Support unit having a bistable spring and exercise support device including the same

Abstract

The support part according to one embodiment includes a main body, a pair of main frames connected to the main body, a pair of straps respectively connected to the pair of main frames, and a bistable spring provided inside each of the pair of straps and held in one of two stable states by a restoring force, the two stable states including a first stable state in which the bistable spring has a shape stretched straight along the longitudinal direction and a second stable state in which the bistable spring has a shape bent once, and the shape of the straps can be determined according to the shape of the bistable spring.

Description

[Technical field]

[0001] The present invention relates to a support part having a bistable spring and an exercise assistance device including the same. [Background technology]

[0002] A motion assistance device is a mechanism or device that assists patients who cannot walk due to various diseases or accidents to exercise for rehabilitation treatment. Recently, as the aging society becomes more serious, the number of people who have difficulty exercising normally due to joint problems or who complain of inconvenience when exercising is increasing, and interest in motion assistance devices is growing. A motion assistance device is attached to the user's body and assists the user with the muscle strength required for exercise and guides the user's walking so that the user can exercise normally.

[0003] Generally, users who wear exercise support devices are people who have difficulty moving around. The process of wearing the exercise support device itself can be a burden for such people. There is a demand for a technology that enables users who have difficulty moving around to wear the exercise support device by themselves without the help of others.

[0004] The background art described above is what the inventors possessed or learned in the process of deriving the contents of the disclosure of this specification, and cannot necessarily be said to be publicly known art that was disclosed to the general public prior to the filing of this application. Summary of the Invention [Means for solving the problem]

[0005] The support part according to one embodiment includes a main body, a pair of main frames connected to the main body, a pair of straps respectively connected to the pair of main frames, and a bistable spring provided inside each of the pair of straps and held in one of two stable states by a restoring force, the two stable states including a first stable state in which the bistable spring has a shape stretched straight along the longitudinal direction and a second stable state in which the bistable spring has a shape bent once, and the shape of the straps can be determined according to the shape of the bistable spring.

[0006] When the bistable spring is in the first stable state, each of the pair of straps can maintain a shape extending forward from the main frame.

[0007] When the bistable springs provided inside each of the pair of straps are all in the second stable state, each of the pair of straps can be overlapped with each other.

[0008] The bistable spring may have a vertical convexity along a longitudinal direction when in the first stable state, and the curvature of the convexity may decrease during transition from the first stable state to the second stable state.

[0009] The bistable spring may be fixed in position relative to the longitudinal direction of the strap.

[0010] The strap may include an accommodation space for accommodating the bistable spring, and a width of the accommodation space may be greater than a width of the strap, measured vertically along a longitudinal direction of the strap.

[0011] A width of the bistable spring in the second stable state may be greater than a width of the bistable spring in the first stable state and less than a width of the accommodating space.

[0012] The support may further include a pad provided on an inner side of the strap and overlapping the bistable spring in a vertical direction along a longitudinal direction of the strap.

[0013] The pad is detachable from the strap.

[0014] The support may include a pair of auxiliary straps that may be connected to any one of the pair of straps and encircle the other strap.

[0015] The support portion may further include an auxiliary bistable spring provided within each of the pair of auxiliary straps.

[0016] The support may further include an inner frame disposed inside the strap and made of a material stronger than the strap.

[0017] The inner frame may include a first inner frame extending from the main frame and coupled to the bistable spring, and a second inner frame extending from the bistable spring toward an end of the strap.

[0018] The bistable spring may be provided in plurality, and the plurality of bistable springs may be spaced apart from each other along the longitudinal direction of the strap.

[0019] The support part according to one embodiment includes a main frame, a pair of straps connected to both ends of the main frame, and a bistable spring provided inside each of the pair of straps and held in one of two stable states by a restoring force, the two stable states including a first stable state in which the bistable spring has a shape stretched straight along the longitudinal direction, and a second stable state in which the bistable spring has a shape bent once, and the shape of the straps can be determined according to the shape of the bistable spring.

[0020] An exercise support device according to one embodiment includes a main body, a pair of main frames connected to the main body, a pair of straps respectively connected to the pair of main frames, a bistable spring provided inside each of the pair of straps and held in one of two stable states by a restoring force, an actuator disposed on the main frames, and a drive frame rotatable by power transmitted from the actuator.

[0021] The two stable states include a first stable state in which the bistable spring has a shape that is straight along the longitudinal direction, and a second stable state in which the bistable spring has a shape that is bent once, and the shape of the strap can be determined according to the shape of the bistable spring.

[0022] When the bistable spring is in the first stable state, each of the pair of straps can be held in a state in which it extends forward from the main frame.

[0023] The device may further include a pad provided on an inner side of the strap and overlapping the bistable spring in a vertical direction along a longitudinal direction of the strap.

[0024] The exercise assist device may further include an inner frame disposed inside the strap and made of a material stronger than the strap. [Brief description of the drawings]

[0025] [Figure 1] 1 is a front view showing an exercise support device according to an embodiment. [Diagram 2] 1 is a side view showing an exercise support device according to an embodiment. [Diagram 3] FIG. 2 is a plan view illustrating a support portion when a bistable spring is in a first stable state according to an embodiment. [Figure 4]FIG. 13 is a plan view illustrating a support portion when a bistable spring is in a second stable state according to an embodiment. [Diagram 5] FIG. 2 is a perspective view showing a bistable spring in a first stable state. [Figure 6] FIG. 2 is a perspective view showing a bistable spring in a second stable state. [Figure 7] 1 is a graph showing a schematic diagram of potential energy according to the displacement angle of a bistable spring. [Figure 8] 8 is a cross-sectional view taken along the line VIII-VIII shown in FIG. 3. [Figure 9] 9 is a cross-sectional view taken along line IX-IX shown in FIG. 3. [Figure 10] FIG. 2 is a cross-sectional view showing a main frame, a strap, and a bi-stable spring according to one embodiment. [Figure 11] FIG. 11 is a cross-sectional view showing a shape in which the second strap approaches the first strap. [Figure 12] 10 is a cross-sectional view showing a state in which a pair of straps are fixed by a fixing member. FIG. [Figure 13] FIG. 13 is a plan view illustrating a support portion according to one embodiment. [Figure 14] FIG. 13 is a plan view illustrating a support portion according to one embodiment. [Figure 15] FIG. 2 is a plan view illustrating a support portion according to an embodiment; [Figure 16] FIG. 2 is a cross-sectional view showing a main frame, a strap, a bistable spring, and an inner frame according to an embodiment. [Figure 17] FIG. 2 is a cross-sectional view showing a main frame, a strap, a bistable spring, and an inner frame according to an embodiment. [Figure 18] 1 is a front view illustrating a support part according to an embodiment of the present invention when worn on a body; DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0026] The specific structural or functional description of the embodiments is disclosed for the purpose of illustration only, and may be modified in various forms. Therefore, the embodiments are not limited to the specific disclosed forms, and the scope of the present specification includes modifications, equivalents, or alternatives within the technical spirit.

[0027] Although terms such as first or second may be used to describe various components, such terms should be construed only for the purpose of distinguishing one component from the other components. For example, a first component may be named a second component, and similarly, a second component may be named a first component.

[0028] When any component is referred to as being "connected" to another component, it is directly connected or connected to the other component, but it should be understood that there may be other components in between.

[0029] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, the terms "comprise" or "have" and the like indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0030] Components included in any of the embodiments and components having a common function will be described using the same names in other embodiments. Unless otherwise stated, the description of any of the embodiments can be applied to other embodiments, and detailed description will be omitted to the extent that they overlap.

[0031] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention belongs. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant art, and should not be interpreted as ideal or overly formal unless expressly defined in this specification.

[0032] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same components are given the same reference numerals regardless of the reference numerals, and duplicated description thereof will be omitted.

[0033] FIG. 1 is a front view showing an exercise support device according to one embodiment, and FIG. 2 is a side view showing the exercise support device according to one embodiment.

[0034] 1 and 2, the exercise support device 100 is worn by a user and can support the user's exercise. The user may be, but is not limited to, a person, an animal, or a robot. FIG. 1 shows a case where the exercise support device 100 supports the user's thigh exercise, but the exercise support device 100 can also support other parts of the user's upper body, such as the hand, upper arm, and forearm, and other parts of the lower body, such as the foot and calf (see FIG. 18). In other words, the exercise support device 100 can support a part of the user's exercise. Hereinafter, an example will be described in which the exercise support device 100 supports a person's thigh exercise.

[0035] The exercise support device 100 includes a main body 10, a pair of main frames 20, a pair of straps 11, an auxiliary strap 15 connected to one of the pair of straps 11, an actuator 21, a joint member 22, and a drive frame 23.

[0036] The main body 10 may house therein a control unit (not shown) for controlling the actuator 21 and a power supply unit (not shown) for supplying power to the actuator 21. For example, the main body 10 may be disposed on the back side of the user based on a state in which the exercise support device 100 is worn on the user's body.

[0037] A pair of main frames 20 are connected to the main body 10. The main frames 20 may be fixed to a user. The main frames 20 are in contact with at least a part of the outer surface of the user. The main frames 20 are shaped to surround the outer surface of the user. The main frames 20 are curved into a shape corresponding to the part of the user's contact. In other words, the main frames 20 may include a curved surface that contacts the user. For example, the main frames 20 may be fixed to one side of the user's waist.

[0038] The pair of straps 11 are respectively connected to the pair of main frames 20. Before the user wears the exercise support device 100, the pair of straps 11 maintain a shape extending forward (in the +x direction) and do not prevent the user from entering inside the pair of main frames 20. On the other hand, when the user enters inside the pair of main frames 20, the pair of straps 11 may be deformed and surround the front part of the user as shown in the figure. The main body 10, the pair of main frames 20, and the pair of straps 11 may entirely surround the periphery of the user.

[0039] The pair of auxiliary straps 15 may secure the pair of straps 11 to each other while the pair of straps 11 overlap each other. For example, any one of the pair of straps 11 may encircle the other strap together with the pair of auxiliary straps 15.

[0040] The actuator 21 provides power to be transmitted to the joint member 22. The actuator 21 includes a motor that generates power when a voltage or current is provided from a power supply. For example, the actuator 21 may be disposed in a lateral direction of the joint member 22. In other words, the rotation axis of the actuator 21 and the rotation axis of the joint member 22 may be disposed to be spaced apart from each other. In this case, the height protruding from the user can be reduced compared to the case where the actuator 21 and the joint member 22 share a rotation axis. Meanwhile, unlike the drawing, the actuator 21 may be disposed to be spaced apart from the joint member 22. In this case, a power transmission module that transmits power from the actuator 21 to the joint member 22 is provided. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a rubber band, a spring, a belt, or a chain. However, in the embodiment, the position of the actuator 21 and the power transmission structure are not limited.

[0041] The joint member 22 receives power from the actuator 21 and can assist the movement of the user's joints. The joint member 22 may be disposed at a position corresponding to the user's joints. The joint member 22 is disposed on one side of the main frame 20. One side of the joint member 22 is connected to the actuator 21, and the other side is connected to the drive frame 23. The joint member 22 is rotated by the power transmitted from the actuator 21. An encoder for measuring the rotation angle of the joint member 22 may be disposed on one side of the joint member 22.

[0042] The drive frame 23 can assist a part of the user in moving. The drive frame 23 is rotated by the rotational force of the joint member 22. The drive frame 23 includes a support frame 231, an action member 232, and a support member 233.

[0043] The support frame 231 can transmit an assisting force for assisting the movement of a part of the user. Here, the assisting force is understood as a force acting in a direction that coincides with the direction of movement of the part of the user. In other words, the assisting force can be understood as a force acting on the part of the user, excluding a force acting in a direction that intersects with the direction of movement of the part. One end of the support frame 231 is connected to the joint member 22 and rotated. The other end of the support frame 231 is connected to the support member 233 and can transmit an assisting force to the part of the user. For example, the support frame 231 may push or pull the thigh of the user. The support frame 231 can extend along the longitudinal direction of the thigh of the user. The support frame 231 can be folded to surround at least a part of the circumference of the thigh of the user.

[0044] The acting member 232 can apply an auxiliary force to a part of the user. The acting member 232 may be provided between the other end of the support frame 231 and the support member 233. For example, the acting member 232 may be disposed on one side of the user's thigh to push or pull the user's thigh. The acting member 232 may be disposed on the front of the user's thigh. The acting member 232 is disposed along the circumferential direction of the user's thigh. The acting member 232 can extend on both sides from the other end of the support frame 231 as the center. The acting member 232 includes a curved surface that corresponds to the user's thigh.

[0045] The support member 233 is connected to one side of the action member 232. For example, the support member 233 is disposed so as to surround at least a portion of the periphery of the user's thigh, and can prevent the user's thigh from coming off the support frame 231.

[0046] FIG. 3 is a plan view showing the support portion when the bistable spring of one embodiment is in a first stable state, and FIG. 4 is a plan view showing the support portion when the bistable spring of one embodiment is in a second stable state.

[0047] 3 and 4, the exercise support device 100 is worn on the user's body and includes a support part A that supports a part of the user's body. Here, the support part A includes a main body 10, a pair of main frames 20a and 20b, a pair of straps 111 and 112, a bistable spring 12, a pad 14, and a pair of auxiliary straps 151 and 152.

[0048] The pair of main frames 20a, 20b includes a first main frame 20a connected to the right side of the main body 10 and a second main frame 20b connected to the left side of the main body 10. The pair of main frames 20a, 20b may partially surround a part of the user's body.

[0049] The pair of straps 111, 112 includes a first strap 111 connected to the first main frame 20a and a second strap 112 connected to the second main frame 20b.

[0050] Each of the first strap 111 and the second strap 112 may have a "first shape" such as the shape shown in Fig. 3 or a "second shape" such as the shape shown in Fig. 4. For example, if the first strap 111 or the second strap 112 is temporarily unable to retain the "first shape" or the "second shape" due to an external force, the first strap 111 or the second strap 112 may be restored to the "first shape" or the "second shape" by the restoring force of the bistable spring 12.

[0051] When the user is not inside the pair of main frames 20a, 20b, each of the pair of straps 111, 112 can maintain a "first shape" and can maintain a shape extending forward from the pair of main frames 20a, 20b. On the other hand, when the user wears the exercise support device 100, in other words, when the user is inside the pair of main frames 20a, 20b, each of the pair of straps 111, 112 can be converted from the "first shape" to the "second shape" and can surround the front of the user. For example, the user can apply an external force to the pair of straps 111, 112 with his / her hands to convert the pair of straps 111, 112 from the "first shape" to the "second shape".

[0052] The bistable spring 12 is provided inside each of the pair of straps 111, 112, and can be held in one of two stable states by a restoring force. The two stable states include a "first stable" in which the bistable spring 12 has a shape that is straight along the longitudinal direction, and a "second stable" in which the bistable spring 12 has a shape that is bent once.

[0053] The shape of the strap can be determined according to the shape of the bi-stable spring 12. For example, when the bi-stable spring 12 is in a "first stable", the strap retains a "first shape", and when the bi-stable spring 12 is in a "second stable", the strap retains a "second shape".

[0054] When the bistable spring 12 provided inside the pair of straps 111, 112 is in the "first stable" state, each of the pair of straps 111, 112 can maintain a shape extending forward (in the +x direction) from the pair of main frames 20a, 20b.

[0055] When the bistable spring 12 provided inside the pair of straps 111, 112 is in the "second stability", the pair of straps 111, 112 overlap each other with respect to the +x direction.

[0056] Pad 14 is provided on the inside of the strap and overlaps bistable spring 12 with respect to the vertical direction along the length of the strap. For example, pad 14 provided on the inside (-y direction) of first strap 111 overlaps with bistable spring 12 provided inside first strap 111 with respect to the vertical direction (y-axis direction) along the length of strap 111 (x-axis direction).

[0057] The pad 14 can adjust the angle formed by the pair of straps 111, 112 when the pair of straps 111, 112 are in the "second shape". The pad 14 can act as a resistance while the pair of straps 111, 112 are transformed from the "first shape" to the "second shape". The thicker the pad 14, the larger the angle formed by the pair of straps 111, 112 in the "second shape". The pad 14 is detachable from the pair of straps 111, 112. By appropriately utilizing the thickness and material of the pad 14 and adjusting the angle of the straps in the "second shape", the exercise assist device can be adjusted to suit the body size of the user.

[0058] The pair of auxiliary straps 151, 152 are connected to the first strap 111, and may be fixed by surrounding the second strap 112 with the first strap 111 and the second strap 112 overlapping each other. For example, an auxiliary bistable spring (not shown) may also be provided inside the pair of auxiliary straps 151, 152.

[0059] FIG. 5 is a perspective view showing a bistable spring in a first stable state, FIG. 6 is a perspective view showing a bistable spring in a second stable state, and FIG. 7 is a graph showing a schematic diagram of potential energy according to the displacement angle of the bistable spring.

[0060] 5 to 7, when the bistable spring 12 is in the "first stable", it may have a convex shape in a direction (x-axis direction) perpendicular to the longitudinal direction (y-axis direction). The bistable spring 12 is deformed so that the curvature of the convex shape decreases while being converted from the "first stable" to the "second stable". In other words, when the bistable spring 12 is in the "second stable", it may have a relatively flat shape except for the bent portion.

[0061] The states where the bistable spring 12 is at 0 degrees and 90 degrees relative to the y-axis correspond to the points where the potential energy is smallest, and are shown to be the "first stable" and "second stable", respectively; however, it is made clear that the angle forming the stable state is not limited to 0 degrees or 90 degrees, and can be realized at various angles depending on the material or shape of the bistable spring.

[0062] 8 is a cross-sectional view taken along line VIII-VIII shown in FIG. 3, FIG. 9 is a cross-sectional view taken along line IX-IX shown in FIG. 3, and FIG. 10 is a cross-sectional view showing a main frame, a strap, and a bistable spring according to one embodiment.

[0063] 8 to 10, the strap 11 includes an accommodation space S for accommodating the bistable spring 12. The position of the bistable spring 12 is fixed with reference to the longitudinal direction of the strap 11. For example, the width of the accommodation space S with reference to the longitudinal direction of the strap 11 may be the same as the width and length of the bistable spring 12.

[0064] On the other hand, the width of the accommodation space S may be larger than the width of the strap 11, based on the direction perpendicular to the length direction of the strap 11. With such a shape, the bistable spring 12 can freely switch between the "first stable state" and the "second stable state".

[0065] In the first stable state, the width W1 of the bistable spring 12 may be smaller than the width D1 of the accommodation space S. In the second stable state, the width W2 of the bistable spring 12 is larger than the width W1 and smaller than the width D1 of the accommodation space S. With this structure, the bistable spring 12 can switch states without interference from the inner wall of the strap 11 that defines the accommodation space S.

[0066] The length L of the bistable spring 12 may be the same as the length D of the accommodation space S. The bistable spring 12 has its position fixed inside the strap 11.

[0067] FIG. 11 is a cross-sectional view showing a shape in which the second strap approaches the first strap, and FIG. 12 is a cross-sectional view showing a state in which the pair of straps are fixed by a fixing member.

[0068] 11 and 12, each of the pair of auxiliary straps 151, 152 is provided with an auxiliary bistable spring 16. The pair of auxiliary straps 151, 152 can maintain a straight shape when no external force is applied by the auxiliary bistable spring 16. Because the pair of auxiliary straps 151, 152 maintain a straight shape, the user can bring the second strap 112 closer to the first strap 111 without performing an action to release the pair of auxiliary straps.

[0069] A magnet 17 for fixing may be provided on each of the pair of auxiliary straps 151, 152. With the pair of auxiliary straps 151, 152 overlapping each other, the magnet 17 provided on the first strap 151 and the magnet 17 provided on the second strap 152 face each other with opposite polarities.

[0070] 13 and 14 are plan views showing a support part according to one embodiment.

[0071] 13 and 14, the exercise support device 200 includes a main body 10, a main frame 20, a strap 11, a bistable spring 12', a pad 14', and support straps 151, 152.

[0072] A plurality of bistable springs 12' and pads 14' may be provided spaced apart from each other along the longitudinal direction of the strap 11. The stable shape that the strap 11' can be realized can be adjusted by using a plurality of bistable springs 12'. For example, in the case of a user with a large body size, the strap 11' needs to be folded multiple times. In this case, the number of times the strap 11' is folded can be set by using a plurality of bistable springs 12'.

[0073] FIG. 15 is a plan view that diagrammatically illustrates a support portion according to one embodiment, and FIGS. 16 and 17 are cross-sectional views that illustrate a main frame, a strap, a bistable spring, and an inner frame according to one embodiment.

[0074] 15 to 17, the support part A includes a main frame 20', a pair of straps 11 respectively connected to both ends of the main frame 20', a bistable spring 12 provided inside the straps 11, and inner frames 18 respectively connected to both ends of the bistable spring 12.

[0075] The main frame 20' may not be connected to a main body, unlike the main frame of the embodiment described with reference to Figures 1 to 17. The main frame 20' may have, for example, a U-shape. The support part A may surround a part of the user's body.

[0076] The inner frame 18 is made of a material that is relatively stronger than the strap 11. The inner frame 18 helps the strap 11 to maintain its shape. For example, the inner frame 18 includes a first inner frame 181 that extends from one end of the main frame 20' and is connected to one end of the bistable spring 12, and a second inner frame 182 that is connected to the other end of the bistable spring 12 and extends toward the end of the strap 11.

[0077] The inner frame 18 may be covered by the strap 11 and may not be exposed to the outside. The inner frame 18 may fix the position of the bistable spring 12 provided inside the accommodation space S.

[0078] FIG. 18 is a front view that illustrates a schematic shape of a support section according to one embodiment when worn on a body.

[0079] 18, the support part A can be worn at various positions on the body of the user U. For example, the support part A can be worn on the upper arm of the user and assist the user's elbow joint movement together with an actuator, a joint member, and a drive frame (not shown). As a different example, the support part A can be worn on the user's thigh and assist the user's knee joint movement.

[0080] Although the embodiments of the present invention have been described in detail above with reference to the drawings, the present invention is not limited to the above-described embodiments, and a person having ordinary skill in the art may apply various technical modifications and variations based on the above-described embodiments. For example, the described techniques may be performed in a different order from the described method, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different form from the described method, or may be replaced or substituted by other components or equivalents to achieve appropriate results.

[0081] Therefore, the scope of the present invention is not limited to the disclosed embodiment, but should be defined by the scope of the appended claims and equivalents thereof.

Claims

1. A support unit for supporting a user's limbs, The main body and a pair of main frames connected to the main body and partially surrounding the limbs of the user; a pair of straps respectively connected to the pair of main frames and fastened to immobilize the limbs of the user; A pair of bistable springs are provided inside each of the pair of straps and are held in one of two stable states by a restoring force; The pair of straps includes a first strap and a second strap, the pair of bistable springs includes a first bistable spring and a second bistable spring; The two stable states include a first stable state in which the bistable spring has a shape that is straight along a longitudinal direction, and a second stable state in which the bistable spring has a shape that is bent once, the shape of the strap is determined according to the shape of the bistable spring; A support, wherein one of the pair of bistable springs is provided within the first strap and the other of the pair of bistable springs is provided within the second strap.

2. The support according to claim 1 , wherein when the bistable spring is in the first stable state, each of the pair of straps maintains a shape extending forward from the main frame.

3. The support of claim 1 , wherein when the bistable springs provided inside each of the pair of straps are all in the second stable state, each of the pair of straps overlaps with each other.

4. The support of claim 1 , wherein the bistable spring has a vertical convexity along a longitudinal direction when in the first stable state, and the curvature of the convexity decreases during transition from the first stable state to the second stable state.

5. The support of claim 1 , wherein the bistable spring is fixed in position relative to a longitudinal direction of the strap.

6. the strap includes a receiving space for receiving the bistable spring; The support section according to claim 1 , wherein a width of the accommodation space is greater than a width of the strap, the width being measured in a direction perpendicular to the longitudinal direction of the strap.

7. The support portion according to claim 6 , wherein a width of the bistable spring in the second stable state is greater than a width of the bistable spring in the first stable state and is smaller than a width of the accommodation space.

8. The support of claim 1 further comprising a pad provided on an inner side of the strap and overlapping the bistable spring in a vertical direction along the length of the strap.

9. The support of claim 8 , wherein the pad is detachable from the strap.

10. The support of claim 1 , further comprising a pair of auxiliary straps connected to one of the pair of straps and operable to encircle the other strap.

11. The support of claim 10, further comprising an auxiliary bistable spring disposed within each of the pair of auxiliary straps.

12. The support according to claim 1 , further comprising an inner frame provided inside the strap and made of a material stronger than the strap.

13. The inner frame is a first inner frame extending from the main frame and connected to the bistable spring; a second inner frame extending from the bistable spring toward an end of the strap; The support of claim 12 , comprising:

14. The support of claim 1 , wherein a plurality of the bistable springs are provided, the plurality of bistable springs being spaced apart from one another along a longitudinal direction of the strap.

15. The support part according to claim 1 ; An actuator disposed on the main frame; A motion assistance device including a drive frame that can rotate by power transmitted from the actuator.

Images