Muscle force assisting device and muscle force assisting system comprising same

Abstract

The invention provides a muscle force assisting device and a muscle force assisting system comprising the same. The muscle strength assistance device includes: a muscle strength assistance part configured to assist muscle strength of a user; one side of the first connecting rod is connected to one side of the muscle force assisting part, and the other side of the first connecting rod can rotate around a first rotation axis relative to the shoulders of the user. The muscle strength assisting unit includes: an upper arm module that assists the muscle strength of the upper arm of the user; and a link assembly, one side of which is connected to one side of the upper arm module to be rotatable about a second axis of rotation that is not parallel to the first axis of rotation, and the other side of which is disposed adjacent to a portion of the body of the user to be supported on the body of the user.

Description

[0001] CROSS REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Korean Patent Application No. 10-2023-0093162 filed on Jul. 18, 2023, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0003] The present invention relates to a muscle strength assisting device and a muscle strength assisting system comprising the muscle strength assisting device, and more particularly, to a muscle strength assisting device for providing assisting force for joint movement of a user and a muscle strength assisting system comprising the muscle strength assisting device. Background Art

[0004] When the user performs a task, a muscle assist device that provides assisting force to the upper arm of the user while being worn on the upper body of the user can assist the user by providing a force that presses the user's arm upward. The muscle assist device is used to assist the user when the user performs various tasks that require a posture in which the arm is raised, such as tasks performed under a vehicle. In recent years, there has been an increasing number of studies on muscle assist devices that can be selectively used for only one of the left upper arm and the right upper arm of a user who requires muscle assistance.

[0005] The muscle strength assist system in the related art includes a first muscle strength assist device and a second muscle strength assist device that respectively assist the muscle strength of the left upper arm and the right upper arm of the user. When the muscle strength of one of the left upper arm and the right upper arm of the user is assisted by one of the two muscle strength assist devices, that muscle strength assist device must be supported on the user to maintain an aligned position relative to the user's shoulder. For example, the first muscle strength assist device is supported on the user through the second muscle strength assist device, while assisting the muscle strength of the user's left upper arm.

[0006] At the same time, when the muscle strength assisting system in the related art only includes the first muscle strength assisting device but not the second muscle strength assisting device, when assisting the muscle strength of the user's upper arm, the first muscle strength assisting part may not be supported on the user, and therefore the position relative to the user's shoulder may not be aligned.

[0007] Therefore, there is an increasing demand for a muscle assist device having a structure independently supported on a user without any other muscle assist device while assisting only one of the left and right upper arms of the user.

[0008] The information contained in the background technology disclosed in the present invention is only for enhancement of understanding of the general background technology of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art. Summary of the invention

[0009] Various aspects of the present invention are directed to a muscle assist device that includes a structure that is independently supported on a user without any other muscle assist device.

[0010] Another aspect of the present invention provides a muscle assistance device configured to be selectively used only on one of the left upper arm and the right upper arm of a user who needs muscle assistance.

[0011] The technical problems to be solved by the present invention are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention belongs from the following description.

[0012] According to one aspect of the present invention, the muscle assistance device includes: a muscle assistance part that assists the muscle strength of the user; and a first connecting rod, one side of the first connecting rod is connected to one side of one side of the muscle assistance part, and the other side of the first connecting rod is rotatable relative to the user's shoulder around a first rotation axis. The muscle assistance part includes: an upper arm module that assists the muscle strength of the user's upper arm; and a connecting rod assembly, one side of the connecting rod assembly is connected to one side of the upper arm module to be rotatable around a second rotation axis that is not parallel to the first rotation axis, and the other side of the connecting rod assembly is arranged adjacent to a part of the user's body to be supported on the user.

[0013] One side of the upper arm module may rotate about a virtual first rotation center extending along the first rotation axis.

[0014] The first connecting rod and the other side of the connecting rod assembly may be spaced apart from each other in a direction of the first rotation axis.

[0015] The upper arm module may be spaced apart from a virtual straight line passing through the other side of the first link and the other side of the link assembly.

[0016] When a direction perpendicular to the extending direction of the first rotation axis is referred to as a radial direction, the rotation radius of one side of the upper arm module may be a spacing distance between one side of the upper arm module and the first rotation axis in the radial direction.

[0017] When the muscle assist device is viewed along the first rotation axis, the other side of the link assembly may be located within a virtual circle whose center passes through the first rotation axis and whose radius is the rotation radius of one side of the upper arm module.

[0018] The muscle assist device may further include a second connecting rod that enables one side of the upper arm module to rotate around the first rotation center within a range of a first rotation angle.

[0019] One side of the second connecting rod can be fixed in position relative to the user's body, and the other side of the second connecting rod is connected to one side of the muscle assistance part.

[0020] Based on the fact that when the muscle assist device is observed along the first rotation axis, a virtual straight line extending in a direction of the first rotation axis toward one side of the upper arm module can be referred to as a first straight line, and a virtual straight line extending in a direction of the first rotation axis toward one side of the second connecting rod can be referred to as a second straight line. An upper arm rotation angle formed by one side of the upper arm module can be defined as an angle formed by the first straight line and the second straight line, and the upper arm rotation angle can be less than or equal to the first rotation angle.

[0021] The second connecting rod may include an elastic material.

[0022] According to another aspect of the present invention, a muscle strength assist system includes: a muscle strength assist device that assists the muscle strength of a user; a shoulder strap that includes a shoulder portion configured to contact the shoulder of a user and a main body portion configured to contact the body of the user; and an adapter that connects the shoulder strap and the muscle strength assist device to each other. The muscle strength assist device includes: a muscle strength assist portion that assists the muscle strength of the user; and a first connecting rod, one side of which is connected to one side of the muscle strength assist portion, and the other side of which is connected to the shoulder portion to be rotatable around a first rotation axis. The muscle strength assist portion includes: an upper arm module that assists the muscle strength of the user's upper arm; and a connecting rod assembly, one side of which is connected to one side of the upper arm module to be rotatable around a second rotation axis that is not parallel to the first rotation axis, and the other side of the connecting rod assembly is connected to a portion of the main body portion through the adapter.

[0023] The adapter may include: a fixing portion fixed to a portion of the main body portion; and a rotating portion connected to the fixing portion to be rotatable.

[0024] The other side of the connecting rod assembly may include an intersection area, which intersects with three rotation axes whose centers intersect with each other and rotates around the three rotation axes. The intersection area can be rotatably connected to the rotating part so that when the intersection area rotates around the three rotation axes, the center of the intersection area is fixed relative to the rotating part.

[0025] When the rotating portion rotates relative to the fixed portion, the intersection area may move toward or away from the fixed portion.

[0026] One end of the rotating part may be connected to one end of the fixed part so as to be rotatable. When the rotating part rotates relative to the fixed part, the opposite end of the rotating part may move toward or away from the opposite end of the fixed part. The intersection area may be arranged between one end of the rotating part and the opposite end of the rotating part.

[0027] The muscle assistance unit may further include: a placement cuff on which the user's upper arm is accommodated, the placement cuff being connected to the upper arm module; and a cuff fastening portion connected to the placement cuff and fastened to the back strap. The back strap may include: a wearable vest forming the shoulder portion and the main body portion; and a vest fastening portion fixedly disposed on the wearable vest and selectively fastened to the cuff fastening portion.

[0028] The vest fastening part may include a plurality of vest fastening parts respectively arranged at an upper part, a central part and a lower part of the main body part. The upper part of the main body part may contact the pectoralis major muscle of the user, the lower part of the main body part may closely contact the waist of the user, and the central part of the main body part may be arranged between the upper part of the main body part and the lower part of the main body part.

[0029] The shoulder strap may further include a reaction force applying portion, which applies a second reaction force to the link assembly in response to a first reaction force applied to the other side of the link assembly due to the force applied to the upper arm module, so as to inhibit the other side of the link assembly from moving relative to the user due to the first reaction force.

[0030] The reaction force applying portion may be provided on a lower portion of the shoulder strap and supported on a lower body of a user.

[0031] The method and apparatus of the present invention have other features and advantages which will be apparent from or set forth in more detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain certain principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a perspective view of a muscle assist system according to an exemplary embodiment of the present invention;

[0033] Figure 2 is a perspective view exemplarily showing a part of a muscle assist system according to an exemplary embodiment of the present invention;

[0034] Figure 3 is a schematic diagram of a muscle assist device according to an exemplary embodiment of the present invention;

[0035] Figure 4 is a perspective view of a muscle assist device according to an exemplary embodiment of the present invention;

[0036] Figure 5 is an exploded perspective view of a muscle assist device according to an exemplary embodiment of the present invention;

[0037] Figure 6 yes Figure 4 An enlarged view of "A" shown in;

[0038] Figure 7 It is shown exemplarily Figure 6 A view of a state in which the rotating part rotates relative to the fixed part;

[0039] Figure 8 is a schematic diagram exemplarily illustrating a muscle assistance system as viewed in the direction of a first rotation axis according to an exemplary embodiment of the present invention;

[0040] Fig. 9 is exemplarily shown with Figure 8 A schematic diagram of a muscle assistance system in a state where the rotation angle of the upper arm is increased compared to the muscle assistance system of FIG.

[0041] Fig.10 It is shown exemplarily Fig. 9 A schematic diagram of a state in which a user's shoulder moves forward a predetermined distance;

[0042] Fig.11 is exemplarily shown with Fig. 9 A schematic diagram of a muscle assistance system in a state where the rotation angle of the upper arm is increased compared to the muscle assistance system of FIG.

[0043] Fig.12 It is shown exemplarily Fig.11 A schematic diagram of a state in which a user's shoulder moves forward a predetermined distance;

[0044] Fig.13 is a schematic diagram exemplarily showing a side view of a muscle assistance system and a user according to an exemplary embodiment of the present invention;

[0045] Fig.14 is a schematic diagram exemplarily showing a rear view of a muscle assist system and a user according to an exemplary embodiment of the present invention;

[0046] Fig.15 is a view schematically illustrating a shoulder strap according to an exemplary embodiment of the present invention; and

[0047] Fig.16 is a view schematically illustrating a muscle assisting device according to another exemplary embodiment of the present invention.

[0048] It will be appreciated that the accompanying drawings are not necessarily to scale, and present a somewhat simplified representation of various features illustrating the basic principles of the invention. The intended design features of the present invention as included herein, including, for example, specific dimensions, orientations, locations, and shapes, will be determined in part by the specific intended application and use environment.

[0049] In the drawings, like reference numerals refer to the same or equivalent parts of the present invention throughout the several figures of the drawing. DETAILED DESCRIPTION

[0050] Reference will now be made in detail to various embodiments of the present invention, examples of which are shown in the accompanying drawings and described below. Although the present invention will be described in conjunction with the exemplary embodiments of the present invention, it will be understood that this description is not intended to limit the present invention to those exemplary embodiments of the present disclosure. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the present disclosure, but also various substitutions, modifications, equivalents and other embodiments that may be included in the spirit and scope of the present invention as defined by the appended claims.

[0051] Hereinafter, various exemplary embodiments of the present invention will be described in detail with reference to the exemplary drawings. When adding reference numerals to the components of the various figures, it should be noted that even when the same or equivalent components are shown on other figures, the same or equivalent components are represented by the same reference numerals. In addition, when describing the exemplary embodiments of the present invention, detailed descriptions of well-known features or functions will be excluded so as not to unnecessarily obscure the main points of the present invention.

[0052] When describing the components of the exemplary embodiments of the present invention, terms such as first, second, "A", "B", "a", "b", etc. may be used. These terms are intended only to distinguish one component from another, and these terms do not limit the nature, order or sequence of the components. When a component is referred to as being "connected to", "supported on" or "disposed on" another component, this means that the component may not only be directly "connected to", "supported on" or "disposed on" another component, but may also be indirectly "connected to", "supported on" or "disposed on" another component via a third component.

[0053] Hereinafter, a muscle assist system 1 according to an exemplary embodiment of the present invention will be described with reference to the accompanying drawings.

[0054] Reference Figures 1 to 7, the muscle strength assisting system 1 can assist the muscle strength of the upper arm of the user 2. For example, when the user 2 raises his arm, the muscle strength assisting system 1 can reduce the muscle strength consumed by the user 2. In more detail, without the muscle strength assisting system 1, the muscle strength required for the user 2 to raise his arm may be greater than the muscle strength required for the user 2 to raise his arm using the muscle strength assisting system 1. The muscle strength assisting system 1 may include a muscle strength assisting device 10, a harness 20, and an adapter 30.

[0055] The muscle assist device 10 can assist the muscle strength of the left upper arm or the right upper arm of the user 2. The muscle assist device 10 can include multiple muscle assist devices 10. Multiple muscle assist devices 10 can be implemented with separate modules. Multiple muscle assist devices 10 can include a left muscle assist device and a right muscle assist device.

[0056] The left muscle assist device can assist the muscle strength of the left upper arm of the user 2. The left muscle assist device can be selectively connected to the left side of the strap 20. In addition, the right muscle assist device can assist the muscle strength of the right upper arm of the user 2. The right muscle assist device can be selectively connected to the right side of the strap 20. In other words, only the left muscle assist device can be connected to the strap 20. Alternatively, only the right muscle assist device can be connected to the strap 20. In another case, the left muscle assist device and the right muscle assist device can be connected to the strap 20. The muscle assist device 10 may include a muscle assist portion 100, a first connecting rod 200, and a second connecting rod 300.

[0057] Refer again Figure 3 , Figure 4 and Figure 5 The muscle assistance unit 100 may be worn on the upper arm of the user 2. The muscle assistance unit 100 may include an upper arm module 110, a link assembly 120, a cuff portion 130, and a stopper 140.

[0058] The upper arm module 110 may provide force to the upper arm of the user 2 in response to the movement of the arm of the user 2. The upper arm module 110 may provide force to the upper arm of the user 2 in the direction in which the user 2 raises the arm. For example, when the user 2 is in the first posture in which the user 2 does not raise the arm, the upper arm module 110 may press the upper arm of the user 2 in the horizontal direction thereof. While the user 2 raises the arm in the first posture, the upper arm module 110 may press the upper arm of the user 2 in the horizontal direction and in the upward direction.

[0059] In addition, the upper arm module 110 may passively provide a variable assist force to the user 2 according to the posture of the user 2. However, the spirit and scope of the present invention is not limited thereto, and the upper arm module 110 may actively provide an assist force to the user 2 using a power source such as a motor.

[0060] Refer again Figure 3 , one side of the upper arm module 110 can rotate around the first rotation center CX1. The first rotation center CX1 can be defined as a virtual straight line extending along the first rotation axis A1. The first rotation axis A1 can be defined as a virtual straight line that passes through the shoulder 2a of the user 2 and extends in one direction when the user 2 wears the strap 20. For example, based on the user 2 standing up and having a first posture, the first rotation axis A1 can be defined as a virtual straight line extending in the up-down direction.

[0061] For example, the upper arm module 110 can rotate around the first rotation center CX1 while being spaced apart from the first rotation center CX1. In other words, when a component rotates around the rotation axis, this may mean that the component rotates around the rotation axis. In addition, when a component rotates around the rotation center, this may mean that the component rotates around the rotation center. In addition, one side of the upper arm module 110 may refer to a portion connected to the connecting rod assembly 120 so as to be rotatable.

[0062] The upper arm module 110 may be spaced apart from a reference line which is a virtual line passing through the other side of the first connecting rod 200 and the other side of the connecting rod assembly 120 to be described below. For example, the reference line may be a virtual line passing through the other side of the first connecting rod 200 and the intersection area 122-2.

[0063] The rotation radius of one side of the upper arm module 110 may be defined as a rotation distance, which is the spacing distance in the radial direction between the first rotation axis A1 and one side of the upper arm module 110. The radial direction may be defined as a direction perpendicular to the extension direction of the first rotation axis A1. For example, based on when the muscle assist device 10 is observed in the direction of the first rotation axis A1, the radial direction may be defined as a direction from the first rotation axis A1 toward one side of the upper arm module 110.

[0064] When the rotation distance changes, the rotation radius of one side of the upper arm module 110 can change to correspond to the rotation distance. For example, the first connecting rod 200 can be formed of a flexible material, which can be bent so that the spacing distance between the opposite ends is reduced. Therefore, when the first connecting rod 200 is bent by the movement of the user 2 so that the opposite ends move toward each other, the rotation distance can be reduced. When the rotation distance is reduced as described above, the rotation radius of one side of the upper arm module 110 can also be reduced.

[0065] The upper arm module 110 may include a frame 111 , a rotation driving portion 112 , a power transmission portion 113 , and an elastic portion 114 .

[0066] Refer again Figure 4 and Figure 5 , the frame 111 may form the exterior of the upper arm module 110. For example, one side of the frame 111 may form the exterior of one side of the upper arm module 110. In addition, the other side of the frame 111 may form the exterior of the other side of the upper arm module 110. The frame 111 may support the rotation driving portion 112, the power transmission portion 113, and the elastic portion 114.

[0067] The rotation drive unit 112 can rotate around a second rotation axis A2 that is not parallel to the first rotation axis A1. The second rotation axis A2 can be a virtual straight line that passes through the center of the rotation drive unit 112 and extends in a direction that is not aligned with the first rotation axis A1 (e.g., a direction perpendicular to the first rotation axis A1).

[0068] One side of the rotation driving portion 112 may be connected to the connecting rod assembly 120. The rotation driving portion 112 may be rotated by the connecting rod assembly 120. For example, when the connecting rod assembly 120 moves relative to the frame 111 (e.g., rotates relative to the frame 111), the rotation driving portion 112 may be rotated relative to the frame 111 by the rotation of the connecting rod assembly 120.

[0069] The other side of the rotary drive unit 112 may be connected to the power transmission unit 113 so as to be rotatable. One side and the other side of the rotary drive unit 112 may be spaced apart from the second rotation axis A2. In addition, one side and the other side of the rotary drive unit 112 may refer to two areas spaced apart from each other in the circumferential direction of the rotary drive unit 112. The rotary drive unit 112 may have a disc shape, for example. In addition, the rotary drive unit 112 may form one side of the upper arm module 110. One side of the upper arm module 110 may refer to, for example, a portion of the upper arm module 110 that is connected to the connecting rod assembly 120.

[0070] The power transmission part 113 may transmit the elastic force formed by the elastic part 114 to the rotation driving part 112. The power transmission part 113 may include a first power transmission link 113-1 and a second power transmission link 113-2.

[0071] One side of the first power transmission link 113-1 may be connected to the second power transmission link 113-2 to be rotatable. In addition, the other side of the first power transmission link 113-1 may be connected to the elastic part 114 to be rotatable. The first power transmission link 113-1 may include a link structure supported on the frame 111 to be rotatable.

[0072] One side of the second power transmission link 113-2 may be connected to the other side of the rotation driving portion 112 to be rotatable. In addition, the other side of the second power transmission link 113-2 may be connected to one side of the first power transmission link 113-1 to be rotatable.

[0073] The elastic part 114 can provide a tensile force to the first power transmission link 113-1. One side of the elastic part 114 can be fixed to the frame 111. In addition, the other side of the elastic part 114 can be fixed to the other side of the first power transmission link 113-1. The elastic part 114 can extend between the other side of the first power transmission link 113-1 and the other side of the frame 111.

[0074] For example, when the spacing distance between the other side of the first power transmission link 113-1 and the other side of the frame 111 increases, the elastic portion 114 can stretch. In addition, when the spacing distance between the other side of the first power transmission link 113-1 and the other side of the frame 111 decreases, the elastic portion 114 can shrink.

[0075] The elastic part 114 may be, for example, a tension spring. When the elastic part 114 is stretched, the tension force provided by the elastic part 114 to the first power transmission connecting rod 113-1 may increase. On the contrary, when the elastic part 114 contracts, the tension force provided by the elastic part 114 to the first power transmission connecting rod 113-1 may decrease.

[0076] Hereinafter, the operation of the upper arm module 110 depending on the relative positional relationship between the upper arm module 110 and the link assembly 120 will be described in detail.

[0077] When the upper arm module 110 and the link assembly 120 are in the initial state, the tensile force applied to the first power transmission link 113-1 by the elastic portion 114 may be referred to as an initial tensile force. When the upper arm module 110 and the link assembly 120 are in the initial state, the upper arm module 110 and the link assembly 120 may be oriented parallel to each other.

[0078] When the user 2 raises his arm, the upper arm module 110 and the connecting rod assembly 120 may deviate from the initial state. When the upper arm module 110 and the connecting rod assembly 120 deviate from the initial state, the upper arm module 110 may rotate relative to the connecting rod assembly 120 about the second rotation axis A2 along its first rotation direction. For example, when the upper arm module 110 rotates relative to the connecting rod assembly 120 about the second rotation axis A2 along the first rotation direction, the rotation drive unit 112 may move the second power transmission connecting rod 113-2 downward.

[0079] When the second power transmission link 113-2 moves downward, the first power transmission link 113-1 can move downward. When the first power transmission link 113-1 moves downward, the elastic portion 114 can shrink. When the elastic portion 114 shrinks, the tensile force applied to the first power transmission link 113-1 in the downward direction can be reduced. The tensile force applied to the first power transmission link 113-1 by the elastic portion 114 in the downward direction can be reduced as the rotation angle of the upper arm module 110 relative to the connecting rod assembly 120 in the first rotation direction increases. When the tensile force applied to the first power transmission link 113-1 by the elastic portion 114 is reduced, the force applied to the upper arm of the user 2 by the muscle strength assisting portion 100 can be reduced.

[0080] In other words, when the user 2 raises the arm in the first posture, the assist force provided to the upper arm of the user 2 can be gradually reduced. In addition, when the user 2 lowers the arm with the arm raised, the assist force provided to the upper arm of the user 2 can be increased.

[0081] The connecting rod assembly 120 may be connected to one side of the upper arm module 110 so as to be rotatable around the second rotation axis A2. The connecting rod assembly 120 may include a first connecting rod 121, a second connecting rod 122, a connecting rod housing 123, and an angle adjustment portion 124. The first connecting rod 121 may form one side of the connecting rod assembly 120. In addition, the second connecting rod 122 may form the other side of the connecting rod assembly 120. The first connecting rod 121 may be connected to one side of the upper arm module 110 so as to be rotatable. The first connecting rod 121 may include a shaft shape.

[0082] The second link 122 may be disposed adjacent to a portion of the user's body to be supported on the user 2. For example, the portion of the user's body may be a portion of the user's body below the shoulder 2a of the user 2. In more detail, the portion of the user's body may be the back or waist of the user 2.

[0083] Based on the fact that when the muscle assist device 10 is observed in the direction of the first rotation axis A1, the second link 122 may be located within a reference circle, which is a virtual circle whose center passes through the first rotation axis A1 and whose radius is the rotation radius of one side of the upper arm module 110. For example, based on the fact that when the muscle assist device 10 is observed in the direction of the first rotation axis A1, the intersection area 122-2 to be described below may be located within the reference circle.

[0084] The second link 122 may include a link body 122 - 1 and an intersection region 122 - 2 .

[0085] The link body 122-1 may include an axis shape extending between the first link 121 and the intersection region 122-2. For example, one end of the first link 121 may be connected to one side of the upper arm module 110 to be rotatable, and the opposite end of the first link 121 may be connected to one end of the link body 122-1. In addition, the opposite end of the link body 122-1 may be connected to the intersection region 122-2. For example, the link body 122-1 may be formed integrally with the intersection region 122-2.

[0086] The intersection region 122-2 may intersect with three rotation axes whose centers intersect with each other. The three rotation axes may be referred to as a third rotation axis A3, a fourth rotation axis A4, and a fifth rotation axis A5. The intersection region 122-2 may have, for example, a spherical shape. For example, the intersection region 122-2 may be fastened to the adapter 30 to be described below in the manner of a spherical universal joint. The position of the center of the intersection region 122-2 relative to the adapter 30 may be fixed. In other words, in a state where the center of the intersection region 122-2 is fixed, the intersection region 122-2 may be freely rotated relative to the adapter 30.

[0087] The link assembly 120 may further include a length adjustment portion 125 configured to adjust the length of the first link 121 and the second link 122. The length adjustment portion may reduce or increase the spacing distance between the intersection area 122-2 and one side of the first link 121. In other words, the total length of the first link 121 and the second link 122 may be adjusted by the length adjustment portion.

[0088] The link housing 123 may connect the first link 121 and the frame 111 to each other. For example, one side of the first link 121 may be fixed to the link housing 123. In addition, one side of the frame 111 may be connected to the link housing 123 to be rotatable. For example, the link housing 123 and the frame 111 may be connected to be rotatable relative to each other around the second rotation axis A2.

[0089] The angle adjustment slit 123a may be formed in the link housing 123. The angle adjustment portion 124 may be inserted into the angle adjustment slit 123a. The angle adjustment slit 123a may extend in the link direction (ie, the extending direction of the first link 121).

[0090] Refer again Figure 5, the angle adjustment unit 124 can adjust the muscle-assisted rotation angle, which is the rotation angle formed by the upper arm module 110 and the first link 121 and the second link 122. In other words, the rotation angle formed by the upper arm module 110 and the first link 121 and the second link 122 can be less than or equal to the muscle-assisted rotation angle. For example, when the angle adjustment unit 124 moves from the end of the angle adjustment slit 123a facing the first link toward the end of the angle adjustment slit 123a facing the second link, the muscle-assisted rotation angle can be reduced. The first link direction can be defined as the direction of the second link 122 toward the first link 121. In addition, the second link direction can be defined as the direction opposite to its first link direction.

[0091] When the angle adjustment portion 124 is located at the end of the angle adjustment slit 123a facing the first connecting rod, the muscle-assisted rotation angle can be, for example, 180°. In addition, when the angle adjustment portion 124 is located at the end of the angle adjustment slit 123a facing the second connecting rod, the muscle-assisted rotation angle can be, for example, 160°. In other words, the muscle-assisted rotation angle can be adjusted to an angle within a range of 160° to 180° by the angle adjustment portion 124.

[0092] The angle adjustment portion 124 may be connected to a partial area of ​​the rotation drive portion 112 so as to be rotatable. For example, the partial area of ​​the rotation drive portion 112 may be spaced apart from the center of the rotation drive portion 112. In addition, when the angle adjustment portion 124 moves in the first link direction, the second power transmission link 113-2 may move downward, and when the angle adjustment portion 124 moves in the second link direction, the second power transmission link 113-2 may move upward.

[0093] In addition, the angle adjustment portion 124 may be connected to the first link 121 to slide in the link direction thereof. In other words, the first link 121 may guide the movement of the angle adjustment portion 124 in the link direction thereof.

[0094] The cuff portion 130 may include a placement cuff 131 and a cuff fastening portion 132. The placement cuff 131 may provide a placement space for accommodating the upper arm of the user 2. The placement cuff 131 may be connected to the other side of the upper arm module 110 to slide. For example, the placement cuff 131 may be moved relative to the upper arm module 110 in directions toward each other on one side and the other side of the upper arm module 110.

[0095] The cuff fastening portion 132 may be selectively fastened to a vest fastening portion 22 to be described below. One side of the cuff fastening portion 132 may be connected to a side where the cuff 131 is disposed, and the cuff fastening portion 132 may include a fastening ring on the other side thereof, which is fastened to the vest fastening portion 22.

[0096] When the upper arm module 110 and the connecting rod assembly 120 are in the initial state, the stopper 140 can prevent the upper arm module 110 from rotating in a second rotation direction relative to the connecting rod assembly 120. The second rotation direction can be defined as a direction opposite to the first rotation direction. The stopper 140 can be provided on the other side of the upper arm module 110.

[0097] The first connecting rod 200 can connect the muscle force assisting part 100 and the shoulder 21a of the strap 20 to each other. For example, one side of the first connecting rod 200 can be connected to one side of the muscle force assisting part 100 (e.g., the upper arm module 110). The position of one side of the first connecting rod 200 relative to the second rotation axis A2 can be fixed. For example, one side of the first connecting rod 200 can be configured to be fastened to the area of ​​the connecting rod housing 123 that forms the second rotation axis A2.

[0098] In addition, the other side of the first connecting rod 200 may rotate about the first rotation axis A1 relative to the shoulder 2a of the user 2. For example, the other side of the first connecting rod 200 may be connected to the shoulder 21a to be rotatable about the first rotation axis A1.

[0099] The extension length of the first connecting rod 200 may be greater than or equal to the rotation radius of one side of the upper arm module 110. For example, when the other side of the first connecting rod 200 is spaced apart from the upper arm module 110 in the direction of the first rotation axis A1, the extension length of the first connecting rod 200 may be greater than the rotation radius of one side of the upper arm module 110. In addition, when the first connecting rod 200 is oriented perpendicular to the direction of the first rotation axis A1, the extension length of the first connecting rod 200 may correspond to the rotation radius of one side of the upper arm module 110.

[0100] The first connecting rod 200 and the other side of the connecting rod assembly 120 (e.g., the intersection area 122-2) may be spaced apart from each other in the direction of the first rotation axis A1. The first connecting rod 200 may be formed of, for example, a fabric material. Meanwhile, the spirit and scope of the present invention are not limited thereto, and the first connecting rod 200 may be formed of an elastic material. In other words, the first connecting rod 200 may be formed of a flexible material.

[0101] Reference Figures 8 to 14 , the second connecting rod 300 can make one side of the upper arm module 110 rotate around the first rotation center CX1 within the first rotation angle. In other words, the angle of rotation of one side of the upper arm module 110 around the first rotation center CX1 can be less than or equal to the first rotation angle. In more detail, the upper arm rotation angle R, i.e., the rotation angle formed by the upper arm module 110, can be less than or equal to the first rotation angle.

[0102] The upper arm rotation angle R may refer to a rotation angle formed by one side of the upper arm module 110. The upper arm rotation angle R may be defined as an angle formed by a first straight line and a second straight line. The first straight line may be defined as a virtual straight line extending in a direction from the first rotation axis A1 toward one side of the upper arm module 110. In addition, when the muscle assist system 1 is observed in the direction of the first rotation axis A1, the first straight line may intersect with the first rotation axis A1 and one side of the upper arm module 110.

[0103] The second straight line can be defined as a virtual straight line extending in the direction of the first rotation axis A1 toward one side of the second connecting rod 300. One side of the second connecting rod 300 can refer to the portion of the second connecting rod 300 connected to the shoulder strap 20. In addition, the other side of the second connecting rod 300 can be connected to one side of the muscle assistance part 100. For example, the other side of the second connecting rod 300 can be connected to the first connecting rod 121. In another example, the other side of the second connecting rod 300 can be connected to one side of the upper arm module 110. In more detail, the other side of the second connecting rod 300 can be connected to one side of the frame 111. In addition, when the muscle assistance system 1 is observed in the direction of the first rotation axis A1, the second straight line can pass through the first rotation axis A1 and one side of the second connecting rod 300.

[0104] The position of the second connecting rod 300 relative to the second rotation axis A2 may be fixed. For example, the second connecting rod 300 may be configured to be fastened to a region of the connecting rod housing 123 providing the second rotation axis A2. The second connecting rod 300 and the first connecting rod 200 may be connected to each other.

[0105] The second connecting rod 300 may have, for example, an elastic material. In other words, the second connecting rod 300 may include a flexible material that can be stretched. For example, when the first spacing distance between the opposite ends of the first connecting rod 200 and one end of the second connecting rod 300 is less than or equal to the connecting rod length, the second connecting rod 300 may be placed in a first state in which its length does not increase.

[0106] Refer again Figure 8 and Fig. 9 , when the first spacing distance is less than the connecting rod length, the second connecting rod 300 may be in state 1-1. In addition, when the first spacing distance and the connecting rod length are equal to each other, the second connecting rod 300 may be placed in state 1-2. State 1-1 and state 1-2 may be included in the first state. Based on when the second connecting rod 300 in state 1-2 is oriented in one direction thereof, the connecting rod length may be defined as the distance between one end and the opposite end of the second connecting rod 300.

[0107] When the first spacing distance is greater than the connecting rod length, the second connecting rod 300 can be placed in the second state where its length increases. In addition, when the shoulder 21a moves away from the body 21b described below by a predetermined distance, the second connecting rod 300 in state 1-2 can be switched to the second state.

[0108] Refer again Fig.10 When the user 2 performs the first operation of extending the shoulder 2a forward, the second connecting rod 300 in the state 1-2 may be switched to the second state.

[0109] Refer again Fig.11 , when the user 2 performs a second operation of rotating the upper arm forward around the first rotation center CX1, the second connecting rod 300 in the state 1-2 may be switched to the second state.

[0110] Refer again Fig.11 and Fig.12 , the length of the second connecting rod 300 in state 1-2 extended when the user 2 performs the first operation and the second operation may be greater than the length of the second connecting rod 300 in state 1-2 extended when the user 2 performs only one of the first operation and the second operation.

[0111] Reference Fig.15 , the harness 20 may include a wearable vest 21, a vest fastening portion 22, and a reaction force applying portion 23. The wearable vest 21 may be worn on the body of the user 2. When the user 2 wears the wearable vest 21, the wearable vest 21 may be in close contact with the body of the user 2. The wearable vest 21 may include a shoulder portion 21a and a main body portion 21b.

[0112] The shoulder 21a may be in close contact with the shoulder 2a of the user 2. The first connecting rod 200 may be connected to the shoulder 21a to be rotatable. The shoulder 21a may connect the front body 21b1 and the rear body 21b2 to be described below. For example, the opposite ends of the shoulder 21a may be connected to the upper end of the front body 21b1 and the upper end of the rear body 21b2, respectively.

[0113] The main body 21b may be in close contact with the body of the user 2. The main body 21b may include a front main body 21b1 and a rear main body 21b2. The front main body 21b1 may be in close contact with the front side of the body of the user 2. The front main body 21b1 may form the front side of the main body 21b. The rear main body 21b2 may be in close contact with the rear side of the body of the user 2. The rear main body 21b2 may form the rear side of the main body 21b.

[0114] The vest fastening portion 22 can be selectively fastened with the cuff fastening portion 132. The vest fastening portion 22 can be fixedly disposed on the wearable vest 21. For example, the vest fastening portion 22 can be fixedly disposed on the front body portion 21b1. When the vest fastening portion 22 and the cuff fastening portion 132 are fastened to each other, the wearable vest 21 can support the upper arm module 110.

[0115] The vest fastening part 22 may include a plurality of vest fastening parts. The plurality of vest fastening parts 22 may be spaced apart from each other in the up-and-down direction thereof. The plurality of vest fastening parts 22 may include an upper fastening part 22-1, a central fastening part 22-2, and a lower fastening part 22-3.

[0116] The upper fastening portion 22-1 may be provided at the upper portion of the main body portion 21b (e.g., the front main body portion 21b1). The upper portion of the main body portion 21b may refer to an area of ​​the main body portion 21b that is in close contact with the pectoralis major muscle of the user 2. The state in which the upper fastening portion 22-1 is fastened to the cuff fastening portion 132 may be referred to as an upper fastening state.

[0117] The central fastening portion 22-2 may be disposed at the central portion of the main body portion 21b (e.g., the front main body portion 21b1). The central portion of the main body portion 21b may refer to an area of ​​the main body portion 21b disposed between the upper portion of the main body portion 21b and the lower portion of the main body portion 21b. For example, the central portion of the main body portion 21b may be in close contact with the upper abdomen of the user 2. The state in which the central fastening portion 22-2 is fastened to the cuff fastening portion 132 may be referred to as a central fastening state.

[0118] The lower fastening portion 22-3 may be provided at the lower portion of the main body portion 21b (e.g., the front main body portion 21b1). The lower portion of the main body portion 21b may refer to an area of ​​the main body portion 21b that is in close contact with the waist of the user 2. The state in which the lower fastening portion 22-3 is fastened to the cuff fastening portion 132 may be referred to as a lower fastening state.

[0119] The vest fastening portion 22 and the cuff fastening portion 132 can be configured in any one of the upper fastening state, the central fastening state, and the lower fastening state. For example, when the user 2 first wears the brace 20, the vest fastening portion 22 and the cuff fastening portion 132 can be configured in the upper fastening state.

[0120] In addition, when the user 2 separates the cuff fastening portion 132 from the upper fastening portion 22-1 and then fastens the separated cuff fastening portion 132 to the central fastening portion 22-2, the vest fastening portion 22 and the cuff fastening portion 132 can be switched from the upper fastening state to the central fastening state. For example, when the vest fastening portion 22 and the cuff fastening portion 132 are in the upper fastening state, the user 2 can place the upper arm on the placement cuff 131, can move the upper arm module 110 downward, and can fasten the cuff fastening portion 132 to the central fastening portion 22-2.

[0121] Furthermore, when the user 2 separates the cuff fastening portion 132 from the central fastening portion 22 - 2 and then fastens the separated cuff fastening portion 132 to the lower fastening portion 22 - 3 , the vest fastening portion 22 and the cuff fastening portion 132 may be switched from the central fastening state to the lower fastening state.

[0122] When a first reaction force is applied to the other side of the link assembly 120 (e.g., the intersection area 122-2) by a force (e.g., an external force) applied to the upper arm module 110, the reaction force applying portion 23 may apply a second reaction force to the link assembly 120 to suppress movement of the other side of the link assembly 120 relative to the user 2 due to the first reaction force.

[0123] For example, when an external force is applied to the upper arm module 110 in a downward direction, a first reaction force may be applied to the intersection area 122-2 in an upward direction by the external force. The reaction force applying portion 23 may suppress the movement of the intersection area 122-2 in an upward direction due to the first reaction force. In other words, due to the first reaction force applied to the intersection area 122-2, the reaction force applying portion 23 may suppress the movement of the intersection area 122-2 in an upward direction relative to the user 2. Even if the muscle force assisting portion 100 is only provided on one side of the left and right sides of the shoulder strap 20, the positional balance of the muscle force assisting portion 100 relative to the shoulder strap 20 may be maintained by the reaction force applying portion 23. The reaction force applying portion 23 may be referred to as a "balancing component" or a "balancing component."

[0124] The reaction force applying portion 23 may be provided on the lower portion of the strap 20. For example, the reaction force applying portion 23 may include a plurality of reaction force applying portions, and the plurality of reaction force applying portions may be provided on the left and right sides of the lower portion of the main body portion 21b, respectively. The reaction force applying portion 23 may have, for example, an annular shape configured to be fastened to the pants worn by the user 2.

[0125] The reaction force applying part 23 may be supported on the lower body of the user 2. For example, when the reaction force applying part 23 is fastened to the pants worn by the user 2, the first reaction force may be applied to the reaction force applying part 23 in an upward direction through the muscle force assisting part 100, and the second reaction force may be applied to the reaction force applying part 23 in a downward direction through the pants of the user. Through the reaction force applying part 23, the first reaction force may be offset by the second reaction force.

[0126] Refer again Figure 6 and Figure 7 , the adapter 30 can connect the muscle assist device 10 and the strap 20 to each other. The adapter 30 can be arranged on the lower part of the rear body part 21b2. In addition, the adapter 30 can include a plurality of adapters, and the plurality of adapters can be respectively arranged on the left and right sides of the lower part of the rear body part 21b2. The adapter 30 can include a fixing part 31 and a rotating part 32.

[0127] The fixing portion 31 may be fixed to a portion of the main body portion 21b. For example, the fixing portion 31 may be fixed to a lower portion of the rear main body portion 21b2. The rotating portion 32 may be connected to the fixing portion 31 so as to be rotatable. For example, one end of the rotating portion 32 may be connected to one end of the fixing portion 31 so as to be rotatable around the adapter rotation axis AH. The adapter rotation axis AH may be defined as a virtual straight line extending in a direction not parallel to the first rotation axis A1 and passing through one end of the rotating portion 32 and one end of the fixing portion 31.

[0128] When the rotating portion 32 rotates relative to the fixed portion 31, the opposite end of the rotating portion 32 may move toward or away from the opposite end of the fixed portion 31. One end and the opposite end of the rotating portion 32 may refer to the upper end and the lower end of the rotating portion 32, respectively. In addition, one end and the opposite end of the fixed portion 31 may refer to the upper end and the lower end of the fixed portion 31, respectively.

[0129] When the rotating portion 32 rotates in the first adapter rotation direction relative to the fixed portion 31, the opposite end of the rotating portion 32 can move away from the opposite end of the fixed portion 31. In addition, when the rotating portion 32 rotates in the second adapter rotation direction relative to the fixed portion 31, the opposite end of the rotating portion 32 can move toward the opposite end of the fixed portion 31. The first adapter rotation direction may be opposite to the second adapter rotation direction. For example, when the adapter 30 is viewed in the direction of the adapter rotation axis AH, one of the first adapter rotation direction and the second adapter rotation direction may be a clockwise direction, and the other may be a counterclockwise direction. In addition, when the rotating portion 32 is in close contact with the fixed portion 31, the rotating portion 32 cannot rotate in the second adapter rotation direction.

[0130] The intersection region 122 - 2 may be connected to the rotating portion 32 to be rotatable about three rotation axes A3 , A4 , and A5 . The intersection region 122 - 2 may be disposed between one end and the opposite end of the rotating portion 32 .

[0131] When the rotating portion 32 rotates relative to the fixed portion 31, the intersection area 122-2 can move toward or away from the fixed portion 31. For example, when a force is applied to the intersection area 122-2 in an upward direction, the rotating portion 32 in the close contact state can rotate around the adapter rotation axis AH in the first adapter rotation direction to move away from the fixed portion 31. The angle by which the rotating portion 32 in the close contact state rotates in the first adapter rotation direction may be, for example, 20° or less.

[0132] The rotating portion 32 may include a receiving groove 32a formed therein, and the intersection region 122-2 is received in the receiving groove 32a. The position of the center of the intersection region 122-2 received in the receiving groove 32a may be fixed relative to the receiving groove 32a. In a state received in the receiving groove 32a, the intersection region 122-2 may rotate relative to the receiving groove 32a around three rotation axes A3, A4 and A5. The rotating portion 32 may include an annular spring that prevents the intersection region 122-2 received in the receiving groove 32a from being separated from the rotating portion 32.

[0133] The annular spring may fix the center of the intersection region 122-2 received in the receiving groove 32a relative to the receiving groove 32a. In addition, the annular spring may be in close contact with the intersection region 122-2 received in the receiving groove 32a.

[0134] Below, we will refer to Fig.16 A connecting rod assembly 120 according to another exemplary embodiment of the present invention is described. The connecting rod assembly 120 according to another exemplary embodiment of the present invention may not include the angle adjustment portion 124. In addition, an angle adjustment slit may not be formed in the connecting rod housing 123-1.

[0135] The muscle assisting device according to the exemplary embodiment of the present invention can be independently supported on the user without any other muscle assisting device. Therefore, it is possible to prevent the muscle assisting device from deviating from the state of being aligned with respect to the user's shoulder position.

[0136] In addition, the muscle assist device can be selectively used only for one of the left upper arm and the right upper arm of the user who needs muscle assist. Therefore, it is possible to prevent unnecessary muscle assist from being applied to the other of the left upper arm and the right upper arm that do not need muscle assist.

[0137] In the above, even if all parts are connected as one or operated in a combined state in the description of the above-mentioned embodiments of the present invention, the present invention is not limited to these embodiments. That is to say, within the scope of the purpose of the present invention, all parts can be operated in one or more selective combinations. It should also be understood that the terms "including", "comprising" or "having" in the specification are "open" expressions, which are only used to illustrate that the corresponding parts exist, unless otherwise specified, and additional parts are not excluded but may be included. Unless otherwise defined, all terms used herein (including technical and scientific terms) include the same meanings as those commonly understood by those skilled in the art to which the present invention belongs. Those terms as defined in commonly used dictionaries will be interpreted as including the same meanings as the contextual meanings in the relevant field, and are not interpreted as including ideal or overly formal meanings, unless clearly defined as including such meanings in the present application.

[0138] To facilitate interpretation and precise definition of the appended claims, the terms "above", "below", "inside", "outside", "up", "down", "upward", "downward", "front", "back", "inside", "outside", "inward", "outward", "interior", "exterior", "forward" and "rearward" are used to describe features of the exemplary embodiments with reference to the positions of such features shown in the drawings. It should also be understood that the term "connect" or its derivatives refer to both direct and indirect connections.

[0139] The term "and / or" may include a combination of a plurality of related listed items or any one of a plurality of related listed items. For example, "A and / or B" includes all three cases, such as "A", "B" and "A and B".

[0140] In this specification, unless otherwise stated, a singular expression includes a plural expression unless the context clearly states otherwise.

[0141] In an exemplary embodiment of the present invention, "at least one of A and B" may refer to "at least one of A or B" or "at least one of a combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more of a combination of one or more of A and B".

[0142] In the exemplary embodiments of the present invention, it should be understood that terms such as "including" or "having" are intended to indicate the presence of the features, quantities, steps, operations, elements, parts, or a combination thereof described in the specification, and do not exclude the possibility of adding or existing one or more other features, quantities, steps, operations, elements, parts, or a combination thereof.

[0143] According to the exemplary embodiment of the present invention, the respective components may be combined with each other to be implemented as one, or some components may be omitted.

[0144] The foregoing descriptions of specific exemplary embodiments of the present invention are presented for purposes of illustration and description. The foregoing descriptions are not intended to be exhaustive, nor are they intended to limit the present invention to the precise form disclosed, and it is apparent that many changes and variations are possible in light of the foregoing teachings. The exemplary embodiments are selected and described to explain the specific principles of the present invention and their practical applications, so that other persons skilled in the art can implement and utilize the various exemplary embodiments of the present invention and their different selected forms and modified forms. The scope of the present invention is intended to be limited by the appended claims and their equivalents.

Claims

1. A muscle assist device, comprising: A muscle assisting portion configured to assist the user's muscle strength; as well as a first connecting rod, one side of which is connected to one side of the muscle assistance part, and the other side of which is rotatable relative to the user's shoulder around a first rotation axis, Wherein, the muscle strength assisting part comprises: an upper arm module configured to assist the muscle strength of the user's upper arm; and A link assembly having one side connected to one side of the upper arm module to be rotatable about a second rotation axis that is not parallel to the first rotation axis, and having the other side disposed adjacent to a part of a user's body to be supported on the user.

2. The muscle assist device according to claim 1, wherein: One side of the upper arm module rotates about a virtual first rotation center extending along the first rotation axis.

3. The muscle assist device according to claim 1, wherein: The other side of the connecting rod assembly and the first connecting rod are spaced apart from each other in a direction of the first rotation axis.

4. The muscle assist device according to claim 1, wherein: The upper arm module is spaced apart from a virtual straight line passing through the other side of the first connecting rod and the other side of the link assembly.

5. The muscle assist device according to claim 2, wherein: A direction perpendicular to the extending direction of the first rotation axis is referred to as a radial direction, and a rotation radius of one side of the upper arm module is a spacing distance between one side of the upper arm module and the first rotation axis in the radial direction.

6. The muscle assisting device according to claim 5, wherein: When the muscle assist device is viewed along the first rotation axis, the other side of the link assembly is located within a virtual circle whose center passes through the first rotation axis and whose radius is the rotation radius of one side of the upper arm module.

7. The muscle assist device according to claim 2, further comprising: The second connecting rod is configured to enable one side of the upper arm module to rotate around the first rotation center within a first rotation angle range.

8. The muscle assisting device according to claim 7, wherein: One side of the second connecting rod is fixed in position relative to the user's body, and the other side of the second connecting rod is connected to one side of the muscle assistance part.

9. The muscle assisting device according to claim 8, wherein: When the muscle assist device is observed along the first rotation axis, a virtual straight line extending in a direction of the first rotation axis toward one side of the upper arm module is referred to as a first straight line, and a virtual straight line extending in a direction of the first rotation axis toward one side of the second connecting rod is referred to as a second straight line. An upper arm rotation angle formed by one side of the upper arm module is defined as an angle formed by the first straight line and the second straight line, The upper arm rotation angle is less than or equal to the first rotation angle.

10. The muscle assisting device according to claim 7, wherein: The second connecting rod includes an elastic material.

11. A muscle assist system, comprising: A muscle assist device configured to assist the user's muscle strength; a harness including a shoulder portion configured to contact a user's shoulder and a main body portion configured to contact a user's body; as well as an adapter configured to connect the harness and the muscle assist device to each other, Wherein, the muscle assist device comprises: a muscle assisting portion configured to assist the user's muscle strength; and a first connecting rod, one side of which is connected to one side of the muscle auxiliary part, and the other side of which is connected to the shoulder so as to be rotatable around a first rotation axis, The muscle assistance unit comprises: an upper arm module configured to assist the muscle strength of the user's upper arm; and A link assembly having one side connected to one side of the upper arm module to be rotatable about a second rotation axis that is not parallel to the first rotation axis and the other side connected to a portion of the main body through the adapter.

12. The muscle assistance system according to claim 11, wherein: The adapter comprises: a fixing portion fixed to a portion of the main body portion; and The rotating part is connected to the fixed part so as to be rotatable.

13. The muscle assistance system according to claim 12, wherein: The other side of the connecting rod assembly includes an intersection area, the intersection area is configured to intersect with three rotation axes whose centers intersect with each other and is configured to rotate around the three rotation axes, The intersection region is rotatably connected to the rotating portion such that the center of the intersection region is fixed relative to the rotating portion when the intersection region rotates about the three rotation axes.

14. The muscle assistance system according to claim 13, wherein: When the rotating portion rotates relative to the fixed portion, the intersection area moves toward or away from the fixed portion.

15. The muscle assistance system according to claim 14, wherein: One end of the rotating part is connected to one end of the fixed part so as to be rotatable, When the rotating part rotates relative to the fixed part, the opposite end of the rotating part moves toward or away from the opposite end of the fixed part. The intersection region is disposed between one end of the rotating portion and an opposite end of the rotating portion.

16. The muscle assistance system according to claim 11, wherein: The muscle assistance unit further comprises: a placement cuff on which the user's upper arm is received, the placement cuff being connected to the upper arm module; and a cuff fastening portion connected to the placement cuff and fastened to the harness, Wherein, the strap comprises: a wearable vest configured to form the shoulder portion and the body portion; and A vest fastening portion is fixedly disposed on the wearable vest and selectively fastened to the cuff fastening portion.

17. The muscle assistance system according to claim 16, wherein: The vest fastening part includes a plurality of vest fastening parts respectively arranged at the upper part, the central part and the lower part of the main body part, The upper portion of the main body is configured to contact the pectoralis major of the user, the lower portion of the main body is configured to contact the waist of the user, and the central portion of the main body is arranged between the upper portion of the main body and the lower portion of the main body.

18. The muscle assistance system according to claim 11, wherein: The harness further includes a reaction force applying portion configured to apply a second reaction force to the link assembly in response to a first reaction force being applied to the other side of the link assembly due to a force applied to the upper arm module, so as to inhibit movement of the other side of the link assembly relative to the user due to the first reaction force.

19. The muscle assistance system according to claim 18, wherein: The reaction force applying portion is provided on a lower portion of the shoulder strap and is supported on the lower body of the user.

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