[0066] The buffer 19 can be connected to the main guide 13 and can be disposed at opposite sides of the support body 121 with respect to the main guide 13. The buffer 19 can enhance the comfort experienced by the user when wearing the motion assistance device.

[0067] The auxiliary guide 14 can be connected to the support member 12 and can guide the movement of the elastic layer 10. The auxiliary guide 14 can prevent the elastic layer 10 from being separated from the support member 12. The auxiliary guide 14 and the support member 12 can also enclose the elastic layer 10.

[0068] During the process in which the user pulls the attachment part 123, based on the state in which the support head 122 is installed on the cover 11, the elastic layer 10 can move along the cover 11 toward the support head 122 as the attachment part 123 moves through the cover 11 toward the support head 122. In the above process, the first end 10a of the elastic layer 10 can be maintained at a distance spaced apart from the support head 122, and the second end 10b of the elastic layer 10 can approach the support head 122.

[0069] Figure 6 is a side view schematically illustrating an example in which a user wearing the motion assistance device according to an example embodiment moves forward, Figure 7 is a plan view schematically illustrating a state of the wearable module in the example of Figure 6 .

[0070] Referring to Figure 6 and Figure 7 , the motion assistance device can be placed on the cradle 9. The cradle 9 can include a cradle body 90, a cradle head 91 connected with an upper side of the cradle body 90 and capable of supporting the body 80 of the motion assistance device, and a cradle arm 92 connected with the cradle body 90 and disposed inside the wearable module of the motion assistance device.

[0071] The user can first wear the proximal wearable unit of the motion assistance device. For example, the user can wear the proximal wearable unit in such a manner that the body 80, the main frame 20, and the strap 60 encircle his or her waist or pelvis, and the strap 60 is fixed with the auxiliary strap 70.

[0072] Then, the user can move forward by putting his or her thigh into the wearable module. As the user advances, the support part 12 and the elastic layer 10 hooked to the cradle arm 92 are relatively flatly stretched, and the potential energy of the elastic layer 10 can increase. As the user moves forward, the second end 10b of the elastic layer 10 can move away from the cover head 112. Since the support part 12 is disposed in a state in which the attachment part 123 is attached to the support body 121 through the cover hole 113, the support part 12 can be hooked to the cover 11. Even in a state in which the user's thigh T is not completely worn on the wearable module, the elastic layer 10 can be guided by the main guide 13 and the auxiliary guide 14, so the thigh T can not be separated from the cover 11 or the support part 12.

[0073] Figure 7The state in which the bracket arm 92 is hung on the support head 122 is shown. If the user moves a little further forward, the bracket arm 92 can be further away from the support head 122. Here, the support head 122 can be moved to the cap head 112 side by the restoring force of the elastic layer 10. Accordingly, the support head 122 can be disposed adjacent to the cap head 112. The user can easily mount the support head 122 to the cap head 112 by holding the support head 122 near the cap head 112 with the hand. The user can easily hold the support head 122 without excessively rotating the waist or correcting the posture.

[0074] Figure 8 and Figure 9 is a plan view schematically showing another example of a wearing module according to an example embodiment.

[0075] Referring to Figure 8 and Figure 9 , the motion assisting device can include a driving frame 50, a cap 11 connected to the driving frame 50, a support member 12 detachably connected to a cap head 112, an elastic layer 10 disposed in a longitudinal direction of the cap 11 and the support member 12, a main guide 13 and an auxiliary guide 14 configured to guide the elastic layer 10, a belt 15 configured to set a shape of each of the cap 11 and the support member 12 in a state in which no external force is applied, and a belt guide 16 configured to support the belt 15.

[0076] The belt 15 can have a first end 15a fixed to the cap 11 and a second end 15b fixed to the support member 12 or the auxiliary guide 14. When the user's thigh T is put into the cap 11 and the support member 12, the belt 15 can contact the thigh T before the cap 11 and the support member 12 contact the thigh T. The belt 15 can be pressed by the thigh T. When the belt 15 is pressed, the support head 122 of the support member 12 can approach the cap head 112. As shown, the second end 15b of the belt 15 is fixed to the auxiliary guide 14, however, it should be noted that example embodiments are not limited thereto. For example, the second end 15b of the belt 15 can be fixed to a region in which the elastic layer 10 is not disposed in the support member 12. The belt 15 can not interfere with the elastic layer 10.

[0077] The belt guide 16 can support the belt 15 to adjust a maximum distance at which the belt 15 is spaced apart from the cap 11 or the support member 12. For example, the belt guide 16 can support a central region of the belt 15 so that the central region of the belt 15 can be disposed close to an inner surface of the support member 12.

[0078] Figure 10 is a plan view schematically showing another example of a wearing module according to an example embodiment.

[0079] Referring to Figure 10The wearing module connected to the driving frame 50 can support a part of the user's body. The wearing module can include a cover 11, a support member 12, an elastic layer 10, a main guide 13, an auxiliary guide 14, and a buffer 19. The cover 11 can include a cover hole 113 through which the support member 12 passes. The support member 12 can include a support body 121 formed of a material more flexible than that of the cover 11, a support head 122 connected to the support body 121 and detachable from the cover head 112, and an attachment member 123 connected to the support body 121, wherein the attachment member 123 is located on the opposite side of the support head 122 with respect to the support body 121 and passes through the cover hole 113 to be attached to the outer surface of the support body 121.

[0080] The support body 121 can include a plurality of coupling grooves 121a formed on the outer surface in the longitudinal direction. The attachment member 123 can include a coupling protrusion 123a which can be inserted into one of the plurality of coupling grooves 121a. Since the plurality of coupling grooves 121a are recessed from the outer surface of the support body 121, a part of the support body 121 can not interfere with the cover 11 while passing through the cover hole 113.

[0081] Figure 11 FIG. 1 is a view showing an example in which a wearing module of a motion assist device according to an example embodiment is worn on the upper arm of a user.

[0082] Referring to Figure 11 The wearing module of the motion assist device can be mounted on the upper arm of the user. For example, the joint member 940 of the motion assist device can be disposed near the shoulder of the user, and the driving frame 950 can be connected to the joint member 940 and arranged along the upper arm of the user. The cover 911 can be connected to the end of the driving frame 950 to support a part of the upper arm of the user. The support member 912 can be connected to the cover 911 to support the other part of the upper arm. An elastic layer (not shown) can be provided on the inner side of the cover 911 and the support member 912. The joint member 940 can rotate the driving frame 950 by receiving power from an actuator (not shown).

[0083] Although example embodiments have been described with reference to a limited number of drawings, a person of ordinary skill in the art can apply various technical modifications and changes based on this. For example, if the described techniques are performed in a different order, and / or if components in the described systems, architectures, devices, or circuits are combined in a different way, or replaced or supplemented by other components or their equivalents, suitable results can be achieved.

[0084] Therefore, other implementations of the claims, other embodiments, and / or equivalents are within the scope of the appended claims.

Claims

1. A wearable module comprising: a cover including a cover body and a cover hole formed through the cover body; a support part including a support body formed of a material more flexible than a material of the cover, a support head connected to the support body and detachable from the cover body, and an attachment part connected to the support body, wherein the attachment part is located on an opposite side of the support head with respect to the support body and passes through the cover hole to be attached to an outer surface of the support body; and an elastic layer partially fixed to the support part and movable with respect to the cover, wherein the elastic layer provides an elastic force to the support part before the support part and the cover are engaged with each other to help the support part to be engaged to the cover, wherein a portion of the elastic layer is fixed to an inner surface of the support body and another portion of the elastic layer is slidable along an inner surface of the cover body. 2.The wearable module of claim 1, further comprising: a main guide connected to the cover and configured to guide a sliding of the elastic layer.

3. The wearable module of claim 2, wherein, based on a state in which the support head is mounted on the cover, the elastic layer moves toward the support head when the attachment part moves toward the support head by passing through the cover. 4.The wearable module of claim 2, further comprising: a buffer connected to the main guide and located on an opposite side of the support body with respect to the main guide.

5. The wearable module of claim 1, wherein, a potential energy of the elastic layer increases as a distance between the support head and the cover increases.

6. The wearable module of claim 4, wherein, the elastic layer has a minimum potential energy in a state in which the support head is mounted on the cover.

7. The wearable module of claim 1, wherein, the support head is formed of a material more rigid than a material of the support body. 8.The wearable module of claim 1, comprising: a sub-guide connected to the support part and configured to guide a movement of the elastic layer. 9.The wearable module of claim 8, further comprising: a strap having one end fixed to the cover and another end fixed to the support part or the sub-guide. 10.The wearable module of claim 9, further comprising: a strap guide connected to the support part and configured to support the strap.

11. The wearable module of claim 1, wherein, the support part is detachable from the cover by a magnetic force. 12.A motion assisting apparatus comprising: a main frame; an actuator provided on the main frame; a driving frame rotatable by receiving a power from the actuator; and the wearable module of claim 1. the main frame is configured to support a waist of a user, and the cover and the support part are configured to wrap thighs of the user.

13. The motion assist device according to claim 12, wherein ​

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