Wearable ankle joint movement assisting device

Abstract

The present disclosure provides a wearable ankle joint movement assistance device, which may include: a foot receiving portion on which a foot of a user may be received; a driving part connected to the foot accommodating part and providing a driving force for rotation of the foot accommodating part; and a connecting portion rotatably connecting the foot accommodating portion and the driving portion, in which the connecting portion may include a first connecting portion coupled with the foot accommodating portion and a second connecting portion coupled with the driving portion, the first connecting portion may be rotatably connected to the second connecting portion about a first rotation axis and a second rotation axis perpendicular to each other, and the second connecting portion may be rotatably connected to the driving portion about a second rotation axis perpendicular to the first rotation axis. The driving portion may include a pair of linear motor modules connected to the first connecting portion through a pair of link portions, respectively, and both end portions of the pair of link portions may be rotatably connected to the pair of linear motor modules and the first connecting portion.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the priority of Korean Patent Application No. 10-2023-0116052 filed on September 1, 2023 in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to a wearable ankle joint motion assisting device, and more particularly, to an ankle joint motion assisting device for assisting the ankle joint in two-degree-of-freedom motion. Background Art

[0004] The ankle joint of the body can perform various degrees of freedom, bending movements, etc., but traditional assistive devices may not be able to achieve two-degree-of-freedom movement of the ankle joint, but may only provide rotation of the ankle joint when flexing or extending, and there may be parts that are difficult to assist the ankle joint to move in other directions.

[0005] Additionally, the ankle joint of the body may have different rotational motion ranges depending on the user, but conventional assistive devices may operate without considering the user's ankle joint motion range, making it difficult to provide assistance optimized for the user's motion range. Summary of the invention

[0006] The following summary is a simplified summary of some features. This summary is not an extensive overview and is not intended to identify key or critical elements.

[0007] Systems, devices, and methods for ankle motion assistance are described.

[0008] For example, various aspects relate to an ankle joint motion assisting device, which includes: a foot receiving portion configured to accommodate a user's foot. The device may further include: a driving portion connected to the foot receiving portion and configured to provide a driving force for the rotation of the foot receiving portion. The device may further include: a connecting portion rotatably connecting the foot receiving portion and the driving portion. The connecting portion may include a first connecting portion that can be connected to the foot receiving portion and a second connecting portion that can be connected to the driving portion. The first connecting portion may be rotatably connected to the second connecting portion around a first rotation axis and a second rotation axis, and the first rotation axis and the second rotation axis may be perpendicular to each other. The driving portion may include a pair of linear motor modules respectively connected to the first connecting portion through a pair of connecting rod portions. The ends of a pair of connecting rod portions may be rotatably connected to a pair of linear motor modules.

[0009] For example, a further aspect relates to an ankle joint motion assisting device, which includes: a foot receiving portion configured to accommodate a user's foot. The device may further include: a driving portion connected to the foot receiving portion and configured to provide a driving force for the rolling motion and pitching motion of the foot receiving portion. The device may further include: a connecting portion rotatably connecting the foot receiving portion and the driving portion. The connecting portion may include a first connecting portion that can be connected to the foot receiving portion, a second connecting portion that can be connected to the driving portion, and a joining portion that rotatably connects the first connecting portion and the second connecting portion around a first rotation axis and a second rotation axis. The first rotation axis and the second rotation axis may be substantially perpendicular to each other. The foot receiving portion may be configured to perform a rolling motion when the first connecting portion rotates relative to the second connecting portion around the first rotation axis. The foot receiving portion may be configured to perform a pitching motion when the first connecting portion rotates relative to the second connecting portion around the second rotation axis.

[0010] These and other features and advantages are described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The above and other aspects, features and advantages of the present disclosure will be more clearly understood through the following detailed description in conjunction with the accompanying drawings, in which:

[0012] Figure 1 is a front perspective view of an example ankle motion assist device.

[0013] Figure 2 is a rear perspective view of an example ankle motion assist device.

[0014] Figure 3 : is a view showing a state where an example ankle joint movement assisting device is worn on a user's body.

[0015] Figure 4 is an exploded perspective view of an example ankle motion assist device.

[0016] Figure 5A is a front perspective view of a driving portion of an example ankle joint movement assisting device.

[0017] Figure 5B is a rear perspective view of a drive portion of an example ankle joint movement assisting device.

[0018] Fig. 6A is a perspective view of a connection portion of an example ankle joint movement assisting device.

[0019] Figure 6B It is a perspective view of the joint portion of the connection part.

[0020] Figure 7 is a plan view of the front surface of an example ankle motion assisting device.

[0021] Figure 8 2 is a view showing a pitch operation of an example ankle joint movement assisting device.

[0022] Fig. 9 2 is a view showing a rolling operation of an example ankle joint movement assisting device.

[0023] Fig.10 is a perspective view of an example ankle motion assist device.

[0024] Fig.11 2 is a view showing an operation of replacing a link portion in an example ankle joint movement assisting device.

[0025] Fig. 12A and Fig. 12B The graph is a graph illustrating the condition number when the link lengths are the same and the condition number when the link lengths are different in an example ankle joint movement assisting device. DETAILED DESCRIPTION

[0026] Since the present disclosure may have various changes and examples, specific examples may be shown in the drawings and described in detail. However, this may not be intended to limit the present disclosure to specific examples, which should be understood to include all modifications, equivalents and alternatives within the spirit and scope of the present disclosure.

[0027] Terms such as first, second, etc. may be used to describe various elements, but these elements should not be limited by the terms. The above terms can only be used to distinguish one element from another element. For example, without departing from the scope of the present disclosure, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component. The term "and / or" may include a combination of multiple related items or any one of multiple related items.

[0028] The terms used in this application may be used only to describe specific examples and are not intended to limit the present disclosure. Unless the context clearly provides otherwise, singular expressions may include plural expressions. In this application, terms such as "including" or "having" may be intended to specify that the features, quantities, steps, operations, components, parts, or combinations thereof described in this specification exist, but it should be understood that this does not exclude the presence or increase of one or more other features or quantities, steps, operations, components, parts, or combinations thereof.

[0029] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with those in the context of the relevant technology, and should not be interpreted as ideal or overly formal meanings unless explicitly defined in this application.

[0030] Recently, the development of a wearable assistive device for disabled, sick or elderly people with physical strength that makes daily life difficult or a wearable assistive device for industrial or military use to enhance physical strength or physical fitness is underway. This wearable muscle strength assistive device can be a robot with a multi-jointed skeletal structure that can enhance the user's muscle strength when walking in a worn state on the lower body. The assistive device can help the user walk and exercise by providing the user with an assistive force generated by a drive device such as a motor.

[0031] Figure 1 is a front perspective view of an example ankle motion assisting device 100 . Figure 2 is a rear perspective view of an example ankle motion assisting device 100 . Figure 3 is a view showing a state where an example ankle joint movement assisting device 100 is worn on a user's body. Figure 4 is an exploded perspective view of an example ankle motion assisting device 100 .

[0032] The ankle joint motion assisting device 100 can be installed on the foot, ankle and / or calf of the user (U) to assist the exercise and movement of the ankle joint. Specifically, the ankle joint motion assisting device 100 can be implemented as a structure capable of performing roll rotation and / or pitch rotation in response to the two-degree-of-freedom movement of the ankle joint to assist the user's ankle joint in eversion and inversion operation and / or dorsiflexion and plantar flexion operation.

[0033] Reference Figures 1 to 4 The ankle joint movement assisting device 100 may include a foot receiving portion 110 , a driving portion 120 , a connecting portion 150 , a link portion 160 , and a binding unit 170 .

[0034] The foot receiving portion 110 may be configured to receive a foot of a user. The foot receiving portion 110 may be coupled to the connecting portion 150. For example, the foot receiving portion 110 may be fixedly coupled to the first connecting portion 151 of the connecting portion 150. The foot receiving portion 110 may be rotatably connected to the driving portion 120 around two mutually perpendicular axes through the connecting portion 150. For example, the foot receiving portion 110 may be connected to the first connecting portion 151 of the connecting portion 150, and may be configured to be rotatable with the first connecting portion 151 relative to the driving portion 120 around two axes within a predetermined angle range.

[0035] The driving portion 120 may provide a driving force to rotate the foot receiving portion 110. The driving portion 120 may be coupled to the connecting portion 150. For example, the driving portion 120 may be fixedly coupled to the second connecting portion 152 of the connecting portion 150. At least a portion of the driving portion 120 may be connected (e.g., indirectly connected) to the first connecting portion 151 of the connecting portion 150 via the connecting rod portion 160. The linear motion generated in the driving portion 120 may be transmitted to the first connecting portion 151 via the connecting rod portion 160 and may be converted into the rotational motion of the foot receiving portion 110. Figures 7 to 9 An operation of rotating the foot receiving portion 110 by driving the driving portion 120 is described in detail.

[0036] The driving part 120 may include a base plate 130 and a pair of linear motor modules 140. For example, the driving part 120 may be provided as a structure in which a pair of linear motor modules 140 are coupled to the base plate 130, and the pair of linear motor modules 140 may be driven independently of each other.

[0037] The substrate 130 may support a pair of linear motor modules 140. The substrate 130 may be coupled to the connection portion 150. The substrate 130 may be fixedly coupled to the second connection portion 152 of the connection portion 150. For example, the lower end portion of the substrate 130 may be coupled to the second connection portion 152 by various coupling methods. The substrate 130 may move integrally with the second connection portion 152. When the user wears the ankle joint motion assisting device 100, the substrate 130 may be located on the side of the user's calf and may partially contact the calf to support the wearing of the ankle joint motion assisting device 100.

[0038] The pair of linear motor modules 140 may include a first linear motor module 140a and a second linear motor module 140b, and the first linear motor module 140a and the second linear motor module 140b may include the same components. For example, the pair of linear motor modules 140 may include a first linear motor module 140a and a second linear motor module 140b equipped with the same components, and may be connected to the base plate 130 in parallel.

[0039] The first linear motor module 140a and the second linear motor module 140b may include a motor 141, a shaft 142, and a nut 143, respectively. The motor 141 may rotate the shaft 142, and the nut 143 may move linearly on the shaft 142 in response to the rotation of the shaft 142. For example, the first linear motor module 140a may include a first motor 141a, a first shaft 142a, and a first nut 143a, and the second linear motor module 140b may include a second motor 141b, a second shaft 142b, and a second nut 143b. As described above, a pair of linear motor modules 140 and the components included therein may have the same configuration, but for convenience of description, they may be referred to as "first ~" and "second ~", respectively.

[0040] The shaft 142 of each of the pair of linear motor modules 140 may be coupled to the connection portion 150. The first shaft 142a of the first linear motor module 140a and the second shaft 142b of the second linear motor module 140b may be rotatably coupled to the second connection portion 152 of the connection portion 150. For example, the lower end portion of the first shaft 142a and the lower end portion of the second shaft 142b may be rotatably coupled to the second connection portion 152 to rotate the first shaft 142a and the second shaft 142b by driving the first motor 141a and the second motor 141b. Figure 5A and Figure 5B The specific structure of the pair of linear motor modules 140 is described in detail.

[0041] The driving part 120 may further include a main controller 121 that controls the overall operation of the ankle joint motion assisting device 100 and a motor driver 122 that controls the motor. The main controller 121 may be coupled to the side of the motor 141, and the motor driver 122 may be coupled to the linear motor module 140 to be located between the motor 141 and the shaft 142. The motor driver 122 may include a first motor driver corresponding to the first motor 141a and a second motor driver corresponding to the second motor 141b.

[0042] like Figure 3 As shown, when the user wears the ankle joint motion assisting device 100, the driving part 120 can be located between the ankle and the knee of the user. Since the linear motor module 140, which is a component with a large weight ratio, is located above the ankle, the weight felt by the user and the load acting on the hip joint can be reduced, and the comfort of wearing can be improved. As the stroke distance increases, the linear motor module 140 can be located farther away from the ankle. In the linear motor module 140, when the length of the shaft 142 increases, the length of the linear movement of the nut 143 can increase, thereby increasing the stroke distance. The connecting part 150 can be connected to the foot receiving part 110 and located near the user's ankle, and as the length of the shaft 142 connected to the second connecting part 152 increases, the position of the motor 141 can rise. The maximum height of the motor 141 may not exceed the knee. The range of motion (ROM) or rotation range of the foot receiving part 110 can be determined or adjusted according to the stroke distance of the linear motor module 140. The ankle joint motion assisting device 100 disclosed in the present invention can adjust the range of motion to adapt to the user by changing the length of the shaft 142.

[0043] The connection portion 150 may connect the foot receiving portion 110 and the driving portion 120 so that the foot receiving portion 110 and the driving portion 120 are rotatable relative to each other. The connection portion 150 may include a first connection portion 151 fixedly coupled to the foot receiving portion 110, a second connection portion 152 fixedly coupled to the driving portion 120, and a coupling portion 153 coupling the first connection portion 151 and the second connection portion 152. The first connection portion 151 and the second connection portion 152 may be connected by the coupling portion 153 so as to be rotatable relative to each other. For example, the first connection portion 151 and the second connection portion 152 may be connected by the coupling portion 153 and may be connected to achieve relative rotation around two mutually perpendicular axes.

[0044] The connection portion 150 may further include a support portion 154 that supports the link portion 160. The support portion 154 may be fixedly coupled to the first connection portion 151 of the connection portion 150. The support portion 154 may move integrally with the first connection portion 151. The support portion 154 may include a link ball 180, and at least a portion of the link portion 160 may be rotatably connected to the link ball 180. Fig. 6A and Figure 6B The specific structure of the connecting portion 150 is described in detail.

[0045] The link portion 160 may connect at least a portion of the driving portion 120 and at least a portion of the connecting portion 150, and may transmit the driving force generated by the driving portion 120 to the connecting portion 150. The link portion 160 may be coupled to the linear motor module 140 and the supporting portion 154. In the link portion 160, an upper end portion (e.g., 162) may be rotatably connected to the nut 143 of the linear motor module 140, and a lower end portion (e.g., 163) may be rotatably connected to the supporting portion 154, so that the linear motion generated by the driving portion 120 may be transmitted to the first connecting portion 151 and converted into the rotational motion of the first connecting portion 151 and the foot receiving portion 110.

[0046] The link part 160 may include a first link part 160a that transmits the driving force of the first linear motor module 140a to the first connection part 151 and a second link part 160b that transmits the driving force of the second linear motor module 140b to the first connection part 151. The first link part 160a and the second link part 160b may include a rod 161 extending with a predetermined length, an upper socket 162 coupled to the upper end of the rod 161, and a lower socket 163 coupled to the lower end of the rod 161. For example, the first link part 160a may include a first rod 161a, a first upper socket 162a, and a first lower socket 163a, and the second link part 160b may include a second rod 161b, a second upper socket 162b, and a second lower socket 163b. According to different examples, the first link part 160a and the second link part 160b may have the same length or may be set to have different lengths.

[0047] The sockets 162 and 163 of the link portion 160 may be rotatably coupled to the link ball 180. At least a portion of the link ball 180 may be accommodated in the sockets 162 and 163 of the link portion 160 to perform a rotational or pivoting motion relative to the sockets 162 and 163. For example, the link ball 180 may rotate 360 ​​degrees around the center of the link ball 180 in the sockets 162 and 163. In the first link portion 160a, the first upper socket 162a may be rotatably coupled to the first link ball 181 formed on the first nut 143a, and the first lower socket 163a may be rotatably coupled to the second link ball 182 formed on the support portion 154 to connect the first linear motor module 140a and the first connection portion 151. In the second link portion 160b, the second upper socket 162b may be rotatably coupled to a third link ball 183 formed on the second nut 143b, and the second lower socket 163b may be rotatably coupled to a fourth link ball 184 formed on the support portion 154 to connect the second linear motor module 140b and the first connection portion 151. For example, the link ball 180 and the sockets 162 and 163 may form a spherical joint.

[0048] The connecting rod portion 160 can be detachably connected to the linear motor 141 and the support portion 154 using a ball joint structure. The sockets 162 and 163 of the connecting rod portion 160 can be detachably connected to the connecting rod ball head 180. For example, the sockets 162 and 163 of the connecting rod portion 160 can be connected to or separated from the connecting rod ball head 180 by an external force applied by a user. In the ankle joint motion assisting device 100, since the connecting rod portion 160 is configured to be detachable, the length of the connecting rod portion 160 can be replaced / changed to make it suitable for the rotation range of the user's ankle joint. Figure 10 to Figure 1 2 describes in detail the replacement / change of the link portion 160.

[0049] The binding unit 170 can stably bind the ankle joint motion assisting device 100 to the user's body. The binding unit 170 can surround and support the user's calf and / or tibia. The shape and position of the binding unit 170 are not limited to the illustrated example, and can also be applied to various shapes and positions that can fully or partially support the user's calf and / or tibia. For example, the binding unit 170 may include a strap or a belt and may be formed of an elastic material.

[0050] Figure 5A is a front perspective view of an example driving portion 120 of the ankle joint movement assisting device 100 . Figure 5B 2 is a rear perspective view of an example driving portion 120 of the ankle joint movement assisting device 100 .

[0051] Figure 5A It can be shown that the driving unit 120 and Figure 1 The ankle joint movement assisting device 100 is shown in an isolated view. Figure 5B It can be shown that the driving unit 120 and Figure 2 An isolated view of the ankle motion assist device 100 is shown. Figure 5A and Figure 5B It may be a view in which the main controller 121 and the motor driver 122 are omitted.

[0052] Reference Figure 5A and Figure 5B The driving part 120 of the ankle joint movement assisting device 100 may include a base plate 130, a linear motor module 140, a motor support member 123, a shaft support member 124, and a guide rail 125. The linear motor module 140 may be coupled to the base plate 130 via the motor support member 123, the shaft support member 124, and the guide rail 125. Figure 5A and Figure 5B When describing the driving unit 120 , the contents overlapping with the previous description will be omitted.

[0053] The linear motor module 140 may include a first linear motor module 140a and a second linear motor module 140b arranged in parallel. The first linear motor module 140a may include a first motor 141a, a first shaft 142a, and a first nut 143a, and the second linear motor module 140b may include a second motor 141b, a second shaft 142b, and a second nut 143b. The nut 143 may be assembled on the shaft 142 and may be linearly moved on the shaft 142 based on the rotation of the shaft 142. Although not shown, the outer peripheral surface of the shaft 142 may be formed with a thread, and the inner peripheral surface of the nut 143 may be formed with a thread corresponding to the thread of the shaft 142. Therefore, the shaft 142 and the nut 143 may be threadedly connected to each other, and the nut 143 may be linearly moved on the shaft 142 by the rotation of the shaft 142.

[0054] The linear motor module 140 may be implemented using a ball screw motor. For example, the shaft 142 may be a ball screw, the nut 143 may be a ball nut, and a plurality of balls may be disposed between the shaft 142 and the nut 143. The linear motor module 140 is not limited to a ball screw motor, and may also be implemented using various types of actuators to convert the rotational motion of the shaft 142 into the linear motion of the nut 143.

[0055] The motor support member 123 may be coupled to the substrate 130. For example, the motor support member 123 may be coupled to the front surface of the substrate 130 and disposed adjacent to the upper end of the substrate 130. The motor support member 123 may support the motor 141. The first motor 141a and the second motor 141b may be coupled to the motor support member 123. For example, the first motor 141a and the second motor 141b may be accommodated in and coupled to the upper portion of the motor support member 123. At least a portion of the first motor 141a and at least a portion of the second motor 141b may extend through the motor support member 123 toward the shaft support member 124.

[0056] The shaft support member 124 may be coupled to the substrate 130. For example, the shaft support member 124 may be coupled to the front surface of the substrate 130 and may be arranged at a certain interval in the downward direction from the motor support member 123. The shaft support member 124 may support the shaft 142. The first shaft 142a and the second shaft 142b may be coupled to the shaft support member 124. For example, the first shaft 142a and the second shaft 142b may be rotatably coupled to the shaft support member 124 while passing through the shaft support member 124. The first shaft 142a and the second shaft 142b may pass through the shaft support member 124 and may be respectively coupled to the first motor 141a and the second motor 141b, and may be rotated by the operation of the first motor 141a and the second motor 141b. For example, the first shaft 142a and the second shaft 142b may be configured such that the upper end portions are connected to the shafts of the first motor 141a and the second motor 141b to rotate together with the shafts of the first motor 141a and the second motor 141b. In addition, the first shaft 142a and the second shaft 142b may be configured such that the lower end portions are rotatably connected to the second connection portion (eg, Figures 1 to 4 The second connecting portion 152 in the embodiment of the present invention is provided to be connected to the connecting portion (eg, Figures 2 to 4 The connecting portion 150) rotates.

[0057] The guide rail 125 may be coupled to the base plate 130. For example, the guide rail 125 may be coupled to the front surface of the base plate 130 and may be disposed below the shaft support member 124. The guide rail 125 may guide the linear movement (or sliding) of the nut 143 of the linear motor module 140. The guide rail 125 may be disposed in parallel with the shaft 142 and may extend in the longitudinal direction of the shaft 142. The guide rail 125 may include a first guide rail 125a slidably coupled to the first nut 143a of the first linear motor module 140a and a second guide rail 125b slidably coupled to the second nut 143b of the second linear motor module 140b. The first guide rail 125a and the second guide rail 125b may be arranged in parallel, corresponding to the arrangement of the first linear motor module 140a and the second linear motor module 140b.

[0058] Hereinafter, the operation of the nut 143 linearly moving on the shaft 142 according to the drive of the motor 141 will be described. When the motor 141 is operated based on the control of the main controller 121 and / or the control of the motor driver 122, the shaft 142 may rotate together with the shaft of the motor 141. When the shaft 142 rotates, the nut 143 screwed onto the shaft 142 may be slidably coupled to the guide rail 125 and may be separated from the rotation of the shaft 142, so that the nut 143 may linearly move along the guide rail 125 on the shaft 142. For example, when the shaft 142 rotates in one direction, the nut 143 may move in a direction close to the shaft support member 124, and when the shaft 142 rotates in the opposite direction, the nut 143 may move in a direction away from the shaft support member 124.

[0059] Fig. 6A is a perspective view illustrating a connection portion 150 of an example ankle joint movement assisting device 100 . Figure 6B 1 is a perspective view of the engagement portion 153 of the connection portion 150 .

[0060] Fig. 6A Can be shown with Figure 1 The view of the separated connection part 150 of the ankle joint movement assisting device 100 is shown. Figure 6B Can be shown with Fig. 6A A view of the coupling portion 150 is shown with the engagement portion 153 separated.

[0061] Reference Fig. 6A and Figure 6B The connection part 150 of the ankle joint movement assisting device 100 may include a first connection part 151, a second connection part 152, a support part 154 and a joint part 153. Fig. 6A and Figure 6B When describing the connection portion 150 , the contents overlapping with the previous description will be omitted.

[0062] The joint portion 153 may connect the first connection portion 151 and the second connection portion 152 so that the first connection portion 151 and the second connection portion 152 are rotatable relative to each other. Based on the joint portion 153, the first connection portion 151 and the second connection portion 152 may rotate around their respective rotation axes. For example, the joint portion 153 may include a universal joint, but is not limited thereto.

[0063] The first connection portion 151 may be rotatably coupled to the engagement portion 153 around a first rotation axis A1. The second connection portion 152 may be rotatably coupled to the engagement portion 153 around a second rotation axis A2 that is perpendicular to the first rotation axis A1. For example, the first connection portion 151 may rotate around the first rotation axis A1 relative to the engagement portion 153, and the second connection portion 152 may rotate around the second rotation axis A2 relative to the engagement portion 153. The rotation of the first connection portion 151 relative to the engagement portion 153 and the rotation of the second connection portion 152 relative to the engagement portion 153 may be performed independently of each other.

[0064] The engaging portion 153 may include a first portion 155 extending in a predetermined length in the direction of the first rotation axis A1 and rotatably coupled to the first connection portion 151 on both sides, and a second portion 156 protruding or extending from a portion of the first portion 155 in the direction of the second rotation axis A2 and rotatably coupled to the second connection portion 152. The engaging portion 153 may be disposed between opposite side walls of the first connection portion 151.

[0065] The engaging portion 153 may include coupling holes 155h and 156h, into which coupling members 191 and 192 are inserted. The first connection portion 151 may be rotatably coupled to the engaging portion 153 by the first coupling member 191. The first coupling hole 155h may be formed in the first portion 155 of the engaging portion 153, into which the first coupling member 191 is inserted and coupled. The second connecting portion 152 may be rotatably coupled to the engaging portion 153 by the second coupling member 192. The second coupling hole 156h may be formed in the second portion 156 of the engaging portion 153, into which the second coupling member 192 is inserted and coupled.

[0066] Sensors 193 and 194 may be provided in the first coupling member 191 and the second coupling member 192. For example, the first sensor 193 may be provided in the first coupling member 191, and the second sensor 194 may be provided in the second coupling member 192. The first sensor 193 may sense the degree to which the first connection portion 151 rotates relative to the engagement portion 153 around the first rotation axis A1 to detect the rotation angle and / or position information of the first connection portion 151. The second sensor 194 may sense the degree to which the second connection portion 152 rotates relative to the engagement portion 153 around the second rotation axis A2 to detect the rotation angle and / or position information of the second connection portion 152. The first sensor 193 and the second sensor 194 may include encoders, such as rotary magnetic encoders, but are not limited thereto.

[0067] The connection portion 150 can connect the driving portion 120 and the foot receiving portion 110 because the second connection portion 152 is fixedly coupled to the driving portion 120, and the foot receiving portion 110 is fixedly coupled to the first connection portion 151. Accordingly, the first connection portion 151 can rotate about the first rotation axis A1 relative to the coupling portion 153 while the second connection portion 152 and the coupling portion 153 are relatively fixed. When the first connection portion 151 rotates about the first rotation axis A1, a tumbling operation R of the foot receiving portion 110 can be performed (for example, see Fig. 9 ), which can facilitate eversion and inversion operations of the ankle. In addition, the first connection portion 151 and the engagement portion 153 can rotate together relative to the second connection portion 152 around the second rotation axis A2 while the second connection portion 152 is relatively fixed. When the first connection portion 151 rotates around the second rotation axis A2, a pitch operation P of the foot receiving portion 110 can be performed (for example, see Figure 8 ), which can facilitate dorsiflexion and plantar flexion of the ankle.

[0068] Figure 7 is a plan view illustrating the front surface of the ankle joint movement assisting device 100 . Figure 8 2 is a diagram showing a pitch operation of the ankle joint movement assistance device 100 . Fig. 9 2 is a view showing a rolling operation of the ankle joint movement assistance device 100 .

[0069] Figure 7 1 shows a basic state of the ankle joint movement assistance device 100 in which the driving unit 120 is not driven. Figure 8 Shown based on Figure 7 The basic state is the state of performing pitch operations in two directions, Fig. 9 Shown based on Figure 7 The basic state is a state in which rolling operations are performed in both directions.

[0070] Reference Figures 7 to 9In the ankle joint movement assisting device 100, when the foot receiving portion 110 and the first connecting portion 151 rotate about the second rotation axis A2 relative to the driving portion 120 and the second connecting portion 152, a pitch operation (eg, Figure 8 The foot receiving portion 110 and the connecting portion 151 rotate relative to the driving portion 120 and the second connecting portion 152 about the first rotation axis A1, and a tumbling operation (eg, Fig. 9 The pitch operation and the rolling operation can be performed independently. For example, only one of the pitch operation or the rolling operation can be performed, or the pitch operation and the rolling operation can be performed simultaneously.

[0071] When the first nut 143a and the second nut 143b move linearly along the first shaft 142a and the second shaft 142b in the first linear motor module 140a and the second linear motor module 140b, respectively, a pitch operation and a roll operation can be performed by transmitting force to the support portion 154. When the first nut 143a and the second nut 143b move linearly in opposite directions, since the first link portion 160a and the second link portion 160b transmit force in opposite directions to both ends of the support portion 154 respectively connected thereto and rotate relative to the link ball head of the nut 143 and the support portion 154, the first connection portion 151 and the foot receiving portion 110 can rotate about the second rotation axis A2. When the first nut 143a and the second nut 143b move linearly in the same direction, the first connecting rod portion 160a and the second connecting rod portion 160b transmit force in the same direction to the two ends of the support portion 154 respectively connected thereto and rotate relative to the connecting rod ball head of the nut 143 and the support portion 154, so the first connecting portion 151 and the foot accommodating portion 110 can rotate around the first rotation axis A1.

[0072] In the pitch operation and the roll operation, the pitch angle (e.g., pitch rotation degree) and the roll angle (e.g., roll rotation degree) can be determined based on the direction and distance of movement of the first nut 143a and the second nut 143b. Specifically, the pitch angle and the roll angle can be determined by the distance between the first nut 143a and the shaft support member 124 and the distance between the second nut 143b and the shaft support member 124. For example, in Figure 7 , the pitch angle and the roll angle of the foot receiving portion 110 may be determined by a length d1 between the straight line L and the point N1 and a length d2 between the straight line L and the point N2.

[0073] like Figure 7As shown, in the basic state of the ankle joint movement assisting device 100, d1 and d2 may have the same specified length. The basic state of the ankle joint movement assisting device 100 is not limited to the illustrated example. If the link portion 160 is configured to have different lengths, d1 and d2 may be different (for example, see Fig.10 and Fig.11 ). Hereinafter, a process of performing a pitch operation and a roll operation will be described based on a case where d1 and d2 have the same first length, but the description may be equally applicable even if d1 and d2 are different.

[0074] First, refer to Figure 7 and Figure 8 Describe the pitch operation.

[0075] In the basic state, when the first motor 141a and the second motor 141b are driven to move the first nut 143a by a first distance in a direction toward the shaft support member 124 or the first motor 141a (hereinafter referred to as the upward direction), and the second nut 143b moves by a first distance in a direction away from the shaft support member 124 or the second motor 141b (hereinafter referred to as the downward direction), a pitching operation may be performed on the foot receiving portion 110 in a forward direction. In this case, d1 may have a second length that is less than the first length, d2 may have a third length that is greater than the first length, and the difference between the first length and the second length may be equal to the difference between the first length and the third length. In this case, in the pitching operation in the forward direction, the pitch angle may be defined as a positive number (+).

[0076] In the basic state, when the first motor 141a and the second motor 141b are driven to move the first nut 143a in the downward direction by the second distance, and the second nut 143b in the upward direction by the second distance, a pitching operation of the foot receiving portion 110 may be performed in the rearward direction. In this case, d1 may have a fourth length greater than the first length, d2 may have a fifth length less than the first length, and the difference between the first length and the fourth length may be equal to the difference between the first length and the fifth length. In this case, in the pitching operation in the rearward direction, the pitch angle may be defined as a negative number (-).

[0077] When the first distance moved by the first nut 143a and the second nut 143b when performing the pitch operation at a positive angle is equal to the second distance moved by the first nut 143a and the second nut 143b when performing the pitch operation at a negative angle, the absolute value of the pitch angle (e.g., the degree of rotation) may be the same. However, this is merely exemplary and does not limit the present disclosure, and according to an example, even when the first distance and the second distance are the same, the absolute value of the pitch angle may be different.

[0078] Next, we will refer to Figure 7and Fig. 9 Describes the tumble operation.

[0079] In the basic state, when the first motor 141a and the second motor 141b move the first nut 143a and the second nut 143b equally in the upward direction by the third distance, the foot receiving portion 110 may be rolled in the outward direction. In this case, the lengths of d1 and d2 are the same as the sixth length that is less than the first length. In this case, in the rolling operation in the outward direction, the rolling angle may be defined as a positive number (+).

[0080] In the basic state, when the first motor 141a and the second motor 141b move the first nut 143a and the second nut 143b equally in the downward direction by the fourth distance, the foot receiving portion 110 may be subjected to a tumbling operation in the inward direction. In this case, the lengths of d1 and d2 are the same as the seventh length greater than the first length. In this case, in the tumbling operation in the inward direction, the tumbling angle may be defined as a negative number (-).

[0081] Even when the third distance moved by the first nut 143a and the second nut 143b when performing the tumbling operation at a positive angle is equal to the fourth distance moved by the first nut 143a and the second nut 143b when performing the tumbling operation at a negative angle, the absolute value of the tumbling angle (e.g., the degree of rotation) may be different. However, this is merely illustrative and does not limit the present disclosure, and according to the example configuration, even when the third distance and the fourth distance are the same, the absolute value of the tumbling angle may be the same.

[0082] Hereinafter, when the ankle joint motion assisting device 100 is in a basic state, assuming that d1 and d2 are the same as 56.5 mm, it will be described how to perform a pitch operation and / or a roll operation in a certain direction according to the change of the lengths d1 and d2. However, the numerical values ​​mentioned in the following description are only illustrative and do not limit the present disclosure.

[0083] In the basic state of d1=d2=56.5 mm, the pitch angle and the roll angle can be 0°.

[0084] When the first nut 143a and the second nut 143b move in a state where d1=d2>56.5 mm (for example, Fig. 9 ), the pitch angle may be 0°, the roll angle may be a predetermined negative angle, and the pitch operation may be performed in the inward direction. When the first nut 143a and the second nut 143b move in a state where d1=d2<56.5 mm (for example, Fig. 9 ), the pitch angle may be 0°, the roll angle may be a predetermined positive angle, and the roll operation may be performed in an outward direction.

[0085] When the first nut 143a and the second nut 143b move the same distance while in the state of d1 < 56.5 mm < d2 (for example, Figure 8 the left figure), the roll angle can be 0°, the pitch angle can be a predetermined amount, and a pitching operation can be performed in the forward direction. When the first nut 143a and the second nut 143b move the same distance while in the state of d1 > 56.5 mm > d2 (for example, Figure 8 the right figure), the roll angle can be 0°, the pitch angle can be a predetermined negative angle, and a pitching operation can be performed in the backward direction.

[0086] When the first nut 143a and the second nut 143b move the same distance while in the state of d1 < 62.19 mm < d2, the roll angle can be approximately -10°, and a pitching operation can be performed in the forward direction. When the first nut 143a and the second nut 143b move the same distance while in the state of d1 > 62.19 mm > d2, the roll angle can be approximately -10°, and a pitching operation can be performed in the backward direction.

[0087] When the first nut 143a and the second nut 143b move the same distance while in the state of d1 < 50.07 mm < d2, the roll angle can be approximately 10°, and a pitching operation can be performed in the forward direction. When the first nut 143a and the second nut 143b move the same distance while in the state of d1 > 50.07 mm > d2, the roll angle can be approximately 10°, and a pitching operation can be performed in the backward direction.

[0088] Fig.10 is a perspective view of an exemplary ankle joint motion assistance device 100. Fig.11 is a view showing an operation of replacing the link portion 160 in the ankle joint motion assistance device 100.

[0089] Fig.10 and Fig.11 show examples in which the link portion 160 of the ankle joint motion assistance device 100 is set to have different lengths. For example, it can be understood that Fig.10 and Fig.11 the examples shown are configured to separate the existing first link portion 160a from the ankle joint motion assistance device 100, as previously referred to Figures 1 to 9 and install a relatively long first link portion 160a'.

[0090] Referring to Fig.10 and Fig.11In the ankle joint motion assisting device 100, the link portion 160 can be detachably connected to the linear motor module 140 and the support portion 154 in a ball joint manner, and the link portion 160 can therefore be replaced or changed. For example, the link portion 160 and the link ball heads 181, 182, 183, and 184 can be configured such that a spring seal is provided between the sockets 162a, 163a, 162b, and 163b and the link ball heads 181, 182, 183, and 184 to facilitate attachment / detachment and to couple therewith.

[0091] The first link portion 160a' and the second link portion 160b may have different lengths. For example, the first link portion 160a' may be longer than the second link portion 160b. Fig.10 and Fig.11 An example is shown in which the first link portion 160a' is replaced with a relatively long member, but this is merely illustrative, and the first link portion 160a' may be replaced with a relatively short member, or the second link portion 160b may be replaced with a member having a different length.

[0092] At least one of the first link portion 160a' or the second link portion 160b can be replaced with a component having an appropriate length corresponding to the ankle range of motion required by the user. When the first link portion 160a' and the second link portion 160b are different from each other, the pitch operation will be affected, and the operation of the ankle joint motion assisting device 100 can be optimized to adapt to the pitch angle range required by the user.

[0093] Fig. 12A and Fig. 12B : is a graph showing the condition number when the lengths of the link parts 160 are the same and the condition number when the lengths of the link parts 160 are different in the ankle joint movement assistance device 100 according to the present disclosure.

[0094] Fig. 12A and Fig. 12B is a graph showing condition numbers according to the pitch angle and the roll angle when the link portion 160 in the ankle joint movement assisting device 100 has a predetermined length. Fig. 12A and Fig. 12B When Figure 1 and Fig.10 .

[0095] Fig. 12A yes Figure 1 A graph of the condition number when the length of the first link portion 160a is equal to the length of the second link portion 160b, Fig. 12B yes Fig.10 A graph of the condition number when the length of the first link portion 160a' is greater than the length of the second link portion 160b. Fig. 12A and 12BIn the graph, the numbers shown on the contour lines represent "1 / condition number", and the value range of "1 / condition number" is 0 to 1. When the condition number is 1, the performance may mean the best. For example, Fig. 12A is a graph showing "1 / condition number" according to the pitch angle and the roll angle when the first link portion 160a and the second link portion 160b are approximately 114 mm, Fig. 12B is a graph showing "1 / condition number" according to the pitch angle and the roll angle when the first link portion 160a' is about 125 mm and the second link portion 160b is about 114 mm. The above figures are illustrative and do not limit the present disclosure.

[0096] exist Fig. 12A and Fig. 12B In the diagram of , α and β represent the pitch angle and the roll angle, respectively, and the unit is °. In this case, as described above, negative α represents a pitch operation in the rearward direction, positive α represents a pitch operation in the forward direction, negative β represents a roll operation in the inward direction, and positive β represents a roll operation in the outward direction.

[0097] The condition number can be a number that indicates how much the output value of a function changes when the input value of the function changes at a small rate, or it can be an indicator of the sensitivity of the function. Fig. 12A and Fig. 12B In the graph of , the condition number may indicate how much the pitch angle or roll angle of the foot receiving portion 110 and the first connection portion 151 changes relative to the linear movement displacement of the linear motor module 140 at a predetermined pitch angle or roll angle, and may indicate that the sensitivity is smaller when the condition number is closer to 1. For example, when the condition number is closer to 1, the angle change may not increase due to the linear movement displacement, and when the condition number is less than 1, the angle change may significantly increase due to the linear movement displacement. For example, when the condition number is 1, the device can be interpreted as having the best performance.

[0098] exist Fig. 12A and Fig. 12B In the graph of , when the condition number is closer to 1, when a small linear motion displacement is generated in the linear motor module 140, the foot receiving portion 110 may also generate a small rotation, thereby having a lower probability of overfitting and being robust to errors. Therefore, precise control can be achieved. When the condition number is different from 1, when the linear motor module 140 generates a small linear motion displacement, the foot receiving portion 110 may inadvertently generate a large rotation, thereby having a higher probability of overfitting and sensitivity to errors. Therefore, precise control is difficult.

[0099] Compare Fig. 12A and Fig. 12BAccording to the graph, when the range of motion (ROM) of the pitch operation is required to be approximately -20° to 40°, in the case where the first link portion 160a' is longer than the second link portion 160b, the condition number between approximately 30° and 40° may be closer to 1 than when the length of the first link portion 160a is equal to the length of the second link portion 160b. For example, when the first link portion 160a' is longer than the second link portion 160b, the sensitivity may be reduced, and precise control may be performed between approximately 30° and 40°. Therefore, further optimization may be performed within the range of motion of approximately -20° to 40°.

[0100] Fig. 12A and Fig. 12B The graph of FIG. 1 shows an example of analysis results to illustrate that the ankle joint motion assisting device 100 can be optimized to adapt to the motion range of the user's ankle by adjusting the length of the link portion 160. However, the present disclosure is not limited to the above numerical values.

[0101] According to an example configuration, two degrees of freedom motion of the ankle may be achieved using a pair of linear motor modules arranged in parallel.

[0102] In addition, according to the example configuration, the drive portion can be designed to be located above the ankle, thereby reducing the user's sense of load and improving wearing comfort.

[0103] In addition, according to the example configuration, since a detachable link portion is provided, the length of the link portion can be changed / replaced to accommodate the range of motion of the ankle, and assistance optimized for the range of motion can be provided.

[0104] While example configurations have been illustrated and described above, it will be apparent to those skilled in the art that modifications and variations can be made without departing from the scope of the present disclosure as defined by the appended claims.

[0105] In addition, in the exemplary configuration of the present disclosure, some components may be deleted, and the components of each embodiment may be combined with each other.

[0106] One aspect of the present disclosure is to provide a wearable ankle joint motion assistance device, which can achieve two-degree-of-freedom motion of the ankle and provide assistance optimized for the user's range of motion.

[0107] According to one aspect of the present disclosure, an ankle joint motion assisting device includes: a foot receiving portion, on which a user's foot is received; a driving portion, which is connected to the foot receiving portion and provides a driving force for the rotation of the foot receiving portion; and a connecting portion, which rotatably connects the foot receiving portion and the driving portion, wherein the connecting portion includes a first connecting portion connected to the foot receiving portion and a second connecting portion connected to the driving portion, the first connecting portion is rotatably connected to the second connecting portion around a first rotation axis and a second rotation axis that are perpendicular to each other, and the driving portion includes a pair of linear motor modules respectively connected to the first connecting portion through a pair of connecting rod portions, and both ends of the pair of connecting rod portions are rotatably connected to the pair of linear motor modules and the first connecting portion.

[0108] The connection portion may further include a coupling portion coupling the first connection portion and the second connection portion, wherein the first connection portion may be rotatably connected to the coupling portion about a first rotation axis, and the second connection portion may be rotatably connected to the coupling portion about a second rotation axis.

[0109] The first connection part can be connected to the joint part by a first connecting member, and the second connection part can be connected to the joint part by a second connecting member, wherein the first connecting member may include a first sensor that detects the degree of rotation of the first connection part relative to the joint part around a first rotation axis, and the second connecting member may include a second sensor that detects the degree of rotation of the second connection part relative to the joint part around a second rotation axis.

[0110] A pair of linear motor modules may include a first linear motor module and a second linear motor module arranged in parallel and driven independently, wherein the first linear motor module may include a first motor, a first shaft configured to rotate together with the first motor, and a first nut linearly moved on the first shaft by rotation of the first shaft, and the second linear motor module may include a second motor, a second shaft configured to rotate together with the second motor, and a second nut linearly moved on the second shaft by rotation of the second shaft.

[0111] The upper ends of the first shaft and the second shaft may be connected to the first motor and the second motor respectively and rotate integrally around the first motor and the second motor, and the lower ends of the first shaft and the second shaft may be rotatably connected to the second connection portion respectively.

[0112] The first linear motor module and the second linear motor module may include ball screw motors.

[0113] The pair of link parts may include: a first link part whose both ends are connected to the first nut of the first linear motor module and one side of the first connecting part; and a second link part whose both ends are connected to the second nut of the second linear motor module and the other side of the first connecting part.

[0114] Both ends of the first link portion and both ends of the second link portion may be detachably connected to a pair of linear motor modules and the corresponding first connection portions in a ball joint manner, respectively.

[0115] Both ends of the first link portion and both ends of the second link portion may be detachably connected to a pair of linear motor modules and the corresponding first connection portions, respectively.

[0116] The linear movement of the first nut occurring in the first linear motor module can be transmitted to the first connecting part through the first connecting rod part, and the linear movement of the second nut occurring in the second linear motor module can be transmitted to the first connecting part through the second connecting rod part, wherein at least one of the linear movement of the first nut or the linear movement of the second nut can be transmitted to the first connecting part to cause the rotational movement of the first connecting part.

[0117] The first link portion and the second link portion may be configured to have the same length or different lengths.

[0118] The length of the first link portion and the length of the second link portion may affect the amount of rotation of the first connection portion relative to the amount of linear movement of the first nut and the amount of linear movement of the second nut.

[0119] The length of the first link portion and the length of the second link portion may be determined based on a range of motion of a user's ankle, wherein at least one of the first link portion or the second link portion may be replaced according to the range of motion.

[0120] When the length of the first link portion is equal to the length of the second link portion, in a basic state where the foot receiving portion is horizontal to the ground, the first nut and the second nut may be located at the same height from the ground.

[0121] When the length of the first link portion is greater than the length of the second link portion, in a basic state where the foot receiving portion is horizontal to the ground, the height of the first nut above the ground may be higher than the height of the second nut above the ground.

[0122] When the first nut and the second nut are linearly moved in the same direction, the foot receiving portion may rotate together with the first connecting portion relative to the second connecting portion about the first rotation axis.

[0123] When the first nut and the second nut are linearly moved in opposite directions, the foot receiving portion may rotate together with the first connecting portion relative to the second connecting portion about the second rotation axis.

[0124] The extent to which the foot receiving portion rotates about the first rotation axis or the second rotation axis may be determined based on the linear movement distance of the first nut and the second nut.

[0125] According to one aspect of the present disclosure, an ankle joint motion assisting device includes: a foot receiving portion, on which a user's foot is received; a driving portion, connected to the foot receiving portion and providing a driving force for a rolling motion and a pitching motion of the foot receiving portion; and a connecting portion, rotatably connecting the foot receiving portion and the driving portion, wherein the connecting portion includes a first connecting portion connected to the foot receiving portion, a second connecting portion connected to the driving portion, and a joining portion rotatably connecting the first connecting portion and the second connecting portion around first and second rotation axes perpendicular to each other, when the first connecting portion rotates relative to the second connecting portion around the first rotation axis, a rolling operation of the foot receiving portion is performed, and when the first connecting portion rotates relative to the second connecting portion around the second rotation axis, a pitching operation of the foot receiving portion is performed.

[0126] The driving part may include a base plate and a pair of linear motor modules coupled to the base plate to be arranged in parallel, wherein the pair of linear motor modules may be located between an ankle and a knee of a user.

Claims

1. An ankle joint movement assisting device, comprising: a foot receiving portion configured to receive a user's foot; a driving portion connected to the foot receiving portion and configured to provide a driving force for rotation of the foot receiving portion; as well as a connecting portion rotatably connecting the foot receiving portion and the driving portion, in, The connection portion includes a first connection portion coupled to the foot receiving portion and a second connection portion coupled to the driving portion. The first connection portion is rotatably connected to the second connection portion around a first rotation axis and a second rotation axis, the first rotation axis and the second rotation axis being perpendicular to each other, The driving portion includes a pair of linear motor modules connected to the first connecting portion through a pair of connecting rod portions, and Ends of the pair of link parts are rotatably connected to the pair of linear motor modules and the first connection part.

2. The device according to claim 1, wherein: The connecting portion further includes a joining portion connecting the first connecting portion and the second connecting portion, The first connection portion is rotatably connected to the engagement portion about the first rotation axis, and The second connection portion is rotatably connected to the engagement portion about the second rotation axis.

3. The device according to claim 2, wherein: the first connection portion is connected to the engagement portion via a first coupling member, the second connection portion is connected to the engagement portion via a second coupling member, The first coupling member includes a first sensor configured to detect an extent to which the first connection portion rotates relative to the engagement portion about the first rotation axis, and The second coupling member includes a second sensor configured to detect an extent to which the second connection portion rotates relative to the engagement portion about the second rotation axis.

4. The device according to claim 2, wherein: The pair of linear motor modules includes a first linear motor module and a second linear motor module which are arranged in parallel and driven independently, The first linear motor module includes a first motor, a first shaft rotating with the first motor, and a first nut linearly moving on the first shaft by rotation of the first shaft, and The second linear motor module includes a second motor, a second shaft rotating together with the second motor, and a second nut linearly moved on the second shaft by rotation of the second shaft.

5. The device according to claim 4, wherein: The upper end portion of the first shaft is connected to the first motor and is configured to rotate integrally with the first motor, the upper end portion of the second shaft is connected to the second motor and is configured to rotate integrally with the second motor, and A lower end portion of the first shaft and a lower end portion of the second shaft are rotatably connected to the second connection portion.

6. The device according to claim 4, wherein: Each of the first linear motor module and the second linear motor module includes a ball screw motor.

7. The device according to claim 4, wherein: The pair of connecting rod parts comprises: a first connecting rod portion, a first end of the first connecting rod portion being connected to a first nut of the first linear motor module, and a second end of the first connecting rod portion being connected to one side of the first connecting portion; and A second connecting rod portion, a first end portion of the second connecting rod portion is connected to a second nut of the second linear motor module, and a second end portion of the second connecting rod portion is connected to the other side of the first connecting portion.

8. The device according to claim 7, wherein: The first end and the second end of the first link portion and the first end and the second end of the second link portion are detachably connected to the pair of linear motor modules and the first connection portion in a ball-joint manner.

9. The device according to claim 7, wherein: The first and second ends of the first link portion and the first and second ends of the second link portion are detachably connected to the pair of linear motor modules and the first connection portion.

10. The device according to claim 7, wherein: The linear motion of the first nut occurring in the first linear motor module is transmitted to the first connecting portion through the first connecting rod portion. The linear motion of the second nut occurring in the second linear motor module is transmitted to the first connecting portion through the second link portion, and At least one of the linear movement of the first nut or the linear movement of the second nut is transmitted to the first connection portion to cause rotational movement of the first connection portion.

11. The device according to claim 7, wherein: The first link portion and the second link portion have the same or different lengths.

12. The device according to claim 7, wherein: The length of the first link portion and the length of the second link portion affect the rotation amount of the first connection portion associated with the linear movement amount of the first nut and the linear movement amount of the second nut.

13. The device according to claim 12, wherein: The length of the first link portion and the length of the second link portion are based on the range of motion of the user's ankle, At least one of the first link portion or the second link portion is replaceable according to the range of motion.

14. The device according to claim 11, wherein: Based on the fact that the length of the first link portion is the same as the length of the second link portion, the first nut and the second nut are located at the same height from the ground when the foot receiving portion is horizontal to the ground.

15. The device according to claim 11, wherein Since the length of the first link portion is greater than the length of the second link portion, when the foot receiving portion is horizontal to the ground, the first nut is located at a position higher from the ground than the second nut.

16. The device according to claim 4, wherein: The foot receiving portion is configured to rotate about the first rotation axis together with the first connection portion and relative to the second connection portion based on linear movement of the first nut and the second nut in the same direction.

17. The device according to claim 16, wherein: The foot receiving portion is configured to rotate about the second rotation axis together with the first connection portion and relative to the second connection portion based on linear movement of the first nut and the second nut in opposite directions.

18. The device according to claim 17, wherein: The extent to which the foot receiving portion rotates about the first rotation axis or the second rotation axis is determined based on linear movement distances of the first nut and the second nut.

19. An ankle joint movement assisting device, comprising: a foot receiving portion configured to receive a user's foot; a driving portion connected to the foot receiving portion and configured to provide a driving force for a rolling motion and a pitching motion of the foot receiving portion; as well as a connecting portion rotatably connecting the foot receiving portion and the driving portion, in, The connecting portion includes a first connecting portion coupled to the foot receiving portion, a second connecting portion coupled to the driving portion, and a joint portion rotatably connecting the first connecting portion and the second connecting portion around a first rotation axis and a second rotation axis, wherein the first rotation axis and the second rotation axis are perpendicular to each other. The foot receiving portion performs the tumbling motion when the first connection portion rotates relative to the second connection portion about the first rotation axis, and The foot receiving portion performs the pitching movement when the first connection portion rotates relative to the second connection portion about the second rotation axis.

20. The device according to claim 19, wherein The driving part includes a base plate and a pair of linear motor modules coupled to the base plate and arranged in parallel, and The pair of linear motor modules are located between the user's ankles and the user's knees.

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