A walking aid that can be adapted to the shape of the thigh

Abstract

In one embodiment, a walking assistance device that can deform according to the shape of the thigh includes a hip joint actuator, an upper thigh frame that receives power from the hip joint actuator and can rotate about a first axis and is rotatably connected to the hip joint actuator about a second axis that intersects the first axis, a motion frame that is connected to the upper thigh frame and includes a plurality of segmented frames that can rotate relative to each other, and a lower thigh frame that is connected to the motion frame.

Description

[Technical field]

[0001] The present invention relates to a walking assistance device that can be deformed according to the shape of the thigh. [Background technology]

[0002] Walking aids that allow elderly people or patients with joint problems to walk more smoothly and devices that assist the user's muscle strength for military purposes, etc. In the case of walking aids, if the device fits closely to the user's body shape, the wearing comfort felt by the user can be improved and the volume of the device can be reduced. Summary of the Invention [Means for solving the problem]

[0003] In one embodiment, a walking assistance device that can deform according to the shape of the thigh includes a hip joint actuator, an upper thigh frame that receives power from the hip joint actuator and can rotate about a first axis and is rotatably connected to the hip joint actuator about a second axis that intersects the first axis, a motion frame that is connected to the upper thigh frame and includes a plurality of segmented frames that can rotate relative to each other, and a lower thigh frame that is connected to the motion frame.

[0004] The plurality of segment frames may include an upper segment frame connected to the upper thigh frame, and a lower segment frame connected to the lower thigh frame and rotatable relative to the upper segment frame.

[0005] The upper segment frame may be integrally formed with the upper thigh frame, and the lower segment frame may be integrally formed with the lower thigh frame.

[0006] The upper segment frame may be removably connected to the upper thigh frame, and the lower segment frame may be removably connected to the lower thigh frame.

[0007] The motion frame may further include an elastic body having one end fixed to the upper segment frame and the other end fixed to the lower segment frame.

[0008] The motion frame may further include a rotation axis that is arranged parallel to the second axis and connects the upper segment frame and the lower segment frame, and a central portion of the elastic body may surround the rotation axis.

[0009] The motion frame may further include a stopper for limiting a rotation angle of the upper segment frame and the lower segment frame.

[0010] The stopper may be formed by extending from one of the upper and lower segment frames to the other segment frame.

[0011] The plurality of segment frames may include a first segment frame, a second segment frame rotatably connected to one end of the first segment frame and connected to the upper thigh frame, a third segment frame rotatably connected to the other end of the first segment frame, a fourth segment frame rotatably connected to the second segment frame, and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame.

[0012] The motion frame may further include an elastic body having one end fixed to the fourth segment frame and the other end fixed to the fifth segment frame.

[0013] The motion frame may further include a first stopper for limiting a rotation angle of the second segment frame and the fourth segment frame, and a second stopper for limiting a rotation angle of the third segment frame and the fifth segment frame.

[0014] The second segment frame is detachable from the upper thigh frame, and the third segment frame is detachable from the lower thigh frame.

[0015] A plurality of the motion frames may be provided, and the plurality of motion frames may be connected in series to each other.

[0016] The plurality of motion frames may include a first motion frame including a first frame body and a first magnet received in the first frame body, a second frame body rotatably connected to the first frame body, and a second motion frame including a second magnet received in the second frame body and facing the first magnet with an opposite polarity.

[0017] The first frame body and the second frame body may have round parts formed at ends facing each other.

[0018] In one embodiment, a walking assistance device that can be deformed according to the shape of the thigh includes an upper thigh frame, a motion frame connected to the upper thigh frame and including a plurality of segmented frames that can rotate relative to each other, and a lower thigh frame connected to the motion frame, and the motion frame can determine the angle formed by the upper thigh frame and the lower thigh frame. [Brief description of the drawings]

[0019] [Figure 1] 1 is a diagram showing a state in which a walking assistance device is worn by a user according to an embodiment; [Diagram 2] 2 is a diagram showing a state in which a user with thicker thighs than in FIG. 1 wears a walking assistance device according to an embodiment. [Diagram 3] 1 is a front view of a walking assistance device according to an embodiment. [Figure 4] FIG. 2 is a front view of a motion frame according to one embodiment. [Diagram 5]5 is a cross-sectional view taken along the section line VV in FIG. 4. [Figure 6] 6 is a cross-sectional view showing a deformed shape of the motion frame of FIG. 5. FIG. [Figure 7] 1 is a diagram showing a state in which a walking assistance device is worn by a user according to an embodiment; [Figure 8] FIG. 2 is a side view of a motion frame according to one embodiment. [Figure 9] 9 is a cross-sectional view showing a deformed shape of the motion frame of FIG. 8. FIG. [Figure 10] FIG. 2 is a front view of a motion frame according to one embodiment. [Figure 11] 11 is a cross-sectional view taken along the section line XI-XI in FIG. 10. [Figure 12] 12 is a cross-sectional view showing the shape of the motion frame of FIG. 11 after being deformed. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. However, the specific structural or functional description disclosed in this specification is merely for the purpose of describing the embodiments, and the embodiments may be implemented in various different forms, and the present invention is not limited to the embodiments described in this specification. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included in the scope of the claims. In addition, in describing components of the embodiments, terms such as first, second, A, B, (a), (b) and the like may be used. Such terms are merely used to distinguish the components from other components, and do not limit the nature, order, or sequence of the components. When a component is referred to as being "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but there may be other components in between.

[0021] Components having a common function to those included in one embodiment will be described using the same names in other embodiments. Unless otherwise stated, the description of one embodiment will be applied to other embodiments, and detailed description will be omitted to the extent that they overlap.

[0022] FIG. 1 is a diagram showing the appearance of a walking assistance device worn by a user according to one embodiment, and FIG. 2 is a diagram showing the appearance of a walking assistance device worn by a user with thicker thighs compared to FIG. 1.

[0023] 1 and 2, the walking assistance device 100 that can be deformed according to the shape of the thigh can be deformed according to the shape of the thigh of the user. For example, the walking assistance device 100 may be fitted closely to a user having thin thighs, and may also be fitted closely to a user having relatively thick thighs. When the walking assistance device 100 is fitted closely to the thigh of the user, the distance at which the walking assistance device 100 is separated from the thigh of the user may be reduced. The user can wear clothes while wearing the walking assistance device 100, and the wearing comfort felt by the user may be improved.

[0024] The walking assist device 100 can assist the hip joint of a user. The walking assist device 100 includes a waist wearing part 90, a hip joint actuator 91, an upper thigh frame 92, a motion frame 1, a lower thigh frame 93, and a thigh wearing part 94. The motion frame 1 may be deformed according to the shape of the user's thigh. The angle of the upper thigh frame 92 relative to the hip joint actuator 91 may be adjusted. Through the angle adjustment of the upper thigh frame 92 and the degree of deformation of the motion frame 1, the walking assist device 100 can be fitted closely to the user's thigh.

[0025] The waistband 90 supports the waist of a user. The waistband 90 is adjustable in length around the circumference of the user's waist. The waistband 90 supports a hip joint actuator 91. The waistband 90 may be positioned such that the hip joint actuator 91 is aligned with the hip joint.

[0026] The hip joint actuator 91 can generate power to assist the hip joint of the user. The hip joint actuator 91 supports an upper thigh frame 92. The hip joint actuator 91 can rotate the upper thigh frame 92 about a first axis a1. The hip joint actuator 91 can assist the extension and flexion of the thigh.

[0027] The upper thigh frame 92 is rotatable about a first axis a1 by power transmitted from the hip joint actuator 91, and is rotatably connected to the hip joint actuator 91 about a second axis a2 intersecting the first axis a1. The upper thigh frame 92 can rotate about the hip joint actuator 91 by adduction or abduction of the thigh. The upper thigh frame 92 can rotate about the hip joint actuator 91 according to the shape of the user's thigh as well as adduction or abduction of the thigh. For example, when worn by a user with relatively thick thighs, the upper thigh frame 92 may rotate outward about the hip joint actuator 91.

[0028] The motion frame 1 may include an extra degree of freedom to be deformed according to the shape of the user's thigh. The motion frame 1 may be deformed to determine the angle formed by the upper thigh frame 92 and the lower thigh frame 93. The motion frame 1 may be provided between the upper thigh frame 92 and the lower thigh frame 93. The motion frame 1 may include a plurality of segmented frames 11, 12 that can rotate relative to each other. The plurality of segmented frames 11, 12 may include an upper segmented frame 11 and a lower segmented frame 12 that are connected to be rotatable with one degree of freedom.

[0029] For example, when worn by a user with relatively thick thighs, the angle formed by the upper segment frame 11 and the lower segment frame 12 is smaller than the angle formed by the upper segment frame 11 and the lower segment frame 12 when worn by a user with relatively thin thighs.

[0030] The motion frame 1 can be deformed based on the angle of the upper thigh frame 92 around the hip joint actuator 91. For example, when worn by a user with relatively thick thighs, the upper thigh frame 92 may be shifted outward by the thigh, and the lower segment frame 12 can bend relative to the upper segment frame 11 in a direction toward the thigh to fit closely to the user's thigh.

[0031] The motion frame 1 may be integrally formed with the upper thigh frame 92 and the lower thigh frame 93, or may be detachably connected to the upper thigh frame 92 and the lower thigh frame 93. When the motion frame 1 is detachably connected to the upper thigh frame 92 and the lower thigh frame 93, the user can attach the motion frame 1 between the upper thigh frame 92 and the lower thigh frame 93, or remove it from the walking assistance device 100, as necessary. For example, when the motion frame 1 is removed from the walking assistance device 100, the lower thigh frame 93 may be directly attached to the upper thigh frame 92.

[0032] The motion frame 1 may include a fixing member (not shown) for fixing the angle of the upper thigh frame 92 and the lower thigh frame 93.

[0033] The lower thigh frame 93 is connected to the motion frame 1. The lower thigh frame 93 may be integrally formed with the motion frame 1 or may be detachably connected to the motion frame 1.

[0034] The thigh attachment portion 94 supports the thighs of the user and is adjustable in length around the circumference of the thighs of the user.

[0035] 1, it can be seen that the walking assistance device 100 is worn by a user with relatively thin thighs. In this case, the angle between the upper segment frame 11 and the lower segment frame 12 of the motion frame 1 is large, for example, the upper segment frame 11 and the lower segment frame 12 are approximately in a straight line.

[0036] 2, it can be seen that the walking assistance device 100 is worn by a user with relatively thick thighs. In this case, the upper thigh frame 92 is held in a state shifted outward, in other words, counterclockwise, around the second axis a2 by the thigh. Also, the lower segment frame 12 is held in a state rotated inward, in other words, clockwise, around the upper segment frame 11, and the lower thigh frame 93 is in close contact with the user's thigh.

[0037] Figure 3 is a front view of a walking assistance device according to one embodiment, Figure 4 is a front view of a motion frame according to one embodiment, Figure 5 is a cross-sectional view cut along cutting line VV in Figure 4, and Figure 6 is a cross-sectional view showing a deformed shape of the motion frame in Figure 5.

[0038] 3 to 6, the motion frame 1 includes an upper segment frame 11, a lower segment frame 12, a rotating shaft 13, an elastic body 14, a stopper 15, an upper connecting member 17, a button 18, and a lower connecting member 19.

[0039] The upper segment frame 11 is connected to an upper thigh frame 92 provided on the upper side. The upper segment frame 11 is rotatably connected to the lower segment frame 12 by a rotation shaft 13. The upper segment frame 11 has a first upper hollow portion 11a and a second upper hollow portion 11b.

[0040] The lower segment frame 12 may be connected to a lower thigh frame 93 provided on the lower side. The lower segment frame 12 may be rotatably connected to the upper segment frame 11 by a rotation axis 13.

[0041] The pivot shaft 13 can pivotally connect the upper segment frame 11 and the lower segment frame 12. For example, the pivot shaft 13 may be a rod that passes through one of the upper segment frame 11 and the lower segment frame 12 and is inserted into the other segment frame. For example, the pivot shaft 13 may be a rod that is integrally formed in one of the upper segment frame 11 and the lower segment frame 12 and protrudes toward the other segment frame. The pivot shaft 13 may be provided parallel to the second axis a2, which is the pivot shaft of the upper thigh frame 92.

[0042] The rotation axis 13 may be disposed at 90 degrees to the first axis A1, which is the drive axis of the hip joint actuator 91. Here, being disposed at 90 degrees means that an imaginary auxiliary line parallel to the first axis A1, which is the drive axis of the hip joint actuator 91, is perpendicular to the rotation axis 13. This structure prevents the motion frame 1 from being deformed by the hip joint actuator 91, and reduces the power lost when the power of the hip joint actuator 91 is transmitted to the lower thigh frame 93.

[0043] The walking assistance device can realize movement around a first axis A1 by the hip joint actuator 91, rotational movement of an upper thigh frame 92 rotatably connected to the hip joint actuator 91 around a second axis a2, and rotational movement of a lower segment frame 12 rotatably connected to the upper segment frame 11.

[0044] The elastic body 14 can help the basic shape of the motion frame 1 to be kept in a straight state. One end of the elastic body 14 is fixed to the upper segment frame 11, and the other end is fixed to the lower segment frame 12. For example, one end of the elastic body 14 may be received in the first upper hollow portion 11a of the upper segment frame 11 and fixed to the inner wall of the upper segment frame 11, and the other end of the elastic body 14 may be received in the first lower hollow portion 12a of the lower segment frame 11 and fixed to the inner wall of the lower segment frame 12. The elastic body 14 may be a spring. While the lower segment frame 12 rotates clockwise around the rotation axis 13 relative to the upper segment frame 11, the elastic energy stored in the elastic body 14 may gradually increase.

[0045] The center of the elastic body 14 can surround the pivot shaft 13. Even if the end of the elastic body 14 is detached from the upper segment frame 11 and / or the lower segment frame 12, the elastic body 14 can be stably engaged with the pivot shaft 13.

[0046] The stopper 15 limits the rotation angle of the upper segment frame 11 and the lower segment frame 12. With reference to Fig. 6, the stopper 15 prevents the lower segment frame 12 from rotating counterclockwise relative to the upper segment frame 11. The stopper 15 can assist the lower segment frame 12 to rotate only in the inward direction.

[0047] The stopper 15 may be formed by extending from one of the upper segment frame 11 and the lower segment frame 12 to the other segment frame. In Fig. 6 and Fig. 7, the stopper 15 is shown extending from the lower segment frame 12 and received in the first upper hollow portion 11a of the upper segment frame 11, but it is clear that the stopper 15 is not limited thereto.

[0048] In the above, it has been described that the motion frame 1 is integrally formed with or detachable from the upper thigh frame 92 and the lower thigh frame 93. Hereinafter, the detachable structure will be described in detail based on an embodiment in which the motion frame 1 is detachable from the upper thigh frame 92 and the lower thigh frame 93.

[0049] The upper connecting member 17 can connect the upper segment frame 11 to the upper thigh frame 92. A part of the upper connecting member 17 may be received in the upper segment frame 11, and another part of the upper connecting member 17 may be inserted into the upper thigh frame 92. The upper connecting member 17 has a connecting hole 7a. The upper connecting member 17 can be received in the second upper hollow portion 11b and supported by an elastic body.

[0050] The button 18 is connected to one side of the upper connecting member 17, and at least a portion of the button 18 protrudes outside the upper segment frame 11. A user pushes the button 18 to press the upper connecting member 17.

[0051] Upper thigh frame 92 may have a protrusion (not shown) that is inserted into connecting hole 7a of upper connecting member 17. The user pushes button 18 to press upper connecting member 17, inserts upper connecting member 17 into upper thigh frame 92, and then releases button 18. In this case, upper connecting member 17 returns to its original position, and the protrusion provided on upper thigh frame 92 is inserted into connecting hole 7a of upper connecting member 17.

[0052] The lower connecting member 19 may have a protrusion (not shown) that performs a similar function to the protrusion on the upper thigh frame 92, and the lower thigh frame 93 may have a configuration corresponding to the upper connecting member 17 and button 18.

[0053] It will be apparent that the structure for attaching and detaching the motion frame 1 to the upper thigh frame 92 and / or the lower thigh frame 93 is not limited thereto.

[0054] FIG. 7 is a diagram showing the shape of a walking assistance device worn by a user in one embodiment, FIG. 8 is a side view of a motion frame in one embodiment, and FIG. 9 is a cross-sectional view showing the deformed shape of the motion frame of FIG. 8.

[0055] 7 to 9, the walking assist device 200 that can be deformed according to the shape of the thigh can be deformed according to the shape of the thigh of the user. For example, the walking assist device 200 may be attached to a user having thin thighs, or may be attached to a user having relatively thick thighs.

[0056] The walking assistance device 200 includes a waist wearing part 90, a hip joint actuator 91, an upper thigh frame 92, a motion frame 2, a lower thigh frame 93, and a thigh wearing part 94.

[0057] A plurality of motion frames 2 may be provided. For example, the plurality of motion frames 2 include a first motion frame 21, a second motion frame 22, and a third motion frame 23 that are connected in series with each other. Each of the plurality of motion frames 2 may include a plurality of segmented frames. The plurality of motion frames 2 are connected to be rotatable relative to each other. By rotating the plurality of motion frames 2, the walking assistance device 200 can be in close contact with the thighs of the user regardless of the shape of the thighs of the user. Hereinafter, the plurality of segmented frames will be described with reference to the first motion frame 21, and it will be made clear that the plurality of segmented frames of the first motion frame 21 can be similarly applied to the second motion frame 22 and / or the third motion frame 23.

[0058] The first motion frame 21 includes first to fifth segment frames 211, 212, 213, 214, and 215 connected to form a pentagon. The first to fifth segment frames 211, 212, 213, 214, and 215 are hinged to adjacent segment frames. The first segment frame 211 may be arranged to be aligned with the upper thigh frame 92 and / or the lower thigh frame 93. The second segment frame 212 is rotatably connected to an upper end of the first segment frame 211, and the third segment frame 213 is rotatably connected to a lower end of the first segment frame 211. The fourth segment frame 214 may be rotatably connected to the second segment frame 212, and the fifth segment frame 215 may be rotatably connected to the third segment frame 213 and the fourth segment frame 214.

[0059] The first motion frame 21 may further include an elastic body 218 having one end fixed to the fourth segment frame 214 and the other end fixed to the fifth segment frame 215. The elastic body 218 may be provided inside the fourth segment frame 214 and the fifth segment frame 215. When the angle between the fourth segment frame 214 and the fifth segment frame 215 increases, the elastic energy stored in the elastic body 218 may increase.

[0060] The first motion frame 21 further includes a first stopper 216 for limiting a rotation angle of the second segment frame 212 and the fourth segment frame 214, and a second stopper 217 for limiting a rotation angle of the third segment frame 213 and the fifth segment frame 215. The first stopper 216 is fixed to an end of the second segment frame 212 and can contact the outside of the fourth segment frame 214. The second stopper 217 is fixed to an end of the third segment frame 213 and can contact the outside of the fifth segment frame 215.

[0061] The second segment frame 212 may be integrally formed with the upper thigh frame 92 or detachably connected to the upper thigh frame 92. The third segment frame 213 may be integrally formed with the lower thigh frame 93 or detachably connected to the lower thigh frame 93. For example, the first connecting member 291 may be inserted into the upper thigh frame 92. It will be apparent that the first connecting member 291 is provided on the upper thigh frame 92, and the second connecting member 292 is provided on the lower thigh frame 93.

[0062] The first motion frame 21 may be disposed between the upper thigh frame 92 and the lower thigh frame 93, but may be connected so that motion frames other than the first motion frame 21 are arranged in series. For example, the second motion frame 22 and the third motion frame 23 may be connected so that they are arranged below the first motion frame 21. In this case, the second connecting member 292 provided on the lower side of the first motion frame 21 may be connected to the second motion frame 22, the second motion frame 22 or the third motion frame 23 may be provided with a third connecting member 293, and the lower side of the third motion frame 23 may be provided with a fourth connecting member 294 for detachably connecting to the lower thigh frame 93.

[0063] The second motion frame 22 includes first to fifth segmented frames 221, 222, 223, 224, and 225 connected to form a pentagon, first and second stoppers 226 and 227, and an elastic body 228. The third motion frame 23 includes first to fifth segmented frames 231, 232, 233, 234, and 235 connected to form a pentagon, first and second stoppers 236 and 237, and an elastic body 238.

[0064] For example, the second segment frame 212 of the first motion frame 21 is provided with a first connecting member 291 for detachably connecting to the upper thigh frame 92. For example, the third segment frame 213 of the first motion frame 21 and / or the second segment frame 222 of the second motion frame 22 is provided with a second connecting member 292 for detachably connecting the first motion frame 21 and the second motion frame 22. For example, the third segment frame 223 of the second motion frame 22 and / or the second segment frame 232 of the third motion frame 23 is provided with a third connecting member 293 for detachably connecting the second motion frame 22 and the third motion frame 23. The third segment frame 233 of the third motion frame 23 is provided with a fourth connecting member 294 for detachably connecting to the lower thigh frame 93. The number of the plurality of motion frames 21, 22, 23 may be determined according to the user's selection. For example, for a person with relatively long thighs, the number of motion frames may be increased.

[0065] Figure 10 is a front view of a motion frame according to one embodiment, Figure 11 is a cross-sectional view taken along section line XI-XI in Figure 10, and Figure 12 is a cross-sectional view showing the deformed shape of the motion frame in Figure 11.

[0066] 10 to 12, there may be a plurality of motion frames 3. For example, the motion frame 3 includes a first motion frame 31, a second motion frame 32, and a third motion frame 33 that are connected in series with each other.

[0067] The first motion frame 31 includes a first frame body 311 and one or more first magnets 312 and 313.

[0068] The first frame body 311 is rotatably connected to the upper thigh frame 92 (see FIG. 7) and the second motion frame 32. The first frame body 311 may include a first upper round part 311a formed at an end facing the upper thigh frame 92 (see FIG. 7) and a first lower round part 311b formed at an end facing the second motion frame 32. The first round parts 311a and 311b may reduce the minimum distance between the magnets provided in the first motion frame 31 and the magnets provided in the upper thigh frame 92 (see FIG. 7) and / or the second motion frame 32.

[0069] One or more first magnets 312, 313 may be received in the first frame body 311. Here, the first magnets 312, 313 are illustrated as being provided in two pieces as the first upper magnet 312 and the first lower magnet 313, but it is clear that the present invention is not limited thereto. For example, the first frame body 311 may be provided with one first magnet, or may be provided with three or more magnets.

[0070] For example, the first upper magnet 312 may face a magnet (not shown) provided on the upper thigh frame 92 with polarities opposite to each other. The attractive force between the magnet (not shown) provided on the upper thigh frame 92 and the first upper magnet 312 can help the first motion frame 31 to be kept in a straight line relative to the upper thigh frame 92. Furthermore, even if the angle of the first motion frame 31 relative to the upper thigh frame 92 is changed depending on the shape of the user's body, the attractive force can help the first motion frame 31 to be in close contact with the user's body.

[0071] The second motion frame 32 includes a second frame body 321 and one or more second magnets 322, 323. The second frame body 321 is rotatably connected to the first motion frame 31 and the third motion frame 33. The second frame body 321 may include a second upper round part 321a formed at an end facing the first motion frame 31 and a second lower round part 321b formed at an end facing the third motion frame 33. The second round parts 321a, 321b may reduce the minimum distance between the magnets provided in the second motion frame 32 and the magnets provided in the first motion frame 31 and / or the second motion frame 33.

[0072] One or more second magnets 322, 323 may be received in the second frame body 321. The second upper magnet 322 may face the first lower magnet 313 received in the first motion frame 31 with polarities opposite to each other. The second lower magnet 323 may face the third upper magnet 332 received in the third motion frame 33 described below with polarities opposite to each other.

[0073] The attractive force between the first lower magnet 313 and the second upper magnet 322 and / or the attractive force between the second lower magnet 323 and the third upper magnet 332 can help the motion frame 3 to remain in a straight line. Also, one or more second magnets 322, 323 can help the motion frame 3 to adhere closely to the user's body even if the angle of the motion frame 3 is changed according to the shape of the user's body.

[0074] The third motion frame 33 includes a third frame body 331 and one or more third magnets 332 and 333 .

[0075] The third frame body 331 may be rotatably connected to the second motion frame 32 and the lower thigh frame 93 (see FIG. 7). The third frame body 331 is provided with a third upper round part 331a and a third lower round part 331b.

[0076] One or more third magnets 332, 333 may be received in the third frame body 331. For example, the third upper magnet 332 may face the second lower magnet 323 with polarities opposite to each other. A magnet (not shown) provided in the lower thigh frame 93 and the third lower magnet 333 may face each other with polarities opposite to each other. The one or more third magnets 332, 333 may help the motion frame 3 to adhere closely to the user's body even if the angle of the motion frame 3 is changed according to the shape of the user's body.

[0077] Although the embodiments of the present invention have been described in detail with reference to the drawings, those skilled in the art can make various technical modifications and variations from the above description. For example, the described techniques may be performed in a different order than described, and / or the components of the described structures, devices, etc. may be combined or combined in a different manner than described, or may be replaced or substituted by other components or equivalents, and still achieve suitable results.

Claims

1. A walking assist device configured to assist a user, the walking assist device comprising: A hip joint actuator; an upper thigh frame that is rotatable about a first axis by power transmitted from the hip joint actuator and is rotatably connected to the hip joint actuator about a second axis that intersects the first axis; a motion frame including a plurality of segmented frames connected to the upper thigh frame and capable of rotating relative to each other according to the shape of the user's thigh; a lower thigh frame coupled to the motion frame; The plurality of segment frames include a first segment frame, the first segment frame being aligned with the upper thigh frame and the lower thigh frame; a second segment frame pivotally connected to one end of the first segment frame; a third segment frame pivotably connected to the other end of the first segment frame; a fourth segment frame pivotally connected to the second segment frame; a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, The upper thigh frame is connected to the second segment frame. Walking aid.

2. The walking assistance device according to claim 1 , wherein the motion frame further includes an elastic body having one end fixed to the fourth segment frame and the other end fixed to the fifth segment frame.

3. The motion frame is A first stopper for limiting a rotation angle of the second segment frame and the fourth segment frame; A second stopper for limiting the rotation angle of the third segment frame and the fifth segment frame; The walking assistance device of claim 2 , further comprising:

4. The walking assistance device according to claim 1 , wherein the second segment frame is detachable from the upper thigh frame, and the third segment frame is detachable from the lower thigh frame.

5. The walking assistance device according to claim 1 , wherein the motion frame is made up of a plurality of motion frames, the plurality of motion frames being connected to each other in series.

6. The plurality of motion frames include a first motion frame, one or more second motion frames, and a third motion frame, the first motion frame, the one or more second motion frames, and the third motion frame being connected in series with each other; The walking assistance device according to claim 5 , wherein the number of the one or more second motion frames is adjustable according to a length of the user's thighs.

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