Strength assisting devices

Abstract

To provide a muscle strength assist device capable of easily changing a torque profile.SOLUTION: The muscle strength assist device comprises: a multilink part including one or more links; a profile adjustment part connected to one side of the multilink part and disposed rotatably about a center thereof; and an elastic force supply part connected to the other side of the multilink part and configured to supply the multilink part with force due to elastic force. By the rotation of the profile adjustment part, the one side of the multilink part revolves about the center and thus the other side of the multilink part is moved, thereby changing the force exerted by the elastic force supply part on the multilink part.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a power assisting device, and more particularly to a power assisting device that can provide an auxiliary force when a person is working. [Background technology]

[0002] One example of a device for assisting a person's muscle strength during work is an upper arm muscle assisting device that is worn on the person's arm to assist muscle strength. Such an upper arm muscle assisting device is equipped with a mechanism that generates torque to assist the load caused by the weight of the person's arm and the weight of an object supported by the person's arm. For example, an upper arm muscle assisting device generates torque of different magnitudes depending on the rotation angle of the device, which has a functional relationship in which the magnitude of the torque is determined according to the rotation angle. This functional relationship is called a torque profile.

[0003] On the other hand, the magnitude of the torque required of the power assisting device varies depending on the type of work performed by the person. For example, even if the rotation angle of the upper arm power assisting device is the same, the degree of load applied to the person varies depending on the type of work performed by the person. Therefore, when the type of work performed by the person changes, the torque profile required of the upper arm power assisting device also needs to change.

[0004] However, according to the conventional technology, in order to change the torque profile, it is necessary to replace the internal components (e.g., springs) of the power-assisting device or adjust the physical properties of the internal components (e.g., tension of the springs). Therefore, according to the conventional technology, changing the torque profile of the power-assisting device is troublesome. Summary of the Invention [Problem to be solved by the invention]

[0005] Therefore, an object of the present invention is to provide a power assisting device that can easily change the torque profile. [Means for solving the problem]

[0006] According to one aspect of the present invention to achieve the above object, there is provided a power assisting device including: a multi-link unit including one or more links; a profile adjustment unit coupled to one side of the multi-link unit, a portion of which is rotatable about a center; and an elastic force providing unit coupled to the other side of the multi-link unit, which provides elastic force to the multi-link unit; wherein when a portion of the profile adjustment unit rotates, the one side of the multi-link unit can revolve about the center, and the profile adjustment unit selectively allows or restricts the movement of the one side of the multi-link unit.

[0007] The multi-link unit includes a first link, one side of which is connected to the profile adjustment unit, and when the profile adjustment unit rotates, the one side of the first link is configured to revolve around the center, thereby changing the force applied by the elastic force providing unit to the multi-link unit.

[0008] The multi-link unit further includes a second link, one side of which is coupled to the elastic force providing unit, and the one side of the second link is configured to move when the profile adjusting unit rotates, thereby changing the force applied by the elastic force providing unit to the multi-link unit.

[0009] The multi-link unit may further include a third link having a first region rotatably coupled to the other side of the first link and a second region rotatably coupled to the other side of the second link.

[0010] The multi-link unit may further include a body portion that houses the multi-link unit, the profile adjustment unit, and the elastic force providing unit, and the multi-link unit may further include a fourth link that is fixed to the body portion at one side and rotatably coupled to the first region at the other side.

[0011] The multi-link unit may further include a fifth link having one side fixed to the body unit and the other side rotatably coupled to the third region of the third link.

[0012] The device may further include an end link portion having one side rotatably connected to the body portion and the other side connected to the elastic force providing portion.

[0013] The elastic force providing portion may include a plurality of springs, one side of each of the springs being coupled to the other side of the second link, and the other side of each of the springs being coupled to the other side of the end link portion.

[0014] The profile adjustment unit may include a first gear having one side connected to the first link and rotatable about the center.

[0015] The profile adjustment portion may further include a second gear provided to mesh with the first gear.

[0016] The profile adjustment portion may further include a third gear fixedly coupled to the first gear and rotatably provided about the center.

[0017] The size of the first gear may be greater than the size of the third gear.

[0018] The profile adjusting portion may further include a stopper that interferes with a gear provided on the outside of the third gear to limit rotation of the third gear.

[0019] A region of the periphery of the third gear where the first gear and the first link are coupled to each other may be provided with an indented portion having a shape indented toward the center.

[0020] The profile adjustment unit may include a first pulley having one side connected to the first link and rotatable about the center; a second pulley spaced apart from the first pulley; and a belt covering the outside of the first pulley and the second pulley.

[0021] The profile adjusting portion may further include a worm provided to mesh with the first gear.

[0022] According to another aspect of the present invention for achieving the above object, there is provided a power assisting device including: a multi-link unit including one or more links; a profile adjustment unit coupled to one side of the multi-link unit and configured to rotate a portion of the multi-link unit around a center; an elastic force providing unit coupled to the other side of the multi-link unit and providing elastic force to the multi-link unit; and a power providing unit providing power to the profile adjustment unit; wherein when a portion of the profile adjustment unit rotates around its center due to the power providing unit, the one side of the multi-link unit can revolve around the center, and the profile adjustment unit selectively allows or restricts the movement of the one side of the multi-link unit.

[0023] The elastic force supplying device may further include a body portion that houses the multi-link portion, the profile adjusting portion, and the elastic force providing portion; a support portion provided on one side of the body portion; and a pressure sensor that is provided on an inner surface of the support portion and detects pressure.

[0024] The pressure sensor may further include a control unit that controls driving of the power providing unit in accordance with the magnitude of the pressure applied to the pressure sensor.

[0025] The first link may have a shape that bends toward the fourth link. [Effects of the Invention]

[0026] According to the present invention, it is possible to provide a power assisting device that can easily change the torque profile. [Brief explanation of the drawings]

[0027] [Figure 1] 1 is a conceptual diagram showing the structure of a power assisting device according to the present invention. [Figure 2] 1 is a diagram showing the internal structure of a power assisting device according to a first embodiment of the present invention. [Figure 3] 3A to 3C are views showing various examples of driving by rotation between a first body and a second body in the power assisting device according to the first embodiment of the present invention. [Figure 4] 4A to 4C are diagrams showing various driving examples for adjusting the profile of a rotational force using a profile adjusting unit in the power assisting device according to the first embodiment of the present invention. [Figure 5] 4A to 4C are diagrams showing various driving examples for adjusting the profile of a rotational force using a profile adjusting unit in the power assisting device according to the first embodiment of the present invention. [Figure 6] 4A to 4C are diagrams showing various driving examples for adjusting the profile of a rotational force using a profile adjusting unit in the power assisting device according to the first embodiment of the present invention. [Figure 7] 4A to 4C are diagrams showing various driving examples for adjusting the profile of a rotational force using a profile adjusting unit in the power assisting device according to the first embodiment of the present invention. [Figure 8] 10 is a graph showing examples of various types of rotation angle-rotation force function relationships that can be formed by the power assisting device according to the present invention. [Figure 9] FIG. 10 is an enlarged view of a profile adjustment section in a power assisting device according to a second embodiment of the present invention. [Figure 10] FIG. 10 is an enlarged view of a profile adjustment section in a power assisting device according to a third embodiment of the present invention. [Figure 11] FIG. 10 is a diagram showing another example of a power assisting device according to the present invention. [Figure 12] FIG. 10 is a diagram showing still another example of a power assisting device according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0028] Hereinafter, a power assisting device according to the present invention will be described with reference to the drawings.

[0029] Strength assisting devices FIG. 1 is a conceptual diagram that shows the outline of the structure of a power assisting device according to the present invention, and FIG. 2 is a diagram that shows the internal structure of the power assisting device according to the first embodiment of the present invention.

[0030] As shown in Fig. 1, a power assisting device 10 according to the present invention may include a multi-link unit 100 including one or more links. More specifically, the multi-link unit 100 may include a plurality of links. More preferably, the multi-link unit 100 may have a linkage structure in which a plurality of links are rotatably connected to one another. For example, the plurality of links included in the multi-link unit 100 may be rotatably connected to one another on the same plane.

[0031] Furthermore, the power assisting device 10 may include a profile adjusting unit 200 coupled to one side of the multi-link unit 100 and configured to be rotatable about a center C. More specifically, when a portion of the profile adjusting unit 200 rotates about the center C, one side of the multi-link unit 100 may be fixedly coupled to one component of the profile adjusting unit 200 so that the one side of the multi-link unit 100 can revolve about the center C. The role and configuration of the profile adjusting unit 200 will be described later.

[0032] Meanwhile, the power assisting device 10 may further include an elastic force providing unit 300 coupled to the other side of the multi-link unit 100 and providing elastic force to the multi-link unit 100. More specifically, the elastic force providing unit 300 may include a spring 310. More preferably, the elastic force providing unit 300 may include a plurality of springs 310. FIG. 2 shows the elastic force providing unit 300 configured with three springs 310.

[0033] 2, the power assisting device 10 according to the present invention may further include a body part 400 accommodating the multi-link part 100, the profile adjusting part 200, and the elastic force providing part 300. More specifically, the body part 400 may include a first body part 410 accommodating the multi-link part 100, the profile adjusting part 200, and the elastic force providing part 300, and a second body part 420 rotatably coupled to the first body part 410. For example, the first body part 410 and the second body part 420 may be pivotally coupled to each other so as to be rotatable relative to each other about the center C.

[0034] As an example, the power assisting device 10 according to the present invention may be worn on the arm and shoulder of a user, and in this case, the power assisting device 10 may be worn so that the center C faces the joint area where the arm and shoulder meet, and the first body 410 may be worn on the arm, and the second body 420 may be worn on the shoulder.

[0035] Therefore, the power assisting device 10 according to the present invention can assist the user with the muscle strength required according to the angle of rotation of the arm. That is, when the first body 410 pivots about the center C relative to the second body 420 as the arm rotates, the relative position between the other side of the multi-link unit 100 and the elastic force providing unit 300 changes due to the structure of the multi-link unit 100 in which a plurality of links are linked together. Therefore, the elastic force provided to the multi-link unit 100 by the elastic force providing unit 300 connected to the other side of the multi-link unit 100 also changes, so that different magnitudes of rotational force are provided to the user about the center C according to the angle of rotation of the user's arm.

[0036] Therefore, the rotational force provided to the user by the power-assisting device 10 according to the present invention can be understood as a functional relationship depending on the rotation angle between the first body 410 and the second body 420. Furthermore, the power-assisting device according to the present invention can provide various types of functional relationships of the rotational force depending on the rotation angle between the first body 410 and the second body 420 with a simple operation without any cumbersome work such as replacing additional parts. Therefore, it is possible to provide an optimized rotational force to each user who intends to use the power-assisting device.

[0037] To achieve the above object, the profile adjustment unit 200 of the power assisting device 10 according to the present invention can selectively allow or restrict the revolution movement of one side of the multi-link unit 100. Hereinafter, detailed configurations of the multi-link unit 100 and the profile adjustment unit 200 of the power assisting device 10 according to the present invention to achieve the above object will be described.

[0038] As shown in FIGS. 1 and 2, the multi-link unit 100 may include a first link 110 having one side coupled to the profile adjusting unit 200 and a second link 120 having one side coupled to the elastic force providing unit 300.

[0039] Meanwhile, the multi-link unit 100 may further include a third link 130, the first region Z1 of which is rotatably coupled to the other side of the first link 110, and the second region Z2 of which is rotatably coupled to the other side of the second link 120. That is, the first to third links 110, 120, and 130 may be provided within the body 400 so as to be movable relative to the body 400.

[0040] 1 and 2, the multi-link unit 100 may further include a fourth link 140 having one side fixed to the body unit 400 and the other side rotatably coupled to the first region Z1 of the third link 130. More specifically, the one side of the fourth link 140 may be fixedly coupled to the inside of the first body 410. Therefore, the first link 110, the third link 130, and the fourth link 140 may all be coupled to the first region Z1. Meanwhile, the first link 110 may have a shape that bends toward the fourth link 140 as shown in FIG. 2, but the specific shape of the first link 110 is not limited to that shown in FIG. 2.

[0041] The multi-link unit 100 may further include a fifth link 150 having one side fixed to the body unit 400 and the other side rotatably coupled to the third region Z3 of the third link 130. More specifically, the one side of the fifth link 150 may be fixedly coupled to the inside of the first body 410. Meanwhile, the third link 130 may include the first to third regions Z1, Z2, and Z3 as described above, but more specifically, the third link 130 may have a shape in which the first to third regions Z1, Z2, and Z3 form corners and the central region is open, as shown in FIG.

[0042] Meanwhile, referring to Fig. 2, according to the first embodiment of the present invention, the profile adjusting unit 200 may include a first gear 210, one side of which is coupled to the first link 110 and is coupled to be rotatable about a center C, and a second gear 220, which is meshed with the first gear 210. Therefore, when the second gear 220 rotates, the first gear 210, which is meshed with the second gear 220, can rotate about the center C.

[0043] In addition, the profile adjusting unit 200 may further include a third gear 230 fixedly coupled to the first gear 210 and rotatable about a center C. That is, according to the first embodiment of the present invention, the first gear 210 and the third gear 230 are fixed to each other, and therefore can rotate together about the center C. More specifically, the outer diameter of the first gear 210 may be larger than the outer diameter of the third gear 230.

[0044] Continuing to refer to FIG. 2, the profile adjusting unit 200 may further include a stopper 240 that interferes with a gear provided on the outside of the third gear 230 to limit the rotation of the third gear 230.

[0045] Based on the above, the operation method of the power assisting device 10 according to the first embodiment of the present invention will be described.

[0046] FIG. 3 is a diagram showing various examples of driving by rotation between the first body and the second body in the power assisting device according to the first embodiment of the present invention.

[0047] 3, even when the first body 410 rotates relative to the second body 420 due to the movement of the user wearing the power assisting device 10, the region of the first link 110 that is coupled to the first gear 210 remains fixed relative to the first body 410. This is because the stopper 240 provided in the profile adjustment unit interferes with the gear of the third gear 230, thereby restricting the rotation of the third gear 230 and the first gear 210 that is fixedly coupled to the third gear 230. Meanwhile, even if one side of the first link 110 is fixed to the first gear 210, the rotation of the first body 410 relative to the second body 420 causes the other links in the multi-link unit 100 to move relative to the first body 410. As a result, the elastic force provided by the elastic force providing unit 300 to the second link 120 or the multi-link unit 100 also changes, and as a result, the rotational force provided by the power-assisting device 10 to the user also changes depending on the rotation angle of the first body 410 relative to the second body 420. For example, the power-assisting device 10 shown on the left side of Fig. 3 illustrates a state in which a user wearing the power-assisting device lifts their arm upward, the power-assisting device 10 shown in the center of Fig. 3 illustrates a state in which the user lifts their arm horizontally, and the power-assisting device 10 shown on the right side of Fig. 3 illustrates a state in which the user lowers their arm downward. In light of the above, with the power-assisting device 10 according to the present invention, the rotational forces generated by the power-assisting device when the user lifts their arm upward, when the user lifts their arm horizontally, and when the user lowers their arm downward may be different from one another. In particular, as will be described later, according to the present invention, even if the angle at which the user lifts his / her arm is the same, the rotational force generated by the power assisting device can be changed by operating the profile adjusting unit.

[0048] 4 to 7 are views showing various examples of driving the power assisting device according to the first embodiment of the present invention, in which the profile of the rotational force is adjusted using the profile adjusting unit.

[0049] 4 to 7, when a user operates stopper 240 to release interference between stopper 240 and third gear 230 and then rotates second gear 220, first gear 210, which is fixedly connected to second gear 220, rotates about center C. At this time, because first gear 210 is fixedly connected to one side of first link 110, one side of first link 110 also revolves about center C. As one side of first link 110 revolves about center C, the relative position between second link 120 and elastic force providing unit 300 changes due to the connection structure between the links in multi-link unit 100. Therefore, as shown in FIGS. 4 to 7, even if the rotation angle between first body 410 and second body 420 does not change, the rotational force applied by the power assisting device to the user changes about center C. Therefore, according to the present invention, an optimized rotational force can be provided to a user who is using a power assisting device.

[0050] FIG. 8 is a graph showing examples of various types of rotation angle-rotation force function relationships that can be formed by the power assisting device according to the present invention.

[0051] The x-axis of Fig. 8 represents the rotation angle between the first body 410 and the second body 420, and the y-axis represents the magnitude of the rotational force provided to the user by the power assisting device. As shown in Fig. 8, if the relationship between the rotation angle and rotational force set at the initial position does not meet the user's needs, the graph of Fig. 8 can be translated horizontally along the x-axis by rotating the first gear 210 via the second gear 220.

[0052] For example, by rotating the first gear 210 of the power-assist device, which has been adjusted so that the rotational force provided to the user is maximum in the rotation angle range of 20 degrees to 30 degrees (see the graph indicated as initial position in FIG. 8), the rotational force of the power-assist device can be adjusted so that the rotational force provided to the user is maximum in the rotation angle range of -10 degrees to 0 degrees (see the graph indicated as I in FIG. 8).

[0053] To summarize the above, according to the present invention, as the profile adjusting unit 200, i.e., the first gear 210, rotates, one side of the first link 110 revolves around the center C, and as a result, one side of the second link 120 also moves, so the force that the elastic force providing unit 300 applies to the multi-link unit 100 can change. In particular, according to the present invention, even if the rotation angle between the first body 410 and the second body 420 remains the same, one side of the first link 110 can revolve around the center C, so it is possible to adjust the relationship between the rotation angle and the rotational force so that the rotational force that the power assisting device provides to the user can change even when the rotation angle of the user's arm is the same.

[0054] 2 again, the power assisting device 10 according to the present invention may further include an end link unit 500, one side of which is rotatably coupled to the body unit 400 and the other side of which is coupled to the elastic force providing unit 300, i.e., the spring 310. In this case, one side of each of the springs 310 included in the elastic force providing unit 300 may be coupled to the other side of the second link 120.

[0055] 2, according to the present invention, a region of the periphery of the third gear 230 where the first gear 210 and the first link 110 are coupled to each other may be provided with an indented portion 232 having a shape indented toward the center C. The indented portion 232 may be configured to prevent interference of the third gear 230 in the coupling region between the first gear 210 and the first link 110.

[0056] Meanwhile, the stopper 240 can control whether or not it interferes with the third gear 230 by moving one component forward or backward toward the third gear 230 to interfere with the gear provided on the periphery of the third gear 230 or by moving away from the gear.

[0057] 9 is an enlarged view of a profile adjustment unit in a power assisting device according to a second embodiment of the present invention. The power assisting device according to the second embodiment of the present invention will be described below, focusing on the differences from the first embodiment of the present invention.

[0058] As shown in FIG. 9, according to the second embodiment of the present invention, the profile adjusting unit 200 may include a first pulley 250 having one side connected to the first link 110 and rotatable about a center C, a second pulley 260 spaced apart from the first pulley 250, and a belt 270 covering the outside of the first pulley 250 and the second pulley 260.

[0059] According to the second embodiment of the present invention, the user can rotate the first pulley 250 by rotating the second pulley 260 to move the belt 270, thereby adjusting the relationship between the rotation angle and the rotation force. The details regarding the other components including the recess 232 and the operating principle of the power assisting device are replaced with the details described above for the first embodiment of the present invention.

[0060] FIG. 10 is an enlarged view of a profile adjustment unit in a power assisting device according to a third embodiment of the present invention.

[0061] As shown in FIG. 10, according to the third embodiment of the present invention, the profile adjusting unit 200 may include a first gear 210 and a worm 280 provided to mesh with the first gear 210 .

[0062] According to the third embodiment of the present invention, the user can rotate the first gear 210 by rotating the worm 280, thereby adjusting the relationship between the rotation angle and the rotation force. The details regarding the other components including the recessed portion 232 and the details regarding the operating principle of the power assisting device are replaced with the details described above for the first embodiment of the present invention.

[0063] FIG. 11 is a diagram showing another example of a power assisting device according to the present invention.

[0064] The rotational force of the power assisting device according to the present invention may be adjusted manually or automatically using a separate power source. For example, the second gear 220 according to the first embodiment of the present invention (see FIG. 2), the second pulley 260 according to the second embodiment of the present invention (see FIG. 9), and the worm 280 according to the third embodiment of the present invention (see FIG. 10) may be driven manually by the user or automatically using a separate power source.

[0065] 11, the power assisting device 10 according to the present invention may further include a power providing unit 600 that provides power to the profile adjusting unit 200 (see FIG. 1, etc.). More specifically, the power providing unit 600 may further include a power providing unit 600 that provides rotational force to the second gear 220 (see FIG. 2), the second pulley 260 (see FIG. 9), or the worm 280 (see FIG. 10) provided in the profile adjusting unit. The power providing unit 600 may be, for example, an electric motor, but various types of power sources may be applied to the power providing unit. According to another example of the present invention, when a portion of the profile adjusting unit 200 (see FIG. 1, etc.) rotates on its axis due to the power providing unit 600, one side of the multi-link unit 100 (see FIG. 1, etc.) may be configured to revolve around the center.

[0066] FIG. 12 is a diagram showing still another example of a power assisting device according to the present invention.

[0067] 12, the power assisting device 10 according to the present invention may further include a support part 700 provided on one side of the body part 400. The support part 700 may be configured to support the arm of the user.

[0068] The power assisting device 10 may further include a pressure sensor 710 that is provided on the inner surface of the support unit 700 and detects pressure. As described above, the support unit 700 may be configured to support the user's arm, and the pressure sensor 710 can measure the pressure applied by the user's arm. Therefore, the pressure sensor 710 can measure the load applied to the user's arm in real time during the work process.

[0069] Meanwhile, the power assisting device 10 may further include a control unit (not shown) that controls the operation of the power providing unit according to the magnitude of pressure applied to the pressure sensor 710. Therefore, according to the present invention, the pressure sensor 710 can measure the load applied to the user's arm in real time and transmit the information about the load to the control unit, and the control unit can control the operation of the power providing unit 600 based on the information about the load, thereby adjusting the rotational force required by the user in real time.

[0070] Although the present invention has been described above using limited embodiments and drawings, the present invention is not limited thereby, and it goes without saying that various implementations within the scope of the technical idea of ​​the present invention and the scope of the claims can be made by a person having ordinary skill in the art to which the present invention pertains. [Explanation of symbols]

[0071] 10: Strength assist device 100: Multi-link section 110: First link 120: Second link 130: Third link 140: 4th link 150: 5th link 200: Profile adjustment section 210: 1st gear 220: 2nd gear 230: 3rd gear 232: Bay 240: Stopper 250: 1st pulley 260: Second pulley 270: Belt 280: Worm 300: Elastic force providing unit 310: Spring 400: Torso 410: 1st fuselage 420:Second fuselage 500: End link part 600: Power supply section 700: Support part 710: Pressure sensor C: Center Z1: 1st area Z2: 2nd area Z3: Third area

Claims

1. a multi-link section containing one or more links; a profile adjusting part coupled to one side of the multi-link part, a part of which is rotatable about a center; an elastic force providing part coupled to the other side of the multi-link part and providing elastic force to the multi-link part; When a portion of the profile adjusting unit rotates, the one side of the multi-link unit can revolve around the center, the profile adjusting unit selectively allows or restricts the movement of the one side of the multi-link unit; The multi-link portion is a first link having one side connected to the profile adjustment portion; When the profile adjusting unit rotates, the one side of the first link is configured to revolve around the center, thereby changing the force applied by the elastic force providing unit to the multi-link unit; The profile adjustment unit a first gear having one side connected to the first link and rotatable about the center; a second gear configured to mesh with the first gear; and a third gear fixedly coupled to the first gear and rotatable about the center.

2. The multi-link portion is a second link having one side connected to the elastic force providing portion; The power assisting device of claim 1 , wherein the one side of the second link is configured to move when the profile adjusting unit rotates, thereby changing the force applied by the elastic force providing unit to the multi-link unit.

3. The multi-link portion is 3. The power assisting device according to claim 2, further comprising: a third link having a first region rotatably coupled to the other side of the first link and a second region rotatably coupled to the other side of the second link.

4. a body portion that accommodates the multi-link portion, the profile adjusting portion, and the elastic force providing portion; The multi-link portion is The power assisting device according to claim 3 , further comprising: a fourth link having one side fixed to the body portion and the other side rotatably coupled to the first region.

5. The multi-link portion is The power assisting device according to claim 4, further comprising: a fifth link having one side fixed to the body portion and the other side rotatably coupled to the third region of the third link.

6. The power assisting device according to claim 5 , further comprising: an end link portion having one side rotatably connected to the body portion and the other side connected to the elastic force providing portion.

7. the elastic force providing portion includes a plurality of springs, One side of each of the plurality of springs is coupled to the other side of the second link, The power assisting device according to claim 6 , wherein the other sides of the plurality of springs are coupled to the other sides of the end link portions, respectively.

8. The power assisting device according to claim 1 , wherein the size of the first gear is larger than the size of the third gear.

9. The profile adjustment unit 2. The power assisting device according to claim 1, further comprising: a stopper that interferes with a gear provided on the outside of the third gear to limit rotation of the third gear.

10. 2. The power assisting device according to claim 1, wherein an indentation having a shape indented toward the center is provided in a region of the periphery of the third gear where the first gear and the first link are coupled to each other.

11. The profile adjustment unit a first pulley having one side connected to the first link and rotatable about the center; a second pulley spaced apart from the first pulley; and The power assisting device according to claim 1 , further comprising: a belt provided so as to cover the outside of the first pulley and the second pulley.

12. The profile adjustment unit The power assisting device according to claim 1 , further comprising: a worm provided to mesh with the first gear.

13. a multi-link section containing one or more links; a profile adjusting part coupled to one side of the multi-link part, a part of which is rotatable about a center; an elastic force providing part coupled to the other side of the multi-link part and providing elastic force to the multi-link part; and a power providing unit that provides power to the profile adjusting unit; When a portion of the profile adjusting unit rotates by the power supply unit, the one side of the multi-link unit can revolve around the center, the profile adjusting unit selectively allows or restricts the movement of the one side of the multi-link unit; The multi-link portion is a first link having one side connected to the profile adjustment portion; When the profile adjusting unit rotates, the one side of the first link is configured to revolve around the center, thereby changing the force applied by the elastic force providing unit to the multi-link unit; The profile adjustment unit a first gear having one side connected to the first link and rotatable about the center; a second gear configured to mesh with the first gear; and a third gear fixedly coupled to the first gear and rotatable about the center.

14. a body portion that accommodates the multi-link portion, the profile adjusting portion, and the elastic force providing portion; a support portion provided on one side of the body portion; and The muscle power assisting device according to claim 13, further comprising: a pressure sensor provided on an inner surface of the support portion, for sensing pressure.

15. The power assisting device according to claim 14, further comprising: a control unit that controls driving of the power providing unit in accordance with the magnitude of the pressure applied to the pressure sensor.

16. The first link is The power assisting device according to claim 4 , wherein the fourth link has a shape that bends toward the fourth link.

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