Motion assist device

Abstract

According to an embodiment, an action assistance apparatus may include: a base supporting a back of a user; a connection frame connected to the base body; a driving module connected to the connection frame and generating power for assisting a user's motion; a waist frame connected to the drive module; a waistband connected to the waist frame; a frame body receiving power from the driving module and thereby rotating; a leg frame including a frame holder extending from a frame body; and a thigh fastening member including a fastening frame provided on the thigh of the user, a wearing strap connected to the fastening frame and capable of coming into close contact with the thigh of the user, and a connecting strap extending from the wearing strap and passing between the frame body and the frame holder.

Description

Technical Field

[0001] A particular example embodiment relates to a motion assistive device. Background Technology

[0002] With the advent of an aging society, more and more people are experiencing inconvenience and pain due to weakened muscle strength or joint problems caused by aging, or who have a need for exercise. Therefore, interest in walking aids is growing, as these devices enable elderly users or patients with weakened muscle strength or joint problems to walk more easily and / or assist with exercise. Summary of the Invention

[0003] According to an example embodiment, a motion assist device may include: a base including a support member configured to support a user's back; a connecting frame directly or indirectly connected to the base; a drive module (including a motor and / or circuitry) directly or indirectly connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt directly or indirectly connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame retainer.

[0004] According to an example embodiment, a motion assist device may include: a base configured to support a user's back; a connecting frame directly or indirectly connected to the base; a drive module (including a motor and / or circuitry) directly or indirectly connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame directly or indirectly connected to the drive module; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame retainer, wherein the leg frame is configured to slide and tilt relative to the thigh fastener.

[0005] According to an example embodiment, a motion assist device may include: a base configured to support a user's back; a connecting frame directly or indirectly connected to the base; a drive module directly or indirectly connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame directly or indirectly connected to the drive module; a waist belt directly or indirectly connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and frame retainers at both ends respectively fixed to the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of close contact with the user's thigh, a connecting strap extending from the wearing strap and passing between the frame body and the frame retainers, and a stop configured to set a distance at which the frame retainers can slide, wherein the leg frame may be configured to slide and tilt relative to the thigh fastener.

[0006] According to an example embodiment, a motion assist device may include: a base configured to support a user's back; a connecting frame directly or indirectly connected to the base; a drive module directly or indirectly connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame directly or indirectly connected to the drive module; a waist belt directly or indirectly connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap directly or indirectly connected to the fastening frame and passing through the frame retainer.

[0007] According to an example embodiment, a motion assist device may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, a connecting strap connected to the fastening frame and passing through the frame retainer, and a drag-reducing strap located at least a portion between the frame retainer and the fastening frame.

[0008] Other features and aspects will become apparent from the following detailed description, drawings and claims. Attached Figure Description

[0009] The above and other aspects, features, and advantages of specific exemplary embodiments of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, wherein: Figure 1 This is a diagram illustrating an overview of a motion assistive device worn on a user's body according to an example embodiment; Figure 2 This is a diagram illustrating a motion management system including a motion assist device and electronic devices according to an example embodiment; Figure 3 A rear view of a motion assistive device according to an example embodiment is shown; Figure 4 A left-side view of a motion-assisting device according to an example embodiment is shown; Figure 5 This is a perspective view showing the leg frame and thigh fastener according to an example embodiment; Figure 6 This is a perspective view showing a thigh fastener according to an example embodiment; Figure 7 This is a side view showing the leg frame and thigh fastener according to an example embodiment; Figure 8 This is a side view showing the leg frame and thigh fastener according to an example embodiment; Figure 9 This is a side view showing the leg frame and thigh fastener according to an example embodiment; Figure 10 This is a side view showing the leg frame and support strap according to an example embodiment; Figure 11 This is a perspective view showing the sliding plate, stop, and shock-absorbing pad according to an example embodiment; Figure 12 This is a perspective view showing the leg frame and thigh fastener according to an example embodiment; Figure 13 This is a cross-sectional view showing the leg frame and thigh fastener according to an example embodiment; Figure 14 This is a perspective view showing the sliding plate, connecting strip, and drag-reducing strip according to an example embodiment; and Figure 15 This is an exploded perspective view showing the sliding plate, connecting strip, drag-reducing strip, and cover according to an example embodiment. Detailed Implementation

[0010] The detailed structural or functional descriptions below are provided as examples only, and various changes and modifications can be made to the embodiments. Therefore, the embodiments should not be construed as limiting to this disclosure, and should be understood to include all changes, equivalents, and substitutions within the concept and technical scope of this disclosure.

[0011] Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. It will also be understood that, when used herein, the terms “comprising” and / or “including” specify the presence of the stated feature, integer, step, operation, element, and / or component, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0012] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms (such as those defined in common dictionaries) shall be interpreted as having the same meaning as they have in the context of the relevant field, and shall not be interpreted in an idealized or overly formal sense unless expressly defined herein.

[0013] In the following description, embodiments will be described in detail with reference to the accompanying drawings. When describing embodiments with reference to the accompanying drawings, similar reference numerals denote similar elements, and related repetitive descriptions will be omitted.

[0014] Figure 1 This is a diagram illustrating an overview of a motion assistive device worn on a user's body according to an embodiment.

[0015] Reference Figure 1 In an embodiment, wearable device 10 may be a device worn on the body of user U to assist user U in walking, moving, and / or working. In an embodiment, wearable device 10 may be used to measure user U's physical abilities (e.g., walking ability, motor ability, or movement posture). In an embodiment, the term "wearable device" may be replaced with "wearable robot," "walking aid," or "motion aid." User U may be a person or an animal, but is not limited thereto. Wearable device 10 may be worn on user U's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces (such as assisting forces and / or resistance) to user U's body movements. Assisting forces may be forces applied in the same direction as user U's body movements, which assist user U's body movements. Resistance may be forces applied in the opposite direction to user U's body movements, which impede user U's body movements. The term "resistance" may also be referred to as "motor load."

[0016] In this embodiment, the wearable device 10 can operate in a walking assistance mode to assist user U in walking. In walking assistance mode, the wearable device 10 assists user U in walking by applying an auxiliary force generated from the drive module 91 of the wearable device 10 to user U's body. The wearable device 10 can improve user U's walking ability by providing the force required for walking, allowing user U to walk independently or for extended periods. The wearable device 10 can help improve abnormal walking habits or gait postures of walkers.

[0017] In an embodiment, wearable device 10 can operate in motion-assisted mode to enhance the effect of movement on user U. In motion-assisted mode, wearable device 10 can impede or provide resistance to user U's body movement by applying resistance generated from drive module 91 to user U's body. When wearable device 10 is a hip-type wearable device worn on user U's waist (or pelvis) and legs (e.g., thigh), wearable device 10 can provide motion load to user U's leg movements while being worn on the legs, thereby enhancing the effect of movement on user U's legs. In an embodiment, wearable device 10 can apply assistive force to user U's body to assist user U in movement. For example, when a disabled person or an elderly person wants to wear wearable device 10 for exercise, wearable device 10 can provide assistive force to assist body movements during the exercise process. In an embodiment, wearable device 10 can provide assistive force and resistance for each exercise period or time period in combination, such as providing assistive force in some exercise periods and resistance in other exercise periods.

[0018] In this embodiment, the wearable device 10 can operate in a fitness measurement mode to measure the fitness of user U. When user U is walking or exercising, the wearable device 10 can use sensors (e.g., angle sensor 93 and inertial measurement unit (IMU) 94) located within the wearable device 10 to measure user U's motion information and can assess user U's fitness based on the measured motion information. For example, user U's gait index or athletic ability index (e.g., muscle strength, endurance, balance, or movement) can be estimated using the motion information measured by the wearable device 10. The fitness measurement mode may include a motion posture measurement mode for measuring user U's movement posture.

[0019] In various embodiments, for ease of description, wearable device 10 is described as an example of a hip-type wearable device, such as... Figure 1 As shown, but the embodiments are not limited thereto. As described above, the wearable device 10 can be worn on another body part (e.g., upper arm, lower arm, hand, calf, and foot) other than the waist and legs (especially the thigh), and the shape and configuration of the wearable device 10 can vary depending on the body part on which the wearable device 10 is worn.

[0020] In an embodiment, the wearable device 10 may include: a support frame (e.g., Figure 3 The leg frame 16 and the connecting frame 12 are configured to assist the user U's body movements when the wearable device 10 is worn on the user U's body; a sensor module is configured to acquire sensor data including motion information about the user U's body movements (e.g., leg movements and upper body movements); and a drive module 91 (e.g., Figure 3 The device may include a drive module 13 (which may include a motor and / or circuitry) configured to generate torque to be applied to the leg of the user U; and a control module 92 configured to control the wearable device 10.

[0021] In an embodiment, the wearable device 10 may include an angle sensor 93 and an IMU 94. The angle sensor 93 is configured to measure joint angles of the user U, and the IMU 94 is configured to measure changes in acceleration and rotational speed based on the user U's body movements. The angle sensor 93 may measure the rotational angle (or angular velocity) of the leg frame of the wearable device 10 corresponding to the user U's hip joint angle value. The rotational angle of the leg frame measured by the angle sensor 93 may be estimated as the user U's hip joint angle value (or leg angle value). The angle sensor 93 may include, for example, an encoder and / or a Hall sensor. In an embodiment, the angle sensor 93 may be present near each of the user U's right and left hip joints. The IMU 94 may include an acceleration sensor and / or an angular velocity sensor (e.g., a gyroscope sensor) and may measure changes in acceleration and / or angular velocity (or rotational speed) based on the user U's movements. The IMU 94 may measure, for example, the connection frame (or base) of the wearable device 10. Figure 3 The motion values ​​of the base 11 (including the support members) correspond to the upper body motion values ​​of the user U. The motion values ​​of the connecting frame measured by the IMU 94 can be estimated as the upper body motion values ​​of the user U. In this document, "IMU" may also be referred to as "inertial sensor".

[0022] In this embodiment, the control module 92 and the IMU 94 may be disposed in the base of the wearable device 10 (e.g., Figure 3 The base (11) is located on the waist region (lower back region) of the user U when the user U is wearing the wearable device 10. The base can be formed or attached to the outside of the connection frame of the wearable device 10. The base can be mounted on the waist region of the user U to provide cushioning to the lower back of the user U and can support the lower back of the user U together with the connection frame.

[0023] Figure 2 This is a diagram illustrating a motion management system including motion assistive devices and electronic devices according to an embodiment.

[0024] Reference Figure 2 The motion management system 20 may include a wearable device 10 to be worn on a user's body, an electronic device 21, other wearable devices 22, and a server 23. In embodiments, at least one of these devices and equipment (e.g., other wearable devices 22 or server 23) may be omitted from the motion management system 20, or one or more other devices (e.g., a dedicated controller device for the wearable device 10, including processing circuitry) may be added to the motion management system 20.

[0025] In this embodiment, the wearable device 10 can be worn on the user's body to assist the user's movements in a walking assistance mode. For example, the wearable device 10 can be worn on the user's legs to generate assistive forces to assist the user's leg movements, thereby helping the user walk.

[0026] In this embodiment, the wearable device 10 can generate resistance to impede the user's body movements or an assistive force to assist the user's body movements, and apply the generated resistance or assistive force to the user's body to enhance the exercise effect in exercise assistance mode. In exercise assistance mode, the user can select, via electronic device 21, the exercise plan to be performed using the wearable device 10 (e.g., squats, split lunges, dumbbell squats, lunge knee raises, extensions, etc.) and / or the exercise intensity to be applied to the wearable device 10. The wearable device 10 can control its drive module according to the exercise plan selected by the user and obtain sensor data including the user's movement information through its sensor module. The wearable device 10 can adjust the intensity of the resistance or assistive force applied to the user according to the exercise intensity selected by the user. For example, the wearable device 10 can control the drive module to generate resistance corresponding to the exercise intensity selected by the user.

[0027] In this embodiment, the wearable device 10 can be used to measure a user's physical fitness by interacting with the electronic device 21. The wearable device 10 can operate in a fitness measurement mode (a mode for measuring a user's physical fitness) under the control of the electronic device 21, and can transmit sensor data obtained through the user's movements in the fitness measurement mode to the electronic device 21. The electronic device 21 can estimate the user's physical fitness by analyzing the sensor data received from the wearable device 10.

[0028] In this embodiment, the electronic device 21 can communicate with the wearable device 10 and remotely control the wearable device 10 or provide the user with status information about the status of the wearable device 10 (e.g., startup status, charging status, sensing status, or error status). The electronic device 21 can receive sensor data obtained by sensors in the wearable device 10 and estimate the user's physical fitness or exercise results based on the received sensor data. In this embodiment, when the user exercises while wearing the wearable device 10, the wearable device 10 can use sensors to obtain sensor data including the user's motion information and send the obtained sensor data to the electronic device 21. The electronic device 21 can extract the user's motion values ​​from the sensor data and evaluate the user's movement posture based on the extracted motion values. The electronic device 21 can provide the user with motion posture measurements and motion posture evaluation information related to the user's movement posture through a graphical user interface (GUI).

[0029] In this embodiment, a user can run a program (e.g., an application) in the electronic device 21 to control the wearable device 10, and can adjust the operation or settings of the wearable device 10 (e.g., from...) through the program. Figure 3 The drive module 13 outputs torque, the audio volume output from the sound output module, and the lighting unit. A program running on the electronic device 21 provides a GUI for user interaction. The electronic device 21 can be of various forms. For example, it may include portable communication devices (e.g., smartphones), computer devices, access points, portable multimedia devices, or home appliances (e.g., televisions, audio devices, or projector devices), but is not limited thereto.

[0030] In this embodiment, the electronic device 21 can connect to the server 23 using short-range wireless communication or cellular communication. The server 23 can receive user profile information of the user using the wearable device 10 from the electronic device 21, and store and manage the received user profile information. The user profile information may include, for example, information about at least one of name, age, gender, height, weight, or body mass index (BMI). The server 23 can receive exercise history information about the user's physical activity from the electronic device 21, and store and manage the received exercise history information. The server 23 can provide the electronic device 21 with various exercise plans or fitness measurement plans available to the user.

[0031] In embodiments, wearable device 10 and / or electronic device 21 may be directly or indirectly connected to other wearable devices 22. Other wearable devices 22 may be, for example, wireless earphones 222, smartwatches 224, or smart glasses 226, but are not limited thereto. In embodiments, smartwatch 224 may measure biosignals including the user's heart rate information and send the measured biosignals to electronic device 21 and / or wearable device 10. Electronic device 21 may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, and average heart rate) based on the biosignals received from smartwatch 224 and provide the estimated heart rate information to the user.

[0032] In this embodiment, the user's motion results information, physical fitness information (e.g., walking assessment information), and / or movement posture assessment information evaluated by the electronic device 21 can be sent to other wearable devices 22 and provided to the user through those other wearable devices 22. The status information of the wearable device 10 can also be sent to other wearable devices 22 and provided to the user through those other wearable devices 22. In this embodiment, the wearable device 10, the electronic device 21, and other wearable devices 22 can be connected to each other wirelessly (e.g., Bluetooth communication or Wi-Fi communication).

[0033] In an embodiment, the wearable device 10 may provide (or output) feedback (e.g., visual, auditory, or tactile feedback) corresponding to the state of the wearable device 10 based on control signals received from the electronic device 21. For example, the wearable device 10 may provide visual feedback via an illumination unit and auditory feedback via a sound output module. The wearable device 10 may include a tactile module and provide tactile feedback to the user's body in the form of vibration. The electronic device 21 may also provide (or output) feedback (e.g., visual, auditory, or tactile feedback) corresponding to the state of the wearable device 10.

[0034] In this embodiment, electronic device 21 can present personalized exercise goals to the user in an exercise-assisted mode. Personalized exercise goals may include a target amount of exercise determined by electronic device 21 and / or server 23 for the user's desired exercise type (e.g., strength training, balance training, and aerobic exercise). When server 23 determines the target amount of exercise, it may send information about the determined target amount of exercise to electronic device 21. Electronic device 21 may personalize and present the target amount of exercise for the exercise type (such as strength training, aerobic exercise, and balance training) based on the desired exercise plan (e.g., squats, straddle lunges, and lunge with knee raises) and / or the user's body characteristics (e.g., age, height, weight, and BMI). Electronic device 21 may display a GUI screen on a display showing the target amount of exercise for each exercise type.

[0035] In an embodiment, the electronic device 21 and / or server 23 may include a database storing information about multiple exercise plans to be provided to the user via the wearable device 10. To achieve the user's exercise goals, the electronic device 21 and / or server 23 may recommend exercise plans suitable for the user. Exercise goals may include at least one of, for example, increased muscle strength, improved physical fitness, improved cardiovascular endurance, improved core stability, improved flexibility, or improved symmetry. The electronic device 21 and / or server 23 may store and manage exercise plans executed by the user, the results of executing the exercise plans, etc.

[0036] In this embodiment, electronic device 21 can interact with wearable device 10 to assess a user's walking ability. For example, electronic device 21 can estimate a gait index based on sensor data obtained from sensor modules of the wearable device 10 worn by the user. This gait index is an indicator of the user's walking state. The gait index can be a criterion used to determine the quality of walking performed by the user. The gait index estimated by electronic device 21 may include at least one of, for example, walking speed, step time, stride length, stride length, walking distance, gait symmetry index, gait variability index, or walking ratio. Electronic device 21 can calculate the gait index in real time while the user is walking wearing wearable device 10.

[0037] In this embodiment, when a user walks (or exercises) while wearing wearable device 10, wearable device 10 can use sensors to obtain sensor data including motion information related to the user's walking, and send the obtained sensor data to electronic device 21. Electronic device 21 can estimate the user's walking assessment information based on the sensor data and provide the estimated walking assessment information to the user. The walking assessment information may include, for example, various gait indices related to the user's walking when the user is wearing wearable device 10 (e.g., walking speed, step time, stride length or stride length, gait symmetry index, gait variability index, and walking ratio). Electronic device 21 can provide feedback information to the user based on the walking assessment information to improve the user's walking status. For example, when it is determined that the measured stride length or stride length of the user is less than the expected stride length or stride length, electronic device 21 may suggest that the user walk with a wider stride length or stride length.

[0038] In this embodiment, wearable device 10 and electronic device 21 can use the angle sensors (e.g., angle sensor 93) and IMU (e.g., IMU 94) of wearable device 10 to estimate gait indices (such as walking speed) without using Global Positioning System (GPS) sensors for tracking the user's location. Therefore, gait indices can be estimated both outdoors and indoors. Furthermore, even when the user is walking in a fixed location (such as on a treadmill), wearable device 10 and electronic device 21 can estimate gait indices that reflect the user's individual characteristics. Electronic device 21 can provide the user of wearable device 10 with assessment information about the user's walking status, thereby increasing the user's interest in walking or exercise.

[0039] Figure 3 A rear view of the motion assistive device according to an embodiment is shown, and Figure 4 A left-side view of a motion assistive device according to an embodiment is shown.

[0040] Reference Figure 3 and Figure 4 The wearable device 10 according to an embodiment may include a base 11 including a support member, a connecting frame 12, a drive module 13, a waist frame 14, a waist belt 15, a leg frame 16, and a thigh fastener 17. In embodiments, at least one of the above-described components may be omitted from the wearable device 10, or one or more other components (e.g., a haptic module) may be added to the wearable device 10. Each “drive module” herein may include a motor and / or circuitry.

[0041] In this embodiment, when a user is wearing the wearable device 10, the base 11 may be located in the user's waist area. The base 11 can be mounted in the user's waist area to provide cushioning and support to the user's lower back. When a user is wearing the wearable device 10, the base 11 may be attached to the user's hip area to prevent or reduce the possibility of the wearable device 10 slipping down due to gravity. When a user is wearing the wearable device 10, the base 11 can distribute a portion of the weight of the wearable device 10 to the user's lower back. The base 11 may be directly or indirectly connected to the connecting frame 12. Connecting frame elements (not shown) that can be directly or indirectly connected to the connecting frame 12 may be provided at both ends of the base 11.

[0042] In one embodiment, the connecting frame 12 may extend from both ends of the base 11. The user's waist region may be accommodated within the connecting frame 12. The connecting frame 12 may include at least one rigid beam. The connecting frame 12 may extend from one end and the other end of the base 11, respectively. Each beam may have a curved shape with a preset curvature to surround the user's waist region. The drive module 13 may be directly or indirectly connected to the connecting frame 12.

[0043] In the embodiment, the control module, IMU (not shown) (e.g., Figure 1 An IMU 94, a communication module (not shown), and a battery (not shown) may be disposed inside the base 11. The base 11 may protect the control module, the IMU, the communication module, and the battery. The control module may generate control signals to control the operation of the wearable device 10. The control module may include control circuitry including a processor and memory to control the actuators of the drive module 13. The control module may also include a power module (not shown) to supply power from the battery to each component of the wearable device 10. Each “processor” herein includes processing circuitry and / or may include multiple processors. For example, as used herein (including the claims), the term “processor” may include various processing circuitry including at least one processor, wherein one or more of the at least one processor may be configured individually and / or in a distributed manner to perform the various functions described herein. As used herein, when “processor,” “at least one processor,” and “one or more processors” are described as being configured to perform a number of functions, these terms cover, for example, but not limited to, a case where one processor performs some of the functions while another processor performs other of the functions, and a case where a single processor can perform all of the functions. Additionally, at least one processor may include, for example, a combination of processors that perform various described / disclosed functions in a distributed manner. At least one processor may execute program instructions to implement or perform various functions.

[0044] In an embodiment, the wearable device 10 may include a sensor module (not shown) that acquires sensor data from one or more sensors. The sensor module may acquire sensor data that varies according to the user's movements. In an embodiment, the sensor module may acquire sensor data including user movement information and / or movement information of components of the wearable device 10. The sensor module may include, for example, an IMU for measuring the user's upper body movement values ​​or the movement values ​​of the connecting frame 12 (e.g., Figure 1 The IMU 94) and an angle sensor (e.g., for measuring the user's hip angle or the motion values ​​of the leg frame 16) are used. Figure 1 Angle sensor 93), but not limited to. For example, the sensor module may also include at least one of a position sensor, a temperature sensor, a biosignal sensor, and a proximity sensor.

[0045] In one embodiment, the waist frame 14 may be directly or indirectly connected to the drive module 13. The waist frame 14 may surround at least a portion of the user's waist. The waist frame 14 may comprise a material that is more rigid than the waist belt 15. The waist frame 14 may support the waist belt 15.

[0046] In one embodiment, the belt 15 may be positioned in front of the user's waist. For example, the belt 15 may include a Velcro structure. One of the two belts 15 may have a hook-shaped surface, and the other may have an annular surface.

[0047] In an embodiment, the drive module 13 may generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the drive module 13 may generate an assisting force or resistance applied to the user's legs. In an embodiment, the drive module 13 may be located at a position corresponding to the user's hip joint position. The drive module 13 may include an actuator (e.g., a motor) and a joint member. The actuator may provide power to the joint member. The actuator may include a motor that generates power (or torque) by receiving power from a battery. When the motor is driven by receiving power, the motor may generate a force (assisting force) to assist the user's body movements or a force (resistance) to impede the user's body movements. In an embodiment, the control module may adjust the intensity and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0048] In this embodiment, the joint member can receive power from the actuator and apply external force to the user's body based on the received power. The joint member can be positioned corresponding to the user's joint portion. One side of the joint member can be directly or indirectly connected to the actuator, and the other side of the joint member can be directly or indirectly connected to the leg frame 16. The joint member can rotate by the power received from the actuator. An encoder or Hall sensor can be provided on one side of the joint member, which can act as an angle sensor to measure the rotation angle of the joint member (corresponding to the user's joint angle).

[0049] In one embodiment, the actuator may be arranged in the lateral direction of the joint member. The rotation axis of the actuator and the rotation axis of the joint member may be spaced apart from each other. However, the embodiment is not limited to this, and the actuator and the joint member may share the rotation axis. In another embodiment, the actuator may be spaced apart from the joint member. In this case, the drive module 13 may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body (such as a gear) or a longitudinal component (such as a wire, cable, rope, spring, belt, or chain). However, the scope of the embodiment is not limited to the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0050] In an embodiment, when the wearable device 10 is worn on a user's leg, a leg frame 16 may be positioned along the user's leg (e.g., thigh). The leg frame 16 may, for example, transmit power (torque) generated by the drive module 13 to the user's thigh. The power generated by the drive module 13 may be used as an external force applied to the user's leg movements. One end of the leg frame 16 may be directly or indirectly connected to a joint member and rotated, and when the other end of the leg frame 16 is directly or indirectly connected to a thigh fastener 17, the leg frame 16 may transmit power generated from the drive module 13 to the user's thigh. For example, the leg frame 16 may push or pull the user's thigh. The leg frame 16 may extend longitudinally along the user's thigh. The leg frame 16 may bend to surround at least a portion of the circumference of the user's thigh. The upper portion of the leg frame 16 may cover the side surface of the user's thigh, and the lower portion of the leg frame 16 may cover the front surface of the user's thigh. The central portion of the leg frame 16 may have a twisted shape.

[0051] In one embodiment, the thigh fastener 17 may be directly or indirectly connected to the leg frame 16 and may secure the leg frame 16 to the user's thigh. In another embodiment, the thigh fastener 17 may include a fastening frame 171 and a wearing strap 172.

[0052] In one embodiment, the fastening frame 171 can apply torque generated from the drive module 13 to the user's thigh. The fastening frame 171 can be positioned on one side of the user's thigh and push or pull the user's thigh. For example, the fastening frame 171 can be positioned on the front surface of the user's thigh. The fastening frame 171 can be positioned along the circumference of the user's thigh. The fastening frame 171 can extend to both sides based on the other end of the leg frame 16 and can include a curved surface corresponding to the user's thigh.

[0053] In one embodiment, the wearing strap 172 may be directly or indirectly attached to the fastening frame 171 and may be in close contact with the user's thigh. The wearing strap 172 may surround the remaining portion not surrounded by the fastening frame 171. The wearing strap 172 may include, for example, an elastic material.

[0054] Figure 5 This is a perspective view showing the leg frame and thigh fasteners according to an embodiment, and Figure 6 This is a perspective view showing a thigh fastener according to an embodiment.

[0055] Reference Figure 5 and Figure 6 According to an embodiment, the leg frame 16 can be detachably connected to the thigh fastener 17 via a ring structure. The leg frame 16 may include a frame body 161 and a frame retainer 162.

[0056] In an embodiment, the frame body 161 can be driven by a drive module (e.g., Figure 4 The drive module 13) receives power to rotate. The frame body 161 extends toward the fastening frame 171 while surrounding the outer surface of the user's thigh. The end of the frame body 161 may face the thigh fastener 17.

[0057] In one embodiment, the frame retainer 162 may extend from the frame body 161 toward the thigh fastener 17. The frame retainer 162 may have a shape that projectes protruding toward the thigh fastener 17. For example, the frame retainer 162 may be formed of the same material as the frame body 161. Both ends of the frame retainer 162 may be secured to the frame body 161. One end and the other end of the frame retainer 162 may be arranged in a vertical direction. Here, the vertical direction may be parallel to the direction of... Figure 5 The z-axis. According to this structure, the frame body 161 and the frame retainer 162 can form an annular structure with the two ends of the frame retainer 162 as boundaries. A connecting strap 173 can pass through the space between the frame body 161 and the frame retainer 162. To prevent or reduce the possibility of the frame retainer 162 separating from the connecting strap 173, the two ends of the connecting strap 173 can be directly or indirectly connected to the fastening frame 171. In an embodiment, the fastening frame 171 may include a sliding plate 1711 and a shock-absorbing pad 1712.

[0058] In this embodiment, the sliding plate 1711 may face the frame body 161. The frame retainer 162 may slide on the sliding plate 1711. Furthermore, as described below, the sliding distance of the frame retainer 162 may be limited by the stop 174 based on the y-axis direction.

[0059] In one embodiment, the shock-absorbing pad 1712 may be attached to the inner surface of the sliding plate 1711. The shock-absorbing pad 1712 may be in close contact with the user's thigh. The shock-absorbing pad 1712 may include a soft material. When the sliding plate 1711 is pressed against the user's thigh due to external force, the shock-absorbing pad 1712 may be compressed and absorb a portion of the external force. This improves the wearability of the motion assistive device. In one embodiment, the shock-absorbing pad 1712 may be replaceable. A shock-absorbing pad 1712 adapted to the shape of the user's thigh and type of movement can be used.

[0060] In this embodiment, a connecting strap 173 extends from the wearing strap 172 and supports the frame retainer 162. One end of the connecting strap 173 can be secured to one end of the wearing strap 172. The other end of the connecting strap 173 can be detachably connected to a removable frame surface 1713 disposed on a sliding plate 1711. When the connecting strap 173 is directly or indirectly connected to the removable surface, the other end of the wearing strap 172 can be directly or indirectly connected to the other end of the connecting strap 173. With this configuration, the leg frame 16 and the thigh fastener 17 can be easily connected and disconnected from each other. For example, when the leg frame 16 is connected to the thigh fastener 17, the other end of the connecting strap 173 can be disconnected from the fastening frame 171 and the wearing strap 172 and then pass through the space between the frame body 161 and the frame retainer 162. Subsequently, the other end of the wearing strap 172 can be reattached to the fastening frame 171 and the connecting strap 173, and the leg frame 16 can remain connected to the thigh fastener 17 without being disconnected from it. The connecting belt 173 may include a support belt 1731 and a fixing belt 1732.

[0061] In one embodiment, the support strap 1731 may be directly or indirectly connected to one end of the wearing strap 172 and may support the frame retainer 162. The support strap 1731 may support the frame retainer 162 in a direction toward the sliding plate 1711. In one embodiment, the frame retainer 162 may be made of a more rigid material than the support strap 1731. The support strap 1731 may be made of a relatively softer material than the frame retainer 162, thus supporting the frame retainer 162 as it moves in various directions. The leg frame 16 may be flexible relative to the thigh fastener 17. Squeaking noise caused by friction between the frame retainer 162 and the support strap 1731 may be reduced.

[0062] In one embodiment, the retaining strap 1732 may extend from the support strap 1731 and may be detachably connected directly or indirectly to the frame removable surface 1713. The other end of the wearing strap 172 may be directly or indirectly connected to the fastening frame 171 via the retaining strap 1732. A first removable surface 1733 may be disposed on one surface of the retaining strap 1732, and a second removable surface 1734 may be disposed on the other surface of the retaining strap 1732. In one embodiment, at least a portion of the first removable surface 1733 may overlap with at least a portion of the second removable surface 1734, based on a direction parallel to the x-axis. The first removable surface 1733 may be connected to the frame removable surface 1713. For example, the first removable surface 1733 and the frame removable surface 1713 may include a hook-and-loop fastener structure. The other end of the wearing strap 172 may be connected to the second removable surface 1734. According to this configuration, the two surfaces of the retaining strap 1732 may be supported by the fastening frame 171 and the wearing strap 172, respectively. When the frame retainer 162 pulls the support strap 1731 to apply an external force to the fixing strap 1732, the fixing strap 1732 may not easily detach from the position where the fixing strap 1732 is attached to the fastening frame 171.

[0063] In one embodiment, the other end of the wearing strap 172 may be detachably attached to the second strap removable surface 1734. Because the wearing strap 172 is detachably attached to the second strap removable surface 1734, the thigh fastener 17 can be easily worn on the user's thigh. For example, when a user attempts to wear the thigh fastener 17 on their thigh, the other end of the wearing strap 172 may be separated from the second strap removable surface 1734, wrapped around the user's thigh, and may be reattached to the second strap removable surface 1734.

[0064] In an embodiment, the wearing strap 172 may be configured to be of adjustable length. For example, the wearing strap 172 may include multiple straps and connecting members (e.g., loops, retaining pins, buckles, dials, etc.) connecting two adjacent straps. In an embodiment, the wearing strap 172 may include a main strap 1721, an auxiliary strap 1722, and a strap connecting loop 1726.

[0065] In this embodiment, the length of the main strap 1721 may be greater than the length of the auxiliary strap 1722. One end of the main strap 1721 and one end of the auxiliary strap 1722 may be disposed opposite each other relative to the frame retainer 162. For example, one end of the main strap 1721 may be secured to a surface of the fastening frame 171. A first removable surface 1723 disposed on one end of the auxiliary strap 1722 may be attached to a second removable surface 1734. For example, the first removable surface 1723 and the second removable surface 1734 may comprise a hook-and-loop fastener structure.

[0066] In an embodiment, the other end of the main belt 1721 and the other end of the auxiliary belt 1722 can be connected to each other via a belt connecting loop 1726. For example, the belt connecting loop 1726 may include two holes formed side by side. The other end of the auxiliary belt 1722 may pass through one of the holes in the belt connecting loop 1726 and then bend in the opposite direction to form a loop. The belt connecting loop 1726 may be connected to the loop formed on the auxiliary belt 1722 and may not be separated from the auxiliary belt 1722. The other end of the main belt 1721 may pass through the other hole in the hole of the belt connecting loop 1726 and then bend in the opposite direction to form a loop. Here, the second belt removable surface 1724 and the third removable surface disposed on the outer surface of the main belt 1721 may be removably connected to each other. For example, the second belt removable surface 1724 and the third removable surface may include a hook-and-loop fastener structure. In an embodiment, the third belt removable surface 1725 may be provided in plurality, spaced apart from each other along the longitudinal direction of the main belt 1721. The wearing strap 172 can fit snugly into the thigh of a user corresponding to various thigh circumferences. In the accompanying drawings, the number of removable surfaces 1725 of the third strap is shown as four, but the number is not limited to this.

[0067] Figures 7 to 9 This is a side view showing the leg frame and thigh fastener according to an embodiment, and Figure 10 This is a side view showing the leg frame and support strap according to an embodiment.

[0068] Reference Figures 7 to 10 According to the embodiment, the leg frame 16 may be able to slide and tilt relative to the thigh fastener 17. Here, based on Figure 5 Tilting can refer to rotation (pitch rotation) relative to the y-axis, which is the axis of rotation. In an embodiment, the leg frame 16 can move relative to the thigh fastener 17 as the frame retainer 162 moves in the space between the support strap 1731 and the fastening frame 171.

[0069] In an embodiment, the frame retainer 162 may be configured to slide relative to the fastening frame in at least two directions. For example, the frame retainer 162 may be configured to slide in a first direction parallel to the longitudinal direction of the connecting strap 173 and a second direction intersecting the first direction. Here, based on Figure 5 The first and second directions can be directions parallel to the y-axis and z-axis, respectively.

[0070] In this embodiment, the two ends of the frame retainer 162 can be connected to the frame body 161, so the distance that the support strap 1731 can slide along the frame retainer 162 can be limited between the two ends of the frame retainer 162. Considering the thickness of the support strap 1731, the distance L1 that the frame retainer 162 can slide in the second direction can be less than the distance L2 between the two ends of the frame retainer 162.

[0071] In this embodiment, the leg frame 16 can simultaneously slide and tilt relative to the thigh fastener 17. For ease of description, the description is based on the movement of the thigh fastener 17 relative to the leg frame 16. For example, as Figure 7 As shown, the thigh fastener 17 can be in a horizontal state, having a virtual reference line H extending from the leg frame 16 toward the front surface of the thigh fastener 17. In this state, when the thigh fastener 17 is pulled upward, the support band 1731 slides upward along the curved surface of the frame retainer 162, thus the thigh fastener 17 can slide and tilt upward relative to the virtual reference line H, as... Figure 8 As shown. Conversely, in Figure 7 In the state shown, when the thigh fastener 17 is pulled down, the support band 1731 slides downward along the curved surface of the frame retainer 162, so the thigh fastener 17 can slide downward and tilt relative to the virtual reference line H, as shown. Figure 9 As shown.

[0072] In one embodiment, the leg frame 16 is rotatable relative to the thigh fastener 17. Here, based on Figure 5 Rolling rotation can refer to rotation relative to the x-axis, which is the axis of rotation. The range of sliding and rolling rotation of the leg frame 16 in the first direction can be determined by a stop (e.g., Figure 5 The stop 174) is limited. The stop is described in detail below.

[0073] Figure 11 This is a perspective view showing the sliding plate, stop, and shock-absorbing pad according to an embodiment. Furthermore, it should be noted that the removable surfaces of the frame directly or indirectly disposed on the surface of the sliding plate are omitted.

[0074] Reference Figure 11 Thigh fasteners according to embodiments (e.g., Figure 5 The thigh fastener 17 may also include a stop 174. At least a portion of the stop 174 may be removed from the fastening frame (e.g., Figure 5 The fastening frame 171) is oriented toward the frame body (e.g., Figure 5 The frame body 161 protrudes. The stop 174 reduces the range of rolling rotation and sliding along the first direction of the frame retainer relative to the thigh fastener. The stop 174 reduces the amount of force emanating from the leg frame (e.g., Figure 5 The leg frame 16) loses power transmitted to the thigh fastener. The stop 174 may include a support body 1741, a first body protrusion pair 1742, and a second body protrusion pair 1743.

[0075] In one embodiment, a support body 1741 may be disposed between a sliding plate 1711 and a shock-absorbing pad 1712. A first body protrusion pair 1742 may protrude from the base. Each of the first body protrusion pairs 1742 may pass through a hole formed by the sliding plate 1711. Based on a first direction, a frame retainer may be disposed between the first body protrusion pairs 1742. The movement of the frame retainer along the first direction may be limited by the first body protrusion pairs 1742, and the frame retainer may not shift along the first direction between the first body protrusion pairs 1742. With this structure, the first body protrusion pairs 1742 may set the distance by which the frame retainer can slide along the first direction and the range of rotation of the frame retainer.

[0076] In one embodiment, a second pair of main body protrusions 1743 may protrude from a support body 1741. Each of the second pair of main body protrusions 1743 may pass through a hole formed by a sliding plate 1711. The second pair of main body protrusions 1743 may be positioned at a location spaced apart from the first pair of main body protrusions 1742 along a second direction. Based on the first direction, a frame retainer may be disposed between the second pair of main body protrusions 1743. Movement of the frame retainer along the first direction may be limited by the second pair of main body protrusions 1743, and the frame retainer may not be offset along the first direction between the second pair of main body protrusions 1743. As used herein, "based on" encompasses at least based on.

[0077] In an embodiment, the second main body protrusion 1743 may be based on a support band (e.g., Figure 5 A support band 1731 is disposed on opposite sides of the first main body protrusion pair 1742. Based on a second direction, the first main body protrusion pair 1742 and the second main body protrusion pair 1743 can support the two ends of the support band. The range of movement of the support band along the second direction can be limited by the first main body protrusion pair 1742 and the second main body protrusion pair 1743. For example, upward movement of the support band can be limited by the first main body protrusion pair 1742, and downward movement of the support band can be limited by the second main body protrusion pair 1743. The support band can remain extended along the first direction between the first main body protrusion pair 1742 and the second main body protrusion pair 1743 without deviating along the second direction.

[0078] In this embodiment, the stop 174 can be made replaceable. During prolonged use of the motion assist device, the first main body protrusion pair 1742 and the second main body protrusion pair 1743 may be damaged and worn due to repeated contact with the frame retainer. The shock-absorbing pad 1712 is separated from the sliding plate 1711, and then only the stop 174 can be replaced. Maintenance and repair of the motion assist device can be easily performed.

[0079] Figure 12 This is a perspective view showing the leg frame and thigh fasteners according to an embodiment. Figure 13This is a cross-sectional view showing the leg frame and thigh fastener according to an embodiment, and Figure 14 This is a perspective view showing the sliding plate, connecting strip, and drag-reducing strip according to an embodiment.

[0080] Reference Figures 12 to 14 According to the embodiment, the connecting strap 373 can support the frame retainer 362, which moves in various directions. The leg frame 36 can move flexibly relative to the thigh fastener 37.

[0081] In one embodiment, the connecting strap 373 may be attached to the fastening frame 371 and may pass through the frame retainer 362. The connecting strap 373 may not extend from the wearing strap 372. One end and the other end of the connecting strap 373 may be attached to the interior of the fastening frame 371. The wearing strap 372 may be attached to the side surface of the fastening frame 371. This configuration improves the appearance of the thigh fastener 37 and reduces the impact of the connecting strap 373 on the wearing strap 372. In another embodiment, the connecting strap 373 may include a central portion 3731 and fixing portions 3732a and 3732b.

[0082] In one embodiment, the central portion 3731 may pass between the frame body 361 and the frame retainer 362. The central portion 3731 may be in close contact with the frame retainer 362 relative to the fastening frame 371.

[0083] In an embodiment, fixing portions 3732a and 3732b may extend from the central portion 3731 and may be secured to the interior of the fastening frame 371. For example, fixing portions 3732a and 3732b may be configured as a pair. The fixing portion pair 3732a and 3732b may extend from one end and the other end of the central portion 3731, respectively. The fixing portion pair 3732a and 3732b may be referred to as the first fixing portion 3732a and the second fixing portion 3732b, respectively. The fastening frame 371 may include a sliding plate 3711 and a shock-absorbing pad 3712.

[0084] In one embodiment, the sliding plate 3711 may face the frame body 361. In another embodiment, the sliding plate 3711 may include a plate body 3711a, a pair of guide holes 3711b and 3711c, a guide 3711d, a support rib 3711e, and a locking protrusion 3711f.

[0085] In one embodiment, the plate body 3711a may support the wearing strap 372. For example, holes may be formed through the two side surfaces of the plate body 3711a, and the wearing strap 372 may pass through the holes and be connected to the plate body 3711a.

[0086] In one embodiment, fixing portions 3732a and 3732b may be attached to the rear surface of the plate body 3711a. For example, fixing portions 3732a and 3732b and the plate body 3711a may be bonded together by heat fusion adhesive. In another example, fixing portions 3732a and 3732b and the plate body 3711a may be detachably disposed relative to each other by a hook-and-loop fastener structure. For example, an annular surface may be formed on the plate body 3711a, and hook-shaped surfaces may be formed on the fixing portions 3732a and 3732b. Furthermore, the first fixing portion 3732a may be attached to the plate body 3711a by heat fusion adhesive, and the second fixing portion 3732b may be attached to the plate body 3711a by a hook-and-loop fastener structure.

[0087] In an embodiment, guide holes 3711b and 3711c may be formed to pass through the plate body 3711a. Guide holes 3711b and 3711c may extend along a second direction. A connecting strip 373 may pass through guide holes 3711b and 3711c. Guide holes 3711b and 3711c may be referred to as a first guide hole 3711b and a second guide hole 3711c, respectively. The first guide hole 3711b may be adjacent to a first fixing portion 3732a, and the second guide hole 3711c may be adjacent to a second fixing portion 3732b.

[0088] In this embodiment, when the leg frame 36 is fastened to the thigh fastener 37, with the first fixing portion 3732a attached to the rear surface of the plate body 3711a, the user can extend the connecting strap 373 from the rear surface of the plate body 3711a through the first guide hole 3711b to the front surface of the plate body 3711a. Subsequently, the user can pass the connecting strap 373 between the frame body 361 and the frame retainer 362, and then extend the connecting strap 373 from the front surface of the plate body 3711a through the second guide hole 3711c to the rear surface of the plate body 3711a. Finally, the second fixing portion 3732b can be attached to the rear surface of the plate body 3711a.

[0089] In one embodiment, a guide 3711d may be disposed between guide holes 3711b and 3711c. The guide 3711d may face the frame retainer 362 based on a third direction intersecting the first and second directions (e.g., a direction parallel to the x-axis). To reduce friction generated between the frame retainer 362 and the guide 3711d, a drag-reducing band 374 may be provided in the guide 3711d.

[0090] In an embodiment, at least a portion of the drag-reducing band 374 may be located between the frame retainer 362 and the band guide 3711d. For example, the drag-reducing band 374 may have an annular shape passing through the first guide hole 3711b and the second guide hole 3711c and covering both the front and rear surfaces of the band guide 3711d. With this structure, the frame retainer 362 may not directly contact the band guide 3711d, and friction and wear on the frame retainer 362 may be reduced. Furthermore, it should be noted that the drag-reducing band 374 may cover only the front surface of the band guide 3711d without passing through the first guide hole 3711b and the second guide hole 3711c.

[0091] In one embodiment, the support rib 3711e may protrude from the rear surface of the plate body 3711a. For example, the support rib 3711e may be provided as a pair, and the support rib pair 3711e may be formed opposite to each other relative to the belt guide 3711d. The support rib 3711e may extend in a first direction. The support rib pair 3711e may support the fixing portions 3732a and 3732b of the connecting belt 373 and the drag-reducing belt 374 in a second direction.

[0092] In one embodiment, the engaging protrusion 3711f may protrude from the rear surface of the plate body 3711a. For example, the engaging protrusion 3711f may be configured as a pair, and the pair of engaging protrusions 3711f may be formed to face each other based on the guide 3711d. Hooks formed in the damping pad 3712 may be fastened to the pair of engaging protrusions 3711f.

[0093] In one embodiment, the shock-absorbing pad 3712 may be attached to the inner surface of the sliding plate 3711. The shock-absorbing pad 3712 may come into close contact with the user's thigh. In another embodiment, the shock-absorbing pad 3712 may press the fixing portions 3732a and 3732b against the plate body 3711a. The fixing portions 3732a and 3732b may be pressed between the plate body 3711a and the shock-absorbing pad 3712, and the connection strength of the connecting strap 373 relative to the fastening frame 371 may be increased.

[0094] Each embodiment described herein may be used in combination with any other embodiment described herein.

[0095] Figure 15 This is an exploded perspective view showing the sliding plate, connecting strip, drag-reducing strip, and cover according to an embodiment.

[0096] Reference Figure 15 According to the embodiment, the sliding plate 4711 may further include a support protrusion 4711g and a plate cover 4711h.

[0097] In one embodiment, a support protrusion 4711g may protrude from the plate body 4711a and penetrate the first fixing portion 4732a and the second fixing portion 4732b. The support protrusion 4711g may extend, for example, along a third direction. Since the first fixing portion 4732a and the second fixing portion 4732b are supported by the support protrusion 4711g, movement of the first fixing portion 4732a and the second fixing portion 4732b relative to the plate body 4711a in the first and second directions can be restricted.

[0098] In an embodiment, for example, the support protrusion 4711g may be configured as a plurality of protrusions. For example, the support protrusion 4711g may be configured as eight support protrusions, and the first fixing portion 4732a and the second fixing portion 4732b may each be supported by four support protrusions 4711g.

[0099] In one embodiment, the support protrusion 4711g may have a stud boss structure with a groove formed therein. The cover 4711h may be attached to the support protrusion 4711g.

[0100] In an embodiment, the protrusion that can be inserted into the support protrusion 4711g may be formed to protrude from the surface of the cover 4711h facing the plate body 4711a among a plurality of surfaces of the cover 4711h. The cover 4711h may be provided with a shock-absorbing pad (e.g., Figure 12 The damping pad 3712 is located inside the plate and covers the first fixing portion 4732a, the second fixing portion 4732b, and the drag-reducing strip 474. In an embodiment, the cover plate 4711h can press the first fixing portion 4732a and the second fixing portion 4732b in a third direction. The first fixing portion 4732a and the second fixing portion 4732b can be pressed between the plate body 4711a and the cover plate 4711h, and the movement of the first fixing portion 4732a and the second fixing portion 4732b in a third direction can be restricted. Furthermore, it should be noted that the stud boss structure can be formed on the cover plate 4711h instead of the plate body 4711a.

[0101] In an embodiment, in order to increase the connection strength between the main body 4711a and the first fixing part 4732a and the second fixing part 4732b, the first fixing part 4732a, the second fixing part 4732b and the main body 4711a can be connected to each other by hot melt adhesive or Velcro structure.

[0102] An assistive device according to an embodiment may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame retainer.

[0103] In one embodiment, the leg frame may be configured to slide and tilt relative to the thigh fastener.

[0104] In an embodiment, the frame retainer may be configured to slide along a first direction parallel to the longitudinal direction of the connecting strip and a second direction intersecting the first direction.

[0105] In one embodiment, each end of the frame retainer may be fixed to the frame body.

[0106] In an embodiment, the distance that the frame retainer can slide along the second direction may be less than the distance between the two ends of the frame retainer.

[0107] In one embodiment, the thigh fastener may further include a stop configured to allow the frame retainer to slide a distance in a first direction.

[0108] In one embodiment, the fastening frame may include a sliding plate and a damping pad, the sliding plate facing the frame body, and the damping pad being directly or indirectly attached to the inner surface of the sliding plate.

[0109] In one embodiment, the stop may include a support body and a first body protrusion pair, the support body being disposed between the sliding plate and the shock-absorbing pad, and the first body protrusion pair protruding from the support body and disposed along a first direction.

[0110] In an embodiment, the stop may further include a second pair of main body protrusions that protrude from the support body and are positioned at a location spaced apart from the first pair of main body protrusions along a second direction.

[0111] In one embodiment, the frame retainer may be able to slide and tilt between the first pair of body protrusions and the second pair of body protrusions.

[0112] In one embodiment, the connecting strap may include a support strap and a retaining strap, the support strap being connected to one end of the wearing strap and configured as a support frame retainer, and the retaining strap extending from the support strap and being detachably connected to the fastening frame.

[0113] In one embodiment, the first main body protrusion pair and the second main body protrusion pair may be based on the two ends of the second direction support strip.

[0114] In an embodiment, the fastening frame may further include a frame detachable surface, which is disposed directly or indirectly on a surface of the sliding plate, wherein a surface of the fixing strap may be detachably connected to the frame detachable surface.

[0115] In one embodiment, the other surface of the retaining strap may be detachably attached to the other end of the wearing strap.

[0116] In one embodiment, the frame retainer may be made of a material that is more rigid than the support straps.

[0117] An assistive device according to an embodiment may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed directly or indirectly on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame retainer, wherein the leg frame may be configured to slide and tilt relative to the thigh fastener.

[0118] In one embodiment, the frame retainer can slide along a first direction parallel to the longitudinal direction of the connecting strap and a second direction intersecting the first direction.

[0119] In one embodiment, the thigh fastener may further include a stop configured to allow the frame retainer to slide a distance in a first direction.

[0120] In one embodiment, each end of the frame retainer may be fixed to the frame body.

[0121] In an embodiment, the distance that the frame retainer can slide along the second direction may be less than the distance between the two ends of the frame retainer.

[0122] An assistive device according to an embodiment may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, a connecting strap extending from the wearing strap and passing between the frame body and the frame retainer, and a stop configured to set a distance by which the frame retainer can slide in a first direction, wherein the leg frame may be configured to slide and tilt relative to the thigh fastener.

[0123] An assistive device according to an embodiment may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, and a connecting strap connected to the fastening frame and passing through the frame retainer.

[0124] In one embodiment, the connecting strap may include a central portion and a fixing portion, the central portion passing between the frame body and the frame retainer, and the fixing portion extending from the central portion and being secured to the interior of the fastening frame.

[0125] In one embodiment, the fastening frame may include a sliding plate and a damping pad, the sliding plate facing the frame body, and the damping pad being directly or indirectly attached to the inner surface of the sliding plate.

[0126] In an embodiment, the sliding plate may include a plate body configured to support a wearing strap, a pair of guide holes formed through the plate body, a strap guide disposed between the pair of guide holes, a strap support protrusion protruding from the plate body and penetrating a fixing portion, and a plate cover connected to the strap support protrusion and configured to cover the fixing portion.

[0127] An assistive device according to an embodiment may include: a base configured to support a user's back; a connecting frame connected to the base; a drive module connected to the connecting frame and configured to generate power for assisting the user's movements; a waist frame connected to the drive module; a waist belt connected to the waist frame; a leg frame including a frame body configured to receive power from the drive module and rotate, and a frame retainer extending from the frame body; and a thigh fastener including a fastening frame disposed directly or indirectly on the user's thigh, a wearing strap connected to the fastening frame and capable of close contact with the user's thigh, a connecting strap connected to the fastening frame and passing through the frame retainer, and a drag-reducing strap located at least a portion between the frame retainer and the fastening frame.

[0128] It should be understood that the various embodiments of this disclosure and the terminology used therein are not intended to limit the technical features set forth herein to the specific embodiments, but rather to include various changes, equivalents, or substitutions to the respective embodiments. Similar reference numerals may be used for similar or related components in conjunction with the description of the accompanying drawings. It will be understood that, unless the relevant context explicitly indicates otherwise, the singular form of a noun corresponding to an item may include one or more things. As used herein, each of “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B, or C,” “at least one of A, B, and C,” and “at least one of A, B, or C” may include any one of the items listed together with the corresponding phrase in a plurality of phrases, or all possible combinations thereof. Terms such as “first” or “second” may be used only to distinguish one component from another and do not limit the components in other respects (e.g., importance or order). It will be understood that, whether or not the terms “operably” or “communically” are used, if an element (e.g., a first element) is referred to as being “combined” with, “combined to”, “connected to”, or “attached to” another element (e.g., a second element), it means that the element can be directly (e.g., wiredly) combined with the other element, wirelessly combined with the other element, or combined with the other element via a third element.

[0129] As used in conjunction with various embodiments of this disclosure, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "component," or "circuit"). A module may be a single integrated component adapted to perform one or more functions, or the smallest unit or portion of such a single integrated component. For example, according to embodiments, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Therefore, each "module" herein may include circuitry.

[0130] Software may include computer programs, code, instructions, or combinations thereof, to independently or jointly instruct or configure a processing device to operate on demand. Software and / or data may be permanently or temporarily implemented on any type of machine, component, physical or virtual device, or computer storage medium, or means capable of providing instructions or data to or being interpreted by the processing device. Software may also be distributed across a network-connected computer system, enabling distributed storage and operation of the software. Software and data may be stored on one or more non-transitory computer-readable recording media. The embodiments described herein may be implemented as software including one or more instructions stored in a machine-readable storage medium (e.g., memory). For example, a machine's processor may invoke and execute at least one of one or more instructions stored in the storage medium. This allows the machine to be operated to perform at least one function based on the invoked at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. Machine-readable storage media may be provided in the form of non-transitory storage media. Here, the term "non-transient" simply means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but the term does not distinguish whether the data is stored semi-permanently or temporarily in the storage medium.

[0131] According to embodiments, the methods according to embodiments of this disclosure may be included and set in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a read-only optical disc (CD-ROM)) or via an app store (e.g., the Play Store). TM Online distribution (e.g., downloading or uploading) or direct distribution between two user devices (e.g., smartphones). If distributed online, at least a portion of the computer program product may be temporarily generated or at least temporarily stored in a machine-readable storage medium, such as the memory of a manufacturer's server, an app store's server, or a relay server.

[0132] According to embodiments, each of the above components (e.g., a module or program) may include a single entity or multiple entities, and some of the multiple entities may be separately located in different components. According to embodiments, one or more of the above components may be omitted, or one or more other components may be added. Optionally or additionally, multiple components (e.g., modules or programs) may be integrated into a single component. In this case, the integrated component may still perform one or more functions of the corresponding components in the multiple components in the same or similar manner as each of the multiple components performed its function before integration. According to various embodiments, operations performed by a module, program, or other component may be performed sequentially, in parallel, repeatedly, or heuristically, or may be run in a different order or one or more operations may be omitted, or one or more other operations may be added.

[0133] While this disclosure has been shown and described with reference to various embodiments, it will be understood that these embodiments are intended to be illustrative and not restrictive. Those skilled in the art will also understand that various changes in form and detail may be made without departing from the true spirit and full scope of this disclosure, including the appended claims and their equivalents. It will also be understood that any of the embodiments described herein may be used in conjunction with any other embodiments described herein.

Claims

1. An action assisting apparatus comprising: a base including a support configured to support a back of a user; a connection frame connected to the base; a driving module including a motor connected to the connection frame and configured to generate a power for assisting an action of the user; a waist frame connected to the driving module; a waist belt connected to the waist frame; a leg frame including a frame main body configured to receive the power from the driving module and rotate, and a frame holder extending from the frame main body; and a thigh fastener including a fastening frame configured to be disposed on a thigh of the user, a wearing belt connected to the fastening frame and capable of being in close contact with the thigh of the user, and a connection belt extending from the wearing belt and configured to pass between the frame main body and the frame holder.

2. The motion assist device according to claim 1, wherein The leg frame is configured to be slidable and tiltable with respect to the thigh fastener.

3. The motion assist device according to claim 2, wherein The frame holder is configured to be slidable in a first direction parallel to a longitudinal direction of the connection belt and a second direction intersecting the first direction.

4. The motion assist device according to claim 3, wherein The frame holder includes two ends, and wherein the two ends of the frame holder are each fixed to the frame main body.

5. The motion assist device according to claim 4, wherein A distance by which the frame holder is slidable in the second direction is less than a distance between the two ends of the frame holder.

6. The motion assist device according to claim 3, wherein The thigh fastener further includes a stopper configured to set a distance by which the frame holder is slidable in the first direction.

7. The motion assist device according to claim 6, wherein The fastening frame includes: a sliding plate facing the frame main body; and a shock pad attached to an inner side surface of the sliding plate.

8. The motion assist device according to claim 7, wherein The stopper includes: a support main body disposed at least between the sliding plate and the shock pad; and a first pair of main body protrusions protruding from the support main body and disposed in the first direction.

9. The motion assist device according to claim 8, wherein The stopper further includes a second pair of main body protrusions protruding from the support main body and disposed at positions spaced apart from the first pair of main body protrusions in the second direction.

10. The motion assist device according to claim 9, wherein The frame holder is configured to be slidable and tiltable between the first pair of main body protrusions and between the second pair of main body protrusions.

11. The motion assist device according to claim 9, wherein The connection belt includes: a support belt connected to one end of the wearing belt and configured to support the frame holder; and a fixing belt extending from the support belt and detachably connected to the fastening frame.

12. The motion assist device according to claim 11, wherein The first and second pairs of main body protrusions are configured to support a plurality of ends of the support belt based on the second direction.

13. The motion assist device according to claim 11, wherein The fastening frame further includes a frame detachable surface disposed on a surface of the sliding plate, wherein one surface of the fixing belt is detachably connected to the frame detachable surface.

14. The motion assist device according to claim 13, wherein Another surface of the fixing belt is detachably connected to another end of the wearing belt.

15. The motion assist device according to claim 11, wherein The frame holder is made of a material stiffer than the support belt.

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