Muscle support devices

Abstract

To provide a muscle strength assist device capable of adjusting its size by taking a user's body type into consideration, and significantly reducing an uncomfortable feeling that may occur in a walking process or the like.SOLUTION: A muscle strength assist device includes: a base frame 300; a plurality of rotating bodies 200 provided on one side of the base frame, and rotatably connected to the base frame; a plurality of actuators 100 rotatably connected to one side of the plurality of rotating bodies, and forming restoring torques according to rotation angles with respect to the plurality of rotating bodies; and a cable 400 connecting the plurality of rotating bodies. Rotational motions of the rotating bodies with respect to the base frame are restricted by each other by a tension of the cable.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a muscle strength assisting device, and more particularly to a muscle strength assisting device that can be useful during the work of a pedestrian or a worker.

Background Art

[0002] A muscle strength assisting device that can assist a person with muscle strength during work generates elastic torque near joints that can rotate in the body such as the hip joint, and reduces the load applied to the person during the work process at the waist and the like.

[0003] In general, such a muscle strength assisting device often has structures for generating torque formed on both the left and right sides. In this case, the muscle strength assisting device can be roughly divided into i) a case where the two structures are connected to each other and the movements of the two structures are interlocked with each other, and ii) a case where the two structures are provided independently of each other and the movements of the two structures are performed independently of each other.

[0004] However, according to the conventional technology, in the case of i), there is a problem that it is difficult to wear a muscle strength assisting device considering the body shape of the user because the size of the muscle strength assisting device cannot be adjusted, and in the case of ii), since the two structures that form torque in the muscle strength assisting device operate independently, there is a problem that a large sense of foreignness occurs when a person walks while wearing the muscle strength assisting device.

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, the problem to be solved by the present invention is to provide a muscle strength assisting device having a structure that can adjust the size considering the body shape of the user while significantly reducing the sense of foreignness that may occur during walking or the like.

Means for Solving the Problems

[0006] According to one aspect of the present invention for achieving the above objective, a muscle assist device is provided comprising: a base frame; a first rotating body provided on the left side of the base frame and rotatably coupled to the base frame; a second rotating body provided on the right side of the base frame and rotatably coupled to the base frame; a first actuator rotatably coupled to one side of the first rotating body and forming a first restoring torque in accordance with the rotation angle relative to the first rotating body; a second actuator rotatably coupled to one side of the second rotating body and forming a second restoring torque in accordance with the rotation angle relative to the second rotating body; and a cable connecting the first rotating body and the second rotating body; wherein the rotational motion of the first rotating body relative to the base frame and the rotational motion of the second rotating body relative to the base frame are constrained from each other by the tension of the cable.

[0007] The base frame includes a first frame to which the first rotating body is rotatably coupled; and a second frame to which the second rotating body is rotatably coupled; wherein the first frame and the second frame may be provided to be movable relative to each other.

[0008] The cable may be provided so as to cover at least a portion of the outer periphery of the first rotating body and at least a portion of the outer periphery of the second rotating body.

[0009] If the direction in which the first actuator rotates and the direction in which the second actuator rotates are the same with respect to the base frame, the first actuator may generate the first restoring torque by rotating relative to the first rotating body, and the second actuator may generate the second restoring torque by rotating relative to the second rotating body.

[0010] If the direction in which the first actuator rotates and the direction in which the second actuator rotates are opposite to each other with respect to the base frame, the first actuator may not form a first restoring torque because it is fixed to the first rotating body, and the second actuator may not form a second restoring torque because it rotates relative to the second rotating body.

[0011] The actuator may include an actuator body portion that forms the body of the actuator, and a plate that is rotatably coupled to the actuator body portion and fixedly coupled to the rotating body.

[0012] The rotating body may include a rotating body body portion that forms the body of the rotating body, and a locking portion that is provided to protrude in one direction from the rotating body body portion.

[0013] The plate includes an indentation formed on its periphery and having an inwardly curved shape; the locking portion may be provided so as to be connectable to the indentation.

[0014] The rotating body further includes a latch portion, one of which is coupled to the locking portion, the latch portion being able to move the locking portion to or from the indentation portion.

[0015] When the locking portion is coupled to the recessed portion, the plate can be fixedly coupled to the rotating body.

[0016] When the actuator body rotates relative to the rotating body and the plate while the plate is fixedly coupled to the rotating body, the restoring torque can be formed.

[0017] The actuator is provided inside the actuator body and further includes a linkage structure comprising a plurality of links and elastic bodies, wherein the restoring torque may be formed in accordance with the change in position between the plurality of links, which is made by the rotation of the actuator body relative to the plate.

[0018] When the locking portion is separated from the indentation, the plate may be rotatably mounted relative to the rotating body, or it may be fixedly mounted relative to the actuator body.

[0019] The base frame further includes a third frame provided between the first frame and the second frame; the first frame and the second frame each include a horizontal guide hole having a shape extending horizontally and penetrating the first frame and the second frame, and the third frame includes a fixing portion inserted into the horizontal guide hole; the fixing portion is provided to be movable horizontally along the horizontal guide hole so that the distance between the first frame and the second frame can be adjusted.

[0020] The aforementioned cable may be a Bowden cable.

[0021] The first frame includes a first pulley; the second frame includes a second pulley; and the third frame includes a third pulley, the third pulley may be configured to be movable vertically relative to the first and second pulleys.

[0022] The third frame further includes a vertical guide hole having a shape extending vertically through the third frame, wherein the third pulley may be inserted into the vertical guide hole.

[0023] The cable may be provided between the first pulley and the third pulley, and between the second pulley and the third pulley. [Effect of the Invention]

[0024] According to the present invention, it is possible to provide a muscle assistance device having a structure that can reduce the foreign body sensation that may occur during walking or the like while being able to adjust the size in consideration of the body shape of the user. [Brief Description of the Drawings]

[0025] [Figure 1] It is a perspective view showing a muscle assistance device according to an embodiment of the present invention and the posture of a user wearing the muscle assistance device. [Figure 2] It is an enlarged transparent perspective view of the muscle assistance device of FIG. 1. [Figure 3] It is a perspective view showing an enlarged structure of an actuator and a rotating body of the muscle assistance device according to the present invention. [Figure 4] In the muscle assistance device according to the present invention, it is a side view showing various postures in which the actuator rotates with respect to the rotating body. [Figure 5] In the muscle assistance device according to the present invention, it is a view showing a posture in which the plate of the actuator and the rotating body are coupled to each other. [Figure 6] In the muscle assistance device according to the present invention, it is a view showing a posture in which the connection between the plate of the actuator and the rotating body is released. [Figure 7] It is a view showing a posture in which a user wears the muscle assistance device according to an embodiment of the present invention with the left-right width extended. [Figure 8] It is a view showing a posture in which a user wears the muscle assistance device according to an embodiment of the present invention with the left-right width contracted. [Figure 9] It is a view showing a posture in which a user wears the muscle assistance device according to another embodiment of the present invention with the left-right width extended. [Figure 10] It is a view showing a posture in which a user wears the muscle assistance device according to another embodiment of the present invention with the left-right width contracted. [Mode for Carrying Out the Invention]

[0026] The structure and operating principle of the muscle-strengthening device according to the present invention will be explained below, with reference to the diagrams.

[0027] Muscle support devices Figure 1 is a perspective view showing a muscle-strengthening device according to one embodiment of the present invention and a person wearing the muscle-strengthening device, and Figure 2 is an enlarged transparent perspective view of the muscle-strengthening device of Figure 1. Furthermore, Figure 3 is an enlarged perspective view showing the structure of the actuator and rotating body of the muscle-strengthening device according to the present invention.

[0028] As shown in Figure 1, the muscle support device 10 according to the present invention may include a base frame 300. The base frame 300 is the torso of the muscle support device 10 and may be configured to cover a part of the user's body so that the muscle support device 10 can be worn by the user. As shown in Figures 1 and 2, the base frame 300 may be configured to cover the user's waist. The muscle support device 10 may also be configured to reduce the load applied to the user's waist.

[0029] The base frame 300 may be configured in a form in which multiple components are assembled. For example, as shown in Figures 1 and 2, the base frame 300 may include a first frame 310 provided on the left side and a second frame 320 provided on the right side. In this case, the first frame 310 and the second frame 320 may be provided so that they can move relative to each other. More preferably, when a user wears the muscle support device 10, the first frame 310 and the second frame 320 may be provided so that they can move horizontally relative to each other. Therefore, according to the present invention, the left-right width of the muscle support device 10 can be adjusted by moving the first frame 310 and the second frame 320 according to the user's body shape.

[0030] On the other hand, the muscle assist device 10 according to the present invention may further include a rotating body 200 provided on one side of the base frame 300 and rotatably coupled to the base frame 300. More specifically, the rotating body 200 may include a first rotating body 210 provided on the left side of the base frame 300 and rotatably coupled to the base frame 300, and a second rotating body 220 provided on the right side of the base frame 300 and rotatably coupled to the base frame 300. More preferably, the first rotating body 210 may be coupled to the left side of the first frame 310 and rotatably coupled to the first frame 310, and the second rotating body 220 may be coupled to the right side of the second frame 320 and rotatably coupled to the second frame 320.

[0031] Furthermore, the muscle-assist device 10 according to the present invention may further include an actuator 100 that is rotatably coupled to one side of the rotating body 200. The actuator 100 may be configured to form a restoring torque according to the rotation angle relative to the rotating body 200. Therefore, according to the present invention, the load applied to the user can be reduced by the restoring torque formed by the actuator 100.

[0032] Figure 4 is a side view illustrating various ways in which an actuator rotates relative to a rotating body in the muscle-assisting device according to the present invention.

[0033] Referring to Figure 4, the far right shows a state where no restoring torque is formed because the actuator 100 does not rotate relative to the rotating body 200, while moving to the left shows a state where restoring torque is formed as the actuator 100 rotates relative to the rotating body 200. In particular, the further to the left you go, the larger the angle of rotation of the actuator 100 relative to the rotating body 200 is shown, and the larger the angle of rotation, the greater the restoring torque that can be formed. Also, using Figure 4 as a reference, if the actuator 100 rotates clockwise relative to the rotating body 200, the restoring torque generated by the actuator 100 can be formed counterclockwise.

[0034] Continuing with reference to Figures 1 and 2, the actuator 100 may include a first actuator 110 that is rotatably coupled to one side of the first rotating body 210 and forms a first restoring torque according to the rotation angle relative to the first rotating body 210, and a second actuator 120 that is rotatably coupled to one side of the second rotating body 220 and forms a second restoring torque according to the rotation angle relative to the second rotating body 220. Figures 1 and 2 show the first actuator 110 and the second actuator 120 mounted on the left side of the first rotating body 210 and the right side of the second rotating body 220, respectively.

[0035] Continuing with reference to Figures 1 and 2, the muscle assist device 10 according to the present invention may further include a cable 400 connecting the first rotating body 210 and the second rotating body 220. As shown in Figure 2, the cable 400 may be provided so as to cover at least a portion of the outer periphery of the first rotating body 210 and at least a portion of the outer periphery of the second rotating body 220.

[0036] The cable 400 may be configured to restrain the rotational motion of the first rotating body 210 relative to the base frame 300 and the rotational motion of the second rotating body 220 relative to the base frame 300. More specifically, the rotational motion of the first rotating body 210 relative to the base frame 300 and the rotational motion of the second rotating body 220 relative to the base frame 300 can be restrained from each other by the tension of the cable 400. Therefore, according to the present invention, if the first rotating body 210 rotates in one direction relative to the base frame 300, the tension of the cable 400 can cause the second rotating body 220 to rotate in the opposite direction relative to the base frame 300. For example, referring to the arrows shown in Figure 2, if the first rotating body 210 rotates clockwise relative to the base frame 300, the cable 400 will move around the first rotating body 210 in the winding direction. In this case, the tension in cable 400 causes cable 400 to move in the unwinding direction away from the second rotating body 220, which in turn causes the second rotating body 220 to rotate counterclockwise. Therefore, the tension in cable 400 causes the rotation directions of the first rotating body 210 and the second rotating body 220 to be opposite to each other.

[0037] More specifically, according to the present invention, if the direction in which the first actuator 110 rotates relative to the base frame 300 due to the tension of the cable 400 is opposite to the direction in which the second actuator 120 rotates, the first actuator 110 may not form the aforementioned first restoring torque because it is fixed to the first rotating body 210, and the second actuator 120 may not form the aforementioned second restoring torque because it is fixed to the second rotating body 220.

[0038] More preferably, when the direction in which the first actuator 110 rotates relative to the base frame 300 and the direction in which the second actuator 120 rotates are opposite to each other, the first rotating body 210 can rotate relative to the base frame 300 together with the first actuator 110, and the second rotating body 220 can rotate relative to the base frame 300 together with the second actuator 120. In this case, the first actuator 110 does not rotate relative to the first rotating body 210, so the first restoring torque is not formed, and the second actuator 120 does not rotate relative to the second rotating body 220, so the second restoring torque may not be formed.

[0039] This can be applied when a user wearing the muscle support device 10 is walking. For example, consider a case where the base frame 300 of the muscle support device 10 is worn so as to cover the user's waist, the first actuator 110 is attached to the user's left foot but the first rotating body 210 is located at the user's left hip joint, and the second actuator 120 is attached to the user's right foot but the second rotating body 220 is located at the user's right hip joint. In this case, for example, when the user's left foot is positioned forward during the user's walking process, the right foot will be positioned backward, causing the first actuator 110 to rotate forward as well, and the second actuator 120 to rotate backward.

[0040] However, when the user is simply walking, there is no need for assistance from the restoring torque generated by the muscle assistance device 10, so the first and second restoring torques from the first actuator 110 and the second actuator 120 are unnecessary. Therefore, according to the present invention, during the user's walking process, the tension of the cable 400 causes the first rotating body 210 and the second rotating body 220 to rotate in opposite directions, thereby fixing the first rotating body 210 and the second rotating body 220 to the first actuator 110 and the second actuator 120, respectively. As a result, when the user is simply walking, the aforementioned restoring torque can be avoided.

[0041] On the other hand, according to the present invention, when the direction in which the first actuator 110 rotates relative to the base frame 300 and the direction in which the second actuator 120 rotates are the same, the first actuator 110 can generate a first restoring torque by rotating relative to the first rotating body 210, and the second actuator 120 can generate a second restoring torque by rotating relative to the second rotating body 220.

[0042] More preferably, when the direction in which the first actuator 110 rotates relative to the base frame 300 and the direction in which the second actuator 120 rotates are the same, the first rotating body 210 is fixed to the base frame 300 and the first actuator 110 can rotate relative to the first rotating body 210, the second rotating body 220 is fixed to the base frame 300 and the second actuator 120 can rotate relative to the second rotating body 220.

[0043] This can be applied when a user wearing the muscle-strengthening device 10 is performing work. For example, when a user wearing the muscle-strengthening device 10 bends at the waist to lift an object, the user's waist rotates relative to the user's legs. As a result, a relative rotational movement occurs between the actuators 110 and 120 attached to the user's legs and the base frame 300.

[0044] At this time, the rotating bodies 210 and 220 connected to the actuators 110 and 120 attempt to rotate together in the direction in which the actuators 110 and 120 rotate relative to the base frame 300. However, because the first rotating body 210 and the second rotating body 220 attempt to rotate in the same direction, the tension formed in the cable 400 increases, preventing the first rotating body 210 and the second rotating body 220 from rotating relative to the base frame 300, and fixing them to the base frame 300. Consequently, rotation angles are generated between the first rotating body 210 and the first actuator 110, and between the second rotating body 220 and the second actuator 120. As a result, the first actuator 110 and the second actuator 120 each generate a first and second restoring torque, and the burden on the user's waist can be significantly reduced by the first and second restoring torques.

[0045] On the other hand, as shown in Figure 3, the actuator 100 may include an actuator body portion 102 that forms the body of the actuator 100, and a plate 104 that is rotatably connected to the actuator body portion 102 and can be fixedly connected to the rotating body 200.

[0046] Furthermore, the rotating body 200 may include a rotating body body portion 202 that forms the body of the rotating body 200, and a locking portion 204 that is provided to protrude in one direction from the rotating body body portion 202.

[0047] As mentioned above, the plate 104 may be fixedly coupled to the rotating body 200. However, according to the present invention, the coupling between the plate 104 and the rotating body 200 may be released at the user's discretion.

[0048] More specifically, as shown in Figure 3, the plate 104 may include an indented portion 106 formed on its periphery and curved inward, and the locking portion 204 may be provided so as to be connectable to the indented portion 106. Therefore, when the locking portion 204 is connected to the indented portion 106, the plate 104 can be fixedly connected to the rotating body 200, and when the locking portion 204 is separated from the indented portion 106, the connection between the plate 104 and the rotating body 200 can be released. On the other hand, Figures 5 and 6 show a configuration in which two indented portions 106 are formed on the plate 104. In this case, the locking portion 204 may be selectively connected to one of the two indented portions 106.

[0049] Figure 5 shows the configuration in which the actuator plate and the rotating body are coupled to each other in the muscle assistance device according to the present invention, and Figure 6 shows the configuration in which the coupling between the actuator plate and the rotating body is released in the muscle assistance device according to the present invention.

[0050] Referring to Figures 5 and 6, the rotating body 200 may further include a latch portion 206 that is movable and coupled to the locking portion 204 on one side. Thus, according to the present invention, the latch portion 206 can move the locking portion 204, thereby coupling the locking portion 204 to or separating it from the indentation portion 106. In particular, according to the present invention, as shown in Figure 5, when the locking portion 204 is coupled to the indentation portion 106, the plate 104 can be fixedly coupled to the rotating body 200, as described above.

[0051] In particular, the aforementioned restoring torque can be formed by the rotation of the actuator body 102 relative to the rotating body 200 and the plate 104 while the plate 104 is fixedly coupled to the rotating body 200. More specifically, the actuator 100 may further include a linkage structure (not shown) provided inside the actuator body 102, which includes a plurality of links and elastic bodies. In this case, the aforementioned restoring torque can be formed in accordance with the positional changes between the plurality of links and elastic bodies caused by the rotation of the actuator body 102 relative to the plate 104.

[0052] On the other hand, as shown in Figure 6, when the latch portion 206 moves the locking portion 204, causing the locking portion 204 to be separated from the recessed portion 106, the plate 104 may be provided to be freely rotatable relative to the rotating body 200 and fixed relative to the actuator body portion 102. An example of the case where the locking portion 204 is separated from the recessed portion 106 in this way is when a user wearing the muscle support device 10 is sitting in a chair to rest. In this case, since restoring torque is not required, it is necessary to separate the locking portion 204 from the recessed portion 106 so that rotational movement between the plate 104 and the actuator body portion 102 does not occur.

[0053] Figure 7 shows a user wearing a muscle-strengthening device according to one embodiment of the present invention with its width extended in the lateral direction, and Figure 8 shows a user wearing a muscle-strengthening device according to one embodiment of the present invention with its width reduced in the lateral direction.

[0054] Referring to Figures 7 and 8, the base frame 300 may further include a third frame 330 provided between the first frame 310 and the second frame 320.

[0055] In this case, the first frame 310 and the second frame 320 may each include a horizontal guide hole 340 that penetrates the first frame 310 and the second frame 320 and has a shape that extends along the horizontal direction, and the third frame 330 may include a fixing portion 350 that is inserted into the hole of the horizontal guide hole 340.

[0056] In this case, the fixing part 350 is provided so as to be movable horizontally along the horizontal guide hole 340, thereby allowing the distance between the first frame 310 and the second frame 320 to be adjusted. Therefore, according to the present invention, the left-right width of the muscle support device 10 can be adjusted by adjusting the horizontal position of the fixing part 350 within the horizontal guide hole 340. For example, when a user with a large build wears the muscle support device 10, as shown in Figure 7, the left-right width of the muscle support device 10 can be increased by positioning the fixing part 350 at or adjacent to the inner end of the horizontal guide hole 340, and when a user with a small build wears the muscle support device 10, as shown in Figure 8, the left-right width of the muscle support device 10 can be reduced by positioning the fixing part 350 at or adjacent to the outer end of the horizontal guide hole 340.

[0057] On the other hand, according to one embodiment of the present invention, cable 400 may be a Bowden cable. A Bowden cable is a flexible cable used to transmit force or energy, and includes a cable housing and an inner cable provided inside the cable housing, but may be configured to transmit force or energy by the relative motion of the inner cable with respect to the cable housing. For more details on Bowden cables, the conventionally known details shall be used instead, and cable 400 may also be subject to various conventionally known Bowden cable structures.

[0058] Figure 9 shows a user wearing a muscle-strengthening device according to another embodiment of the present invention with its width extended in the left-right direction, and Figure 10 shows a user wearing a muscle-strengthening device according to another embodiment of the present invention with its width reduced in the left-right direction. Below, other embodiments of the present invention will be described, focusing on the differences from one embodiment of the present invention. Therefore, unless otherwise noted, the above-described content for one embodiment of the present invention can also be applied to other embodiments of the present invention.

[0059] In another embodiment of the present invention, the first frame 310 may include a first pulley 360, the second frame 320 may include a second pulley 370, and the third frame 330 may include a third pulley 332. In this case, the third pulley 332 may be provided so as to be movable in the vertical direction relative to the first pulley 360 and the second pulley 370.

[0060] More specifically, the third frame 330 may further include a vertical guide hole 334 that penetrates the third frame 330 and has a shape that extends along the vertical direction, in which case the third pulley 332 may be inserted into the vertical guide hole 334. Thus, the third pulley 332 can move vertically along the vertical guide hole 334.

[0061] On the other hand, as shown in Figures 9 and 10, the cable 400 may be provided between the second pulley 370 and the third pulley 332, while also being provided between the first pulley 360 and the third pulley 332.

[0062] According to another embodiment of the present invention, when a user with a small build wears the muscle support device 10, it is necessary to reduce the width of the muscle support device 10 in the left-right direction, as shown in Figure 10. However, in this case, the tension of the cable 400 will decrease, and the restraint between the first rotating body 210 and the second rotating body 220 by the cable 400 will not be properly maintained.

[0063] Therefore, according to another embodiment of the present invention, the third pulley 332 can be moved upward so that the tension of the cable 400 can be maintained even if the lateral width of the muscle support device 10 decreases. In this case, the area of ​​the cable 400 that was between the first pulley 360 and the third pulley 332, and the area that was between the second pulley 370 and the third pulley 332, may be moved upward by the third pulley 332. Subsequently, when a person with a larger build wears the muscle support device 10 again, the tension of the cable 400 can be maintained by moving the third pulley 332 downward again, as shown in Figure 9.

[0064] Although the present invention has been described above by limited embodiments and drawings, it is understood that the present invention is not limited thereto, and that a wide range of implementations are possible by a person with ordinary skill in the art to which the present invention pertains, within the equivalent scope of the technical concept of the present invention and the claims described below. [Explanation of Symbols]

[0065] 10: Muscle support devices 100: Actuator 102: Actuator body 104: Plate 106: Bay entrance 110: First Actuator 120: Second Actuator 200: Rotating body 202: Rotating body section 204: Locking part 206: Latch section 210: First rotating body 220: Second Rotating Body 300: Base frame 310: First frame 320: 2nd frame 330: Third Frame 332: Third Pulley 334: Vertical guide hole 340: Horizontal guide hole 350:Fixed part 360: First Pulley 370: Second pulley 400: Cable

Claims

1. Base frame; A first rotating body provided on the left side of the base frame and rotatably coupled to the base frame; A second rotating body provided on the right side of the base frame and rotatably coupled to the base frame; A first actuator rotatably coupled to one side of the first rotating body, and which forms a first restoring torque in accordance with the rotation angle relative to the first rotating body; A second actuator rotatably coupled to one side of the second rotating body and forming a second restoring torque in accordance with the rotation angle relative to the second rotating body; and A cable connecting the first rotating body and the second rotating body; The rotational motion of the first rotating body relative to the base frame and the rotational motion of the second rotating body relative to the base frame are constrained by the tension of the cable. Each of the first actuator and the second actuator is, Actuator body section forming the fuselage; and A plate rotatably coupled to the actuator body and fixedly coupled to the first rotating body or the second rotating body; Each of the first and second bodies of revolution is Rotating body section forming the fuselage; and A locking portion is provided so as to protrude in one direction from the rotating body portion; The aforementioned plate is Including an indented portion formed on the periphery of the plate and having a shape that curves inward; The locking portion is provided so as to be connectable to the inlet portion, Each of the first and second bodies of revolution is A latch portion on one side which is coupled to the locking portion; further includes The aforementioned latch portion is By moving the locking portion, the locking portion is either connected to the inlet or separated from the inlet. When the locking portion is coupled to the indentation, the plate is fixedly coupled to the first rotating body or the second rotating body. A muscle-strengthening device in which, with the plate fixedly coupled to the first rotating body or the second rotating body, the actuator body rotates relative to the first rotating body or the second rotating body and the plate, thereby forming the first or second restoring torque.

2. The aforementioned base frame is A first frame on which the first rotating body is rotatably coupled; and A second frame to which the second rotating body is rotatably coupled; The muscle assist device according to claim 1, wherein the first frame and the second frame are provided to be able to move relative to each other.

3. The aforementioned cable is The muscle assist device according to claim 1, provided to cover at least a portion of the outer periphery of the first rotating body and at least a portion of the outer periphery of the second rotating body.

4. When the direction in which the first actuator rotates with respect to the base frame and the direction in which the second actuator rotates are the same, The muscle assist device according to claim 3, wherein the first actuator generates a first restoring torque by rotating relative to the first rotating body, and the second actuator generates a second restoring torque by rotating relative to the second rotating body.

5. When the direction in which the first actuator rotates and the direction in which the second actuator rotates relative to the base frame are opposite to each other, The muscle assist device according to claim 3, wherein the first actuator is fixed to the first rotating body so that the first restoring torque is not formed, and the second actuator rotates relative to the second rotating body so that the second restoring torque is not formed.

6. Each of the first actuator and the second actuator is, A linkage structure comprising a plurality of links and elastic bodies, provided inside the actuator body; further comprising: The first and second restoring torques are each, The muscle assist device according to claim 1, which is formed in accordance with the change in position between the plurality of links caused by the rotation of the actuator body relative to the plate.

7. Base frame; A first rotating body provided on the left side of the base frame and rotatably coupled to the base frame; A second rotating body provided on the right side of the base frame and rotatably coupled to the base frame; A first actuator rotatably coupled to one side of the first rotating body, and which forms a first restoring torque in accordance with the rotation angle relative to the first rotating body; A second actuator rotatably coupled to one side of the second rotating body and forming a second restoring torque in accordance with the rotation angle relative to the second rotating body; and A cable connecting the first rotating body and the second rotating body; The rotational motion of the first rotating body relative to the base frame and the rotational motion of the second rotating body relative to the base frame are constrained by the tension of the cable. Each of the first actuator and the second actuator is, Actuator body section forming the fuselage; and A plate rotatably coupled to the actuator body and fixedly coupled to the first rotating body or the second rotating body; Each of the first and second bodies of revolution is Rotating body section forming the fuselage; and A locking portion is provided so as to protrude in one direction from the rotating body portion; The aforementioned plate is Including an indented portion formed on the periphery of the plate and having a shape that curves inward; The locking portion is provided so as to be connectable to the inlet portion, Each of the first and second bodies of revolution is A latch portion on one side which is coupled to the locking portion; further includes The aforementioned latch portion is By moving the locking portion, the locking portion is either connected to the inlet or separated from the inlet. When the locking portion is separated from the inlet, A muscle-strengthening device in which the plate is rotatably mounted relative to the first rotating body or the second rotating body, and the plate is fixedly mounted relative to the actuator body.

8. The aforementioned base frame is A third frame provided between the first frame and the second frame; further including The first frame and the second frame are, A horizontal guide hole, provided to penetrate the first frame and the second frame and having a shape extending along the horizontal direction; The 3rd frame is Includes a fixing portion inserted into the horizontal guide hole; The aforementioned fixing part is The muscle assist device according to claim 2, wherein the distance between the first frame and the second frame is adjusted by being provided so as to be movable in the horizontal direction along the horizontal guide hole.

9. The muscle support device according to claim 1, wherein the cable is a Bowden cable.

10. The first frame includes a first pulley; The aforementioned second frame includes a second pulley; The aforementioned third frame includes a third pulley; The muscle assist device according to claim 8, wherein the third pulley is provided so as to be movable in the vertical direction relative to the first pulley and the second pulley.

11. The 3rd frame is A vertical guide hole provided to penetrate the third frame and having a shape extending along the vertical direction; further including, The muscle assist device according to claim 10, wherein the third pulley is inserted into the vertical guide hole.

12. The cable is provided between the first pulley and the third pulley. The muscle assist device according to claim 11, wherein the cable is provided between the second pulley and the third pulley.

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