Portable Auxiliary Power Device Capable of Walking Assistance and Walking Training

Abstract

The present invention relates to a portable auxiliary power device capable of walking assistance and walking training, and more specifically, to a portable auxiliary power device capable of walking assistance and walking training that includes a drive module capable of simultaneously performing length adjustment for a plurality of elastic strings with a single motor, thereby providing assistive force when connected to an assistive device worn by a user, which improves the stability and naturalness of walking and increases the user's activity level.

Description

Technology Field

[0001] The present invention relates to a portable auxiliary power device capable of walking assistance and walking training, and more specifically, to a portable auxiliary power device capable of walking assistance and walking training that includes a drive module capable of simultaneously performing length adjustment for a plurality of elastic strings with a single motor, thereby providing assistive force when connected to an assistive device worn by a user, which improves the stability and naturalness of walking and increases the user's activity level. Background Technology

[0003] Orthotic devices worn on the lower body are devices used to assist walking for individuals with mobility difficulties and to prevent further injuries. They are also used for gait training. These devices are generally classified into manual and powered orthotics.

[0004] Manual orthotics can prevent joint bending by being worn on or near the joints of the lower body (hips, knees, ankles). Additionally, since they do not include a power device, they are relatively lightweight and easy to wear, and they have the advantage of being relatively accessible as they are priced at around 1 million won or less. However, manual orthotics have the problem of causing discomfort during walking by reducing mobility because they restrict joint movement.

[0005] Accordingly, powered orthotics have been introduced in the past. By incorporating power devices, such as hydraulic cylinders, and sensors, powered orthotics can prevent joint bending during the stance phase and precisely control joint flexion during the swing phase, thereby inducing a natural gait for the user. However, problems have arisen regarding the accessibility of powered orthotics: they are heavier than manual orthotics due to the inclusion of power devices, making daily use difficult; they require custom manufacturing tailored to the user's body type; and they are typically priced at several million won or more.

[0006] In other words, there is a need for assistive devices that offer high mobility while maintaining a reasonable price range and low weight, or assistive devices capable of providing assistive power to manual assistive devices. The problem to be solved

[0008] The present invention aims to provide a portable auxiliary power device capable of walking assistance and walking training, which includes a drive module capable of simultaneously adjusting the lengths of a plurality of elastic strings with a single motor, thereby providing assistive force when connected to an assistive device worn by a user, improving the stability and naturalness of walking, and increasing the user's activity level. means of solving the problem

[0010] In order to solve the above problems, one embodiment of the present invention provides a portable auxiliary power device comprising: a waist band that is fixed to a user's waist and whose waist circumference is adjustable; a driving module that is positioned in the front direction of the waist band and includes a motor and a string pulley rotatably coupled to the motor; a first elastic string with one end fixed to the string pulley and the other end extending downward from one side of the driving module; and a second elastic string with one end fixed to the string pulley and the other end extending downward from the other side of the driving module; wherein, as the motor rotates, an auxiliary force is generated in the driving module, and the length of each of the first elastic string and the second elastic string is shortened by being wound around the string pulley, and when the other end of each of the first elastic string and the second elastic string is connected to an assistive device worn by the user, the auxiliary force of the driving module is transmitted to the assistive device to perform walking assistance.

[0011] In some embodiments of the present invention, the driving module may further include: a first main guide roller rotatably fixed to one side of the lower inner side of the driving module; and a second main guide roller rotatably fixed to the other side of the lower inner side of the driving module.

[0012] In some embodiments of the present invention, the first elastic string is guided by the first main guide roller and the other end is extended to the lower side of the drive module, and the second elastic string is guided by the second main guide roller and the other end is extended to the lower side of the drive module, and when the motor rotates, the other end of each of the first elastic string and the second elastic string moves in either the upward or downward direction, and each can move in a direction corresponding to each other.

[0013] In some embodiments of the present invention, the driving module further comprises: a first auxiliary guide roller rotatably fixed to the inside of the driving module and positioned adjacent to the first main guide roller; and a second auxiliary guide roller rotatably fixed to the inside of the driving module and positioned adjacent to the second main guide roller; wherein the first elastic string is guided by the first auxiliary guide roller and the first main guide roller, with its other end extending to the lower side of the driving module, and the second elastic string is guided by the second auxiliary guide roller and the second main guide roller, with its other end extending to the lower side of the driving module; and when the motor rotates, the other ends of the first elastic string and the second elastic string, respectively, move in either the upward or downward direction, and each may move in a direction corresponding to the other.

[0014] In some embodiments of the present invention, the motor is disc-shaped and is positioned inside the drive module, and the string pulley is positioned to cover the front and outer surface of the motor in the shape of a disc-shaped lid having a diameter larger than that of the motor, and the central part can be rotatably coupled to the front of the motor.

[0015] In some embodiments of the present invention, when a user wears a foot strap that wraps around the foot as an assistive device, the portable auxiliary power device can prevent knee flexion during the stance phase while walking by connecting the other ends of the first elastic string and the second elastic string, respectively, to the foot strap.

[0016] In some embodiments of the present invention, when a user wears a knee strap worn on the knee and a foot strap worn on the foot as assistive devices, the portable auxiliary power device can assist knee extension during the swing phase while walking by having each of the first elastic string and the second elastic string connected to the front of the knee strap and the other end of each of the first elastic string and the second elastic string connected to the foot strap on the front side of the leg.

[0017] In some embodiments of the present invention, when a user wears a thigh strap worn on the upper side of the knee, a lower leg strap worn on the lower side of the knee, and a foot strap worn on the foot as an assistive device, the portable auxiliary power device can assist knee flexion during the swing phase of walking by having each of the first elastic string and the second elastic string connected to the front of the thigh strap and the rear of the lower leg strap, respectively, and having the other end of each of the first elastic string and the second elastic string connected to the foot strap on the rear side of the leg.

[0018] In some embodiments of the present invention, the string pulley has a disc-shaped lid and includes a plurality of through slits formed on the outer surface, and each of the plurality of through slits may be arranged at equal intervals on the outer surface of the string pulley.

[0019] In some embodiments of the present invention, each of the first elastic string and the second elastic string may further include a connecting member at the other end that can be connected to a user's assistive device.

[0020] In some embodiments of the present invention, the driving module further includes a motor driver, and the motor driver includes a control unit comprising one or more processors and one or more memories; and a sensor unit that recognizes the walking step of the user; and the control unit can control the operation of the motor based on the walking step of the user recognized by the sensor unit. Effects of the invention

[0022] According to one embodiment of the present invention, the portable auxiliary power device can be connected to various assistive devices by applying auxiliary power by connecting to an assistive device owned by the user, thereby improving expandability, and can be mass-produced with a single design rather than through a custom production method, thereby improving economic efficiency.

[0023] According to one embodiment of the present invention, a portable auxiliary power device includes a first elastic string and a second elastic string to transmit auxiliary force from both sides of the device, and is formed to allow simultaneous length adjustment with a single motor, thereby improving stability and enabling weight reduction, which can produce the effect of improving wearing convenience.

[0024] According to one embodiment of the present invention, a portable auxiliary power device includes a first elastic string and a second elastic string, respectively, and is connected to both ends of an assistive device worn by a user, thereby providing a uniform assistive force to the assistive device and thereby having the effect of improving the user's walking stability.

[0025] According to one embodiment of the present invention, a portable auxiliary power device can achieve the effect of improving the precision of walking assistance by including a sensor unit that senses the walking phase of a user.

[0026] According to one embodiment of the present invention, a portable auxiliary power device can respond to various walking stages depending on the type of assistive device worn by the user and the method of connection to the assistive device, thereby providing the effect of improved practicality.

[0027] According to one embodiment of the present invention, a portable auxiliary power device can achieve the effect of improving user friendliness by optimizing the walking assistance method according to the type of assistive device worn by the user. Brief explanation of the drawing

[0029] FIG. 1 schematically illustrates a portable auxiliary power device according to one embodiment of the present invention. FIG. 2 schematically illustrates a portable auxiliary power device according to one embodiment of the present invention and the portable auxiliary power device connected to a user's assistive device. FIG. 3 schematically illustrates a driving module according to one embodiment of the present invention. FIG. 4 schematically illustrates an exploded view of a driving module according to one embodiment of the present invention. FIG. 5 schematically illustrates a first elastic string and a second elastic string connected to a driving module according to one embodiment of the present invention. FIG. 6 schematically illustrates the movement directions of the first elastic string and the second elastic string when the motor rotates in another drive module in one embodiment of the present invention. FIG. 7 schematically illustrates a second elastic string connected to a string pulley according to one embodiment of the present invention. FIG. 8 schematically illustrates each of the wearing examples 1, 2, and 3 of a portable auxiliary power device according to one embodiment of the present invention. FIG. 9 schematically illustrates each of the wearing examples 1, 2, and 3 of a portable auxiliary power device according to one embodiment of the present invention. FIG. 10 schematically illustrates a control unit of a motor driver according to one embodiment of the present invention. Specific details for implementing the invention

[0030] Hereinafter, various embodiments and / or aspects are disclosed with reference to the drawings. For illustrative purposes, numerous specific details are disclosed in the following description to aid in a general understanding of one or more aspects. However, it will also be recognized by those skilled in the art that these aspects may be practiced without such specific details. The following description and the accompanying drawings describe specific exemplary aspects of one or more aspects in detail. However, these aspects are exemplary, and some of the various methods in the principles of the various aspects may be used, and the description is intended to include all such aspects and their equivalents.

[0031] In addition, various aspects and features will be presented by a system that may include multiple devices, components and / or modules, etc. It should also be understood and recognized that various systems may include additional devices, components and / or modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in relation to the drawings.

[0032] As used herein, terms such as "examples," "examples," "aspects," "examples," etc., may not be interpreted as implying that any aspect or design described is better or more advantageous than other aspects or designs.

[0033] Additionally, the terms “comprising” and / or “comprising” should be understood to mean that the relevant feature and / or component is present, but not to exclude the presence or addition of one or more other features, components and / or groups thereof.

[0034] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. Such terms are used solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component. The term "and / or" includes a combination of a plurality of related described items or any of a plurality of related described items.

[0035] Furthermore, in the embodiments of the present invention, all terms used herein, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in the embodiments of the present invention.

[0037] Lower-body orthotics are used to assist walking and prevent injuries for individuals with mobility difficulties, and they can also be utilized for gait training. While manual orthotics offer the advantage of high accessibility due to their low cost and light weight, they can cause discomfort during walking by restricting joint movement. Consequently, powered orthotics incorporating sensors and power devices to adjust joint flexion according to the gait phase have been introduced. However, powered orthotics remain impractical for daily use due to their high weight and high cost resulting from custom manufacturing.

[0038] To solve this, the present invention discloses a portable auxiliary power device (1) capable of providing walking assistance and walking training, which can add power to a manual assistive device (O) by connecting it to an assistive device (O) worn by a user and applying an assistive force.

[0039] More specifically, the portable auxiliary power device (1) may include a drive module (3000) that generates auxiliary power using a single motor (3300). A first elastic string (4000) and a second elastic string (5000), whose lengths can be adjusted by the motor (3300), may be connected to the drive module (3000). The first elastic string (4000) and the second elastic string (5000) are connected to an assistive device (O) worn by a user, and by adjusting their lengths, the auxiliary power generated by the drive module (3000) can be applied to the assistive device (O). Accordingly, the portable auxiliary power device (1) functions as a device that provides power to a manual assistive device (O) and can be used for walking assistance and walking training.

[0041] That is, the portable auxiliary power device (1) according to one embodiment of the present invention can be connected to various auxiliary devices (O) by applying auxiliary power by connecting to an auxiliary device (O) owned by the user, thereby improving expandability, and can be mass-produced with a single design rather than a custom production method, thereby improving economic efficiency.

[0042] In addition, the portable auxiliary power device (1) according to one embodiment of the present invention includes a first elastic string (4000) and a second elastic string (5000) to transmit auxiliary power from both sides of the auxiliary device (O), and is formed to allow simultaneous length adjustment with a single motor (3300), thereby improving stability and enabling weight reduction, which can produce the effect of improving wearing convenience.

[0044] Hereinafter, a portable auxiliary power device (1) capable of walking assistance and walking training according to one embodiment of the present invention will be described in detail.

[0046] FIG. 1 schematically illustrates a portable auxiliary power device (1) according to one embodiment of the present invention, and FIG. 2 schematically illustrates a portable auxiliary power device (1) according to one embodiment of the present invention and a portable auxiliary power device (1) connected to a user's auxiliary device (O).

[0048] According to one embodiment of the present invention, a portable auxiliary power device (1) comprises: a waist band (1000) fixed to a user's waist and adjustable in waist circumference; a driving module (3000) disposed in the frontal direction of the waist band (1000) and including a motor (3300) and a string pulley (3400) rotatably coupled to the motor (3300); and a first elastic string (4000) having one end fixed to the string pulley (3400) and the other end extending downward from one side of the driving module (3000). A portable auxiliary power device (1) can be provided, comprising: a first elastic string (4000) and a second elastic string (5000) having one end fixed to the string pulley (3400) and the other end extending downward from the other side of the drive module (3000); wherein, as the motor (3300) rotates, an auxiliary force is generated in the drive module (3000), and each of the first elastic string (4000) and the second elastic string (5000) is wound around the string pulley to shorten their length, and when the other end of each of the first elastic string (4000) and the second elastic string (5000) is connected to an assistive device (O) worn by a user, the auxiliary force of the drive module (3000) is transmitted to the assistive device (O) to perform walking assistance.

[0049] According to one embodiment of the present invention, each of the first elastic string (4000) and the second elastic string (5000) may further include a connecting member (6000) at the other end that can be connected to a user's assistive device (O).

[0050] According to one embodiment of the present invention, the portable auxiliary power device (1) may further include a battery (2000) that is positioned on one side of the waistband (1000) and supplies power to the drive module (3000).

[0052] As illustrated in FIG. 1, a portable auxiliary power device (1) according to one embodiment of the present invention includes a waist band (1000), a driving module (3000), a first elastic string (4000), and a second elastic string (5000), and may further include a battery (2000) and a connecting member (6000).

[0053] Specifically, according to one embodiment of the present invention, the portable auxiliary power device (1) may include the waist band (1000) for securing the portable auxiliary power device (1) to the user's waist. According to one embodiment of the present invention, the waist band (1000) is formed to allow adjustment of the waist circumference, thereby allowing the size to be adjusted to fit the user's waist circumference.

[0054] According to one embodiment of the present invention, the driving module (3000) may be disposed in the front direction of the waistband (1000). The driving module (3000) may be disposed on the abdominal side of the user by being disposed on the front side of the waistband (1000). According to one embodiment of the present invention, the driving module (3000) may be fixed to the waistband (1000) to prevent shaking during operation.

[0055] According to one embodiment of the present invention, the driving module (3000) may include a motor (3300) and a string pulley (3400) inside. When the motor (3300) is in operation, it may perform the role of generating auxiliary power in the portable auxiliary power device (1). According to one embodiment of the present invention, the driving module (3000) may include one motor (3300).

[0056] In addition, the string pulley (3400) according to one embodiment of the present invention is rotatably coupled to the motor (3300) so that when the motor (3300) is operated, it can perform rotation in a direction corresponding to the rotation direction of the motor (3300). A more specific description of the drive module (3000) including the string pulley (3400) and the motor (3300) will be described in the drawings described later.

[0058] Meanwhile, the portable auxiliary power device (1) may include the first elastic string (4000) and the second elastic string (5000), respectively. According to one embodiment of the present invention, the first elastic string (4000) and the second elastic string (5000), respectively, may be connected to the drive module (3000). Specifically, according to one embodiment of the present invention, the first elastic string (4000) may have one end fixed to the string pulley (3400) included inside the drive module (3000). Additionally, the other end of the first elastic string (4000) may extend downward from one side of the drive module (3000).

[0059] Likewise, according to one embodiment of the present invention, the second elastic string (5000) may have one end fixed to the string pulley (3400) included inside the drive module (3000). However, the other end of the second elastic string (5000) may extend downward from the other side of the drive module (3000). That is, the other end of the second elastic string (5000) and the other end of the first elastic string (4000) may each be spaced apart from each other and positioned to face one another.

[0060] Accordingly, in one embodiment of the present invention, a portion of each of the first elastic string (4000) and the second elastic string (5000), including one end, may be disposed inside the driving module (3000) and not exposed to the outside. Additionally, the remaining portion, including the other end of each of the first elastic string (4000) and the second elastic string (5000), may be extended downward from the driving module (3000) and exposed to the outside.

[0061] According to one embodiment of the present invention, the lengths of the areas of the first elastic string (4000) and the second elastic string (5000) that extend downward from the driving module (3000) and are exposed to the outside, respectively, may correspond to each other. In other words, the length of the first elastic string (4000) corresponding to the end of the first elastic string (4000) from one side of the driving module (3000) may correspond to the length of the second elastic string (5000) corresponding to the end of the second elastic string (5000) from the other side of the driving module (3000).

[0062] In this specification, the expression "corresponding to each other" may mean that the error rate between them is 15% or less. Preferably, the error rate is 5% or less. More preferably, the error rate is 1% or less.

[0064] According to one embodiment of the present invention, the first elastic string (4000) and the second elastic string (5000) may each be individual elements that are not connected to each other. Additionally, according to one embodiment of the present invention, the first elastic string (4000) and the second elastic string (5000) may each have flexibility and elasticity. For example, the first elastic string (4000) and the second elastic string (5000) may each be an elastic band or an elastic wire.

[0065] According to one embodiment of the present invention, each of the first elastic string (4000) and the second elastic string (5000) can undergo elastic deformation when bent by an external force applied, and when the external force is removed, the elastic deformation is relieved and the original shape can be restored. That is, the first elastic string (4000) and the second elastic string (5000) are formed to have flexibility and elasticity, so that when they are wound onto the string pulley (3400) by the motor (3300), plastic deformation occurs and the deformed shape is not fixed.

[0067] As previously mentioned, the string pulley (3400) can rotate together in a direction corresponding to the rotational direction of the motor (3300) when the motor (3300) is operating. Accordingly, when the motor (3300) is operating, the length of each of the first elastic string (4000) and the second elastic string (5000) can be shortened by being wound around the string pulley (3400). When the length of each of the first elastic string (4000) and the second elastic string (5000) is shortened, the other end of the first elastic string (4000) and the other end of the second elastic string (5000) can each be moved upward.

[0068] Additionally, according to one embodiment of the present invention, after the lengths of the first elastic string (4000) and the second elastic string (5000) are shortened by the motor (3300) operating and rotating, when the motor (3300) rotates in the opposite direction, the lengths of the first elastic string (4000) and the second elastic string (5000) can be extended again. When the lengths of the first elastic string (4000) and the second elastic string (5000) are extended, the other end of the first elastic string (4000) and the other end of the second elastic string (5000) can each be moved downward.

[0069] According to one embodiment of the present invention, when the motor (3300) operates to shorten the lengths of the first elastic string (4000) and the second elastic string (5000), the shortened lengths of the first elastic string (4000) and the second elastic string (5000) may correspond to each other. Likewise, when the motor (3300) operates to extend the lengths of the first elastic string (4000) and the second elastic string (5000), the extended lengths of the first elastic string (4000) and the second elastic string (5000) may correspond to each other.

[0070] That is, according to one embodiment of the present invention, the length of the area of ​​each of the first elastic string (4000) and the second elastic string (5000) that extends downward from the driving module (3000) and is exposed to the outside can always correspond to each other regardless of whether the motor (3300) is operating. A more specific description of each of the first elastic string (4000) and the second elastic string (5000) will be provided in the drawings described later.

[0072] According to one embodiment of the present invention, the portable auxiliary power device (1) may further include the battery (2000). According to one embodiment of the present invention, the battery (2000) may be placed on one side of the waistband (1000). Specifically, the battery (2000) may be placed on one side of the waistband (1000) but spaced apart from the drive module (3000) so as not to overlap. According to one embodiment of the present invention, the battery (2000) may perform the function of supplying power to the drive module (3000) by being connected to the drive module (3000).

[0073] Additionally, according to one embodiment of the present invention, the portable auxiliary power device (1) may further include a connecting member (6000) at each other end of the first elastic string (4000) and the second elastic string (5000). According to one embodiment of the present invention, the portable auxiliary power device (1) may include one or more connecting members (6000). For example, one connecting member (6000) may be fixed to each other end of the first elastic string (4000) and the second elastic string (5000).

[0074] According to one embodiment of the present invention, the connecting member (6000) can perform the function of connecting the other end of each of the first elastic string (4000) and the second elastic string (5000) to an assistive device (O) worn by the user.

[0076] FIG. 2(a) schematically illustrates a front view of the portable auxiliary power device (1) including the waist band (1000), drive module (3000), first elastic string (4000), second elastic string (5000), battery (2000), and connecting member (6000).

[0077] As illustrated in FIG. 2(a), the portable auxiliary power device (1) may have the drive module (3000) positioned in the front direction of the waistband (1000), and the battery (2000) positioned on one side of the waistband (1000) spaced apart from the drive module (3000). The battery (2000) may supply power to the drive module (3000) by being connected to the drive module (3000). According to one embodiment of the present invention, the motor (3300) included in the drive module (3000) may operate by receiving power from the battery (2000).

[0078] Meanwhile, each of the first elastic string (4000) and the second elastic string (5000) may be arranged such that their respective ends extend downward from the drive module (3000). Specifically, according to one embodiment of the present invention, the first elastic string (4000) may have one end fixed to the inside of the drive module (3000) and the other end extend downward from one side of the drive module (3000). Additionally, the second elastic string (5000) may have one end fixed to the inside of the drive module (3000) and the other end extend downward from the other side of the drive module (3000).

[0079] As described above, the length of the first elastic string (4000) and the length of the second elastic string (5000), which are extended downward from the drive module (3000) and exposed to the outside, can correspond to each other. Additionally, when the motor (3300) included in the drive module (3000) operates, the other end of the first elastic string (4000) and the other end of the second elastic string (5000) can each be moved upward simultaneously.

[0080] According to one embodiment of the present invention, when the motor (3300) is operated, the other end of the first elastic string (4000) and the other end of the second elastic string (5000) may each be moved simultaneously in a downward direction. In other words, the other end of the first elastic string (4000) and the other end of the second elastic string (5000) may each be moved simultaneously in a corresponding direction by the operation of the motor (3300). A more specific description of the movement of the other ends of the first elastic string (4000) and the second elastic string (5000) will be provided in the drawings described later.

[0082] FIG. 2(b) schematically illustrates a case in which the portable auxiliary power device (1) according to one embodiment of the present invention is connected to an orthotic device (O) worn on the knee of a user. FIG. 2(c) schematically illustrates a case in which the portable auxiliary power device (1) according to one embodiment of the present invention is connected to an orthotic device (O) worn on the foot of a user.

[0084] As illustrated in FIGS. 2(b) and FIGS. 2(c), the portable auxiliary power device (1) according to one embodiment of the present invention can be connected to an assistive device (O) worn by a user on their lower body. Specifically, according to one embodiment of the present invention, the other end of the first elastic string (4000) and the other end of the second elastic string (5000), which are extended downwards from the drive module (3000), are each connected to the assistive device (O), thereby connecting the portable auxiliary power device (1) and the assistive device (O).

[0085] At this time, according to one embodiment of the present invention, the connecting member (6000) is fixed to each of the other end of the first elastic string (4000) and the other end of the second elastic string (5000), and the connecting member (6000) can perform the function of connecting the other end of the first elastic string (4000) and the other end of the second elastic string (5000) to the auxiliary device (O).

[0086] According to one embodiment of the present invention, the portable auxiliary power device (1) can transmit the auxiliary power generated from the driving module (3000) to the assistive device (O) through the first elastic string (4000) and the second elastic string (5000) connected to the assistive device (O). At this time, the other end of the first elastic string (4000) is connected to one side of the assistive device (O) worn by the user, and the other end of the second elastic string (5000) is connected to the other side of the assistive device (O) worn by the user, so that both ends of the assistive device (O) are connected to the portable auxiliary power device (1), thereby enabling the auxiliary power generated from the driving module (3000) to be transmitted evenly to the assistive device (O).

[0088] That is, the portable auxiliary power device according to one embodiment of the present invention includes the first elastic string (4000) and the second elastic string (5000), respectively, and is connected to both ends of the assistive device (O) worn by the user, thereby providing a uniform assistive force to the assistive device (O) and having the effect of improving the user's walking stability.

[0090] As illustrated in FIG. 2(b), according to one embodiment of the present invention, the portable auxiliary power device (1) may be connected to an orthotic device (O) worn on the user's knee to provide auxiliary power. In this case, the orthotic device (O) worn on the user's knee may be worn specifically on a portion adjacent to the foregrip and posterior thigh. Additionally, as illustrated in FIG. 2(c), according to one embodiment of the present invention, the portable auxiliary power device (1) may be connected to an orthotic device (O) worn on the user's foot to provide auxiliary power.

[0091] As previously described, the lengths of the first elastic string (4000) and the second elastic string (5000) according to one embodiment of the present invention may be changed depending on whether the motor (3300) is operating. According to one embodiment of the present invention, when the portable auxiliary power device (1) is operating, the length of the area exposed outside the drive module (3000) may be shortened by winding the first elastic string (4000) and the second elastic string (5000) onto the string pulley (3400) which is rotated by the motor (3300). When the lengths of the first elastic string (4000) and the second elastic string (5000) are shortened, the other ends of the first elastic string (4000) and the second elastic string (5000) are moved upward, and accordingly, a pulling force in the upward direction may be applied to the auxiliary device (O).

[0092] That is, the portable auxiliary power device (1) according to one embodiment of the present invention can assist the user in lifting the foot on the side wearing the auxiliary device (O) off the ground while walking by providing an auxiliary force corresponding to an upward force to the auxiliary device (O).

[0094] Meanwhile, according to one embodiment of the present invention, when a user places the foot on the side wearing the orthotic device (O) onto the ground, the portable auxiliary power device (1) can change the rotation direction of the motor (3300) so that the other end of each of the first elastic string (4000) and the second elastic string (5000) moves downward. At this time, the portable auxiliary power device (1) can prevent the user's foot from immediately colliding with the ground due to the weight of the lower body.

[0095] In detail, the portable auxiliary power device (1) can adjust the speed at which the lengths of the first elastic string (4000) and the second elastic string (5000), which are in a shortened state, are extended again to be slower than the speed at which the user's foot moves toward the ground by its own weight. Therefore, the user's lower limb receives resistance to downward movement by the portable auxiliary power device (1), and can reach the ground relatively slowly compared to when the portable auxiliary power device (1) is not worn.

[0096] In other words, the portable auxiliary power device (1) can perform the role of preventing impact caused by collision between the user's foot and the ground by providing not only an assisting force for upward movement to the user's lower limbs but also a resistance force for downward movement. A more specific explanation regarding the length adjustment of each of the first elastic string (4000) and the second elastic string (5000) will be explained in the drawings described later.

[0098] According to one embodiment of the present invention, the portable auxiliary power device (1) is connected to an auxiliary device (O) and provides an upward force as an auxiliary power, thereby minimizing the energy consumed by the user while walking and improving user friendliness and convenience.

[0099] In addition, according to one embodiment of the present invention, the portable auxiliary power device (1) is connected to an assistive device (O) and provides resistance to the downward movement of the user's lower limb, thereby minimizing the impact caused by collision with the ground while walking, which can prevent injury and improve safety.

[0101] FIG. 3 schematically illustrates a driving module (3000) according to one embodiment of the present invention, and FIG. 4 schematically illustrates an exploded view of a driving module (3000) according to one embodiment of the present invention.

[0103] According to one embodiment of the present invention, the driving module (3000) may further include: a first main guide roller (3500) rotatably fixed to one side of the lower inner side of the driving module (3000); and a second main guide roller (3600) rotatably fixed to the other side of the lower inner side of the driving module (3000).

[0104] According to one embodiment of the present invention, the motor (3300) is disc-shaped and is positioned inside the drive module (3000), and the string pulley (3400) is positioned to cover the front and outer surface of the motor (3300) in the shape of a disc-shaped lid having a diameter larger than that of the motor (3300), and the central part can be rotatably coupled to the front of the motor (3300).

[0105] According to one embodiment of the present invention, the string pulley (3400) has a disc-shaped lid and includes a plurality of through slits (3410) formed on the outer surface, and each of the plurality of through slits (3410) may be arranged at equal intervals on the outer surface of the string pulley (3400).

[0106] According to one embodiment of the present invention, the driving module (3000) further includes a motor driver (3200), and the motor driver (3200) includes a control unit comprising one or more processors and one or more memories; and a sensor unit that recognizes the walking step of the user; and the control unit can control the operation of the motor (3300) based on the walking step of the user recognized by the sensor unit.

[0107] According to one embodiment of the present invention, the driving module (3000) may further include a case (3100) comprising a front casing (3110) which is plate-shaped and includes protruding coupling portions (3111) formed at both ends, and a rear casing (3120) which is plate-shaped and arranged to face the front casing (3110) and has both ends coupled to the protruding coupling portions (3111).

[0109] FIG. 3(a) schematically illustrates a perspective view of the driving module (3000) according to one embodiment of the present invention, FIG. 3(b) schematically illustrates a front view of the driving module (3000) according to one embodiment of the present invention, and FIG. 3(c) schematically illustrates a right side view of the driving module (3000) according to one embodiment of the present invention.

[0111] As described above, the driving module (3000) according to one embodiment of the present invention may include a motor (3300) and a string pulley (3400) rotatably coupled to the motor (3300). Meanwhile, according to one embodiment of the present invention, the driving module (3000) may further include a case (3100) and a motor driver (3200), as shown in FIGS. 3 and 4.

[0112] As illustrated in FIG. 3(a), the driving module (3000) according to one embodiment of the present invention may include a case (3100) in which the motor (3300), string pulley (3400), and motor driver (3200) are disposed inside. Specifically, according to one embodiment of the present invention, the case (3100) may be formed by arranging and joining a front casing (3110) and a rear casing (3120) so as to face each other.

[0113] According to one embodiment of the present invention, the front casing (3110) has a plate shape, and protruding coupling portions (3111) that protrude vertically at both ends may be formed. According to one embodiment of the present invention, the protruding coupling portions (3111) may be formed to protrude in a rearward direction from the left end and the right end of the front casing (3110).

[0114] According to one embodiment of the present invention, the rear casing (3120) is in the shape of a plate and may be positioned facing the front casing (3110). According to one embodiment of the present invention, the surfaces of the rear casing (3120) and the front casing (3110) that face each other may have corresponding shapes and areas. Accordingly, when the driving module (3000) is viewed from the front side direction as shown in FIG. 3(b), the rear casing (3120) may be obscured by the front casing (3110) and may not be visible.

[0115] According to one embodiment of the present invention, the rear casing (3120) can be coupled to the front casing (3110) by being coupled to the protruding coupling part (3111). At this time, the coupling of the rear casing (3120) and the front casing (3110) by the protruding coupling part (3111) can be performed by one or more of a snap coupling and a screw coupling. According to one embodiment of the invention, the front casing (3110) and the rear casing (3120) can each be spaced apart from each other by the length of the front-rear direction of the protruding coupling part (3111). Accordingly, the case (3100) includes an empty space formed between the front casing (3110) and the rear casing (3120), and may include the string pulley (3400), motor (3300), and motor driver (3200) respectively in the corresponding area.

[0117] As illustrated in FIG. 3(c), the driving module (3000) according to one embodiment of the present invention may further include a second main guide roller (3600). Additionally, although not illustrated in FIG. 3, the driving module (3000) may further include a first main guide roller (3500).

[0118] According to one embodiment of the present invention, the first main guide roller (3500) and the second main guide roller (3600) may each be disposed inside the drive module (3000). Specifically, the first main guide roller (3500) and the second main guide roller (3600) may be disposed between the front casing (3110) and the rear casing (3120), and may be rotatably fixed to each of the front casing (3110) and the rear casing (3120).

[0119] According to one embodiment of the present invention, the first main guide roller (3500) may be positioned on one side of the lower side of the inner side of the drive module (3000). Meanwhile, the second main guide roller (3600) may be positioned on the other side of the lower side of the inner side of the drive module (3000). In detail, the second main guide roller (3600) may be positioned on the right side of the lower side of each of the front casing (3110) and the rear casing (3120), as shown in FIG. 3(a).

[0120] According to one embodiment of the present invention, the first main guide roller (3500) and the second main guide roller (3600) may each be spaced apart from each other and positioned to face each other. That is, although not shown in FIG. 3 because it is obscured by the front casing (3110), the first main guide roller (3500) may be positioned on the lower left side of each of the front casing (3110) and the rear casing (3120).

[0121] According to one embodiment of the present invention, as illustrated in FIG. 3(c), the driving module (3000) may further include a second auxiliary guide roller (3800) positioned adjacent to the second main guide roller (3600). Additionally, although not illustrated in FIG. 3(c), the driving module (3000) may further include a first auxiliary guide roller (3700) positioned adjacent to the first main guide roller (3500). A more detailed description of the first main guide roller (3500), the second main guide roller (3600), the first auxiliary guide roller (3700), and the second auxiliary guide roller (3800) will be provided in the drawings described later.

[0123] As illustrated in FIG. 4, the string pulley (3400), motor (3300), and motor driver (3200) may each be disposed between the front casing (3110) and the rear casing (3120). Specifically, the motor driver (3200) may be disposed adjacent to the rear casing (3120). According to one embodiment of the present invention, the motor driver (3200) may include a control unit and a sensor unit to perform the role of controlling the operation of the motor (3300). The control unit may include one or more processors and one or more memories. Additionally, the sensor unit may include one or more sensors to perform the role of recognizing the walking phase of the user when the user connects the portable auxiliary power device (1) to an assistive device (O) wearing the device.

[0124] According to one embodiment of the present invention, the control unit can control the operation of the motor (3300) based on the walking stage of the user recognized by the sensor unit. As described above, the portable auxiliary power device (1) according to one embodiment of the present invention can apply an auxiliary force acting in an upward direction to the auxiliary device (O) when the user lifts their foot off the ground, and apply a resistance force to the auxiliary device (O) to reduce speed when the user puts their foot down on the ground.

[0125] In other words, the portable auxiliary power device (1) can operate to generate an assistive force at the stage where the user lifts their foot off the ground and generate a resistance force at the stage where the user puts their foot down on the ground by controlling the motor (3300) through the control unit based on the walking stage of the user recognized by the sensor unit.

[0126] That is, the motor driver (3200) can perform the role of controlling the motor (3300) so that the operation of the motor (3300) suitable for each recognized walking stage of the user occurs by recognizing the walking stage of the user through the sensor unit.

[0127] In addition, according to one embodiment of the present invention, the sensor unit may perform the role of sensing the user's leg length when the user wears the portable auxiliary power device (1) and operates it for the first time. When the sensor unit senses the user's leg length, the control unit may include a function of automatically adjusting the basic length of each of the first elastic string (4000) and the second elastic string (5000) to match the user's leg length sensed by the sensor unit. A more detailed description of the motor driver (3200) will be provided in the drawings described later.

[0129] According to one embodiment of the present invention, the portable auxiliary power device (1) can have the effect of improving the precision of walking assistance by including the sensor unit that senses the walking stage of the user.

[0130] According to one embodiment of the present invention, the portable auxiliary power device (1) includes a function to adjust the lengths of the first elastic string (4000) and the second elastic string (5000) respectively according to the leg length of the user wearing it, thereby enabling automatic optimization even when the user changes, which can produce the effect of improving convenience and economic efficiency.

[0132] The motor (3300) may be disposed on the front of the motor driver (3200). According to one embodiment of the present invention, the motor (3300) may be in the shape of a flat cylindrical disc. The rear end of the motor (3300) may be fixed to the rear casing (3120). Additionally, the motor (3300) may be connected to the motor driver (3200) so that its operation can be controlled by the motor driver (3200). According to one embodiment of the present invention, the rear end of the motor (3300) may be fixed to the rear casing (3120), and the central part of the front may rotate.

[0133] Meanwhile, as illustrated in FIG. 4, the string pulley (3400) may be positioned on the front of the motor (3300). Additionally, according to one embodiment of the present invention, the string pulley (3400) may have a diameter larger than that of the motor (3300) and may be in the shape of a disc with one side open, and may be in the shape of a lid that fits onto the motor (3300). Accordingly, the string pulley (3400) may be positioned to cover the front and outer surface of the motor (3300).

[0134] At this time, the string pulley (3400) can be rotatably coupled to the front of the motor (3300). According to one embodiment of the present invention, the central part of the front of the motor (3300) can be coupled to the central part of the inner side of the front of the string pulley (3400). According to one embodiment of the present invention, since the string pulley (3400) has a larger diameter than the motor (3300), it is not fitted into the motor (3300), and the inner surface of the string pulley (3400) and the outer surface of the motor (3300) can be spaced apart from each other.

[0135] In other words, the string pulley (3400) may be connected only to the central part of the motor (3300), and the remaining part excluding the central part may be spaced apart from the motor (3300). Accordingly, when the motor (3300) rotates, the string pulley (3400) may rotate together with the motor (3300) in correspondence with the rotation of the motor (3300).

[0137] According to one embodiment of the present invention, the string pulley (3400) may have a disc-shaped lid shape and a plurality of through slits (3410) may be formed on the outer surface. Each of the plurality of through slits (3410) may be formed by partially penetrating the outer surface of the string pulley (3400). According to one embodiment of the present invention, each of the plurality of through slits (3410) may be spaced apart from each other at equal intervals on the outer surface of the string pulley (3400).

[0138] As described above, each of the first elastic string (4000) and the second elastic string (5000) according to one embodiment of the present invention may be fixed to the string pulley (3400) included inside the driving module (3000). According to one embodiment of the present invention, each of the first elastic string (4000) and the second elastic string (5000) may be coupled to the string pulley (3400) by being connected to one or more of the plurality of through slits (3410). A more specific description of each of the first elastic string (4000), the second elastic string (5000), and the string pulley (3400) will be described in the drawings described later.

[0140] FIG. 5 schematically illustrates a first elastic string (4000) and a second elastic string (5000) connected to a driving module (3000) according to one embodiment of the present invention, and FIG. 6 schematically illustrates the direction of movement of the first elastic string (4000) and the second elastic string (5000) when a motor (3300) rotates in another driving module (3000) according to one embodiment of the present invention.

[0142] According to one embodiment of the present invention, the first elastic string (4000) is guided by the first main guide roller (3500) so that its other end extends to the lower side of the drive module (3000), and the second elastic string (5000) is guided by the second main guide roller (3600) so that its other end extends to the lower side of the drive module (3000). When the motor (3300) rotates, the other ends of the first elastic string (4000) and the second elastic string (5000), respectively, move in either the upward or downward direction, and each can move in a direction corresponding to the other.

[0143] According to one embodiment of the present invention, the driving module (3000) comprises a first auxiliary guide roller (3700) which is rotatably fixed to the inside of the driving module (3000) and is positioned adjacent to the first main guide roller (3500); and further comprising a second auxiliary guide roller (3800) which is rotatably fixed to the inside of the drive module (3000) and is positioned adjacent to the second main guide roller (3600); wherein the first elastic string (4000) is guided by the first auxiliary guide roller (3700) and the first main guide roller (3500) so that its other end extends to the lower side of the drive module (3000), and the second elastic string (5000) is guided by the second auxiliary guide roller (3800) and the second main guide roller (3600) so that its other end extends to the lower side of the drive module (3000); and when the motor (3300) rotates, the other end of each of the first elastic string (4000) and the second elastic string (5000) moves in either the upward or downward direction, and each They can move in corresponding directions.

[0145] FIG. 5(a) schematically illustrates a front view in which the first elastic string (4000) and the second elastic string (5000) are each connected to the driving module (3000) according to one embodiment of the present invention, and FIG. 5(b) schematically illustrates a perspective view in which the first elastic string (4000) and the second elastic string (5000) are each connected to the driving module (3000) according to one embodiment of the present invention.

[0146] FIGS. 5(a) and FIGS. 5(b) illustrate the first main guide roller (3500), the second main guide roller (3600), the first auxiliary guide roller (3700), and the second auxiliary guide roller (3800), respectively, by omitting the front casing (3110) from the drive module (3000). The omission of the front casing (3110) is for convenience in the drawings, and the drive module (3000) according to one embodiment of the present invention may include the front casing (3110) even when the first elastic string (4000) and the second elastic string (5000) are each connected.

[0148] As described above, according to one embodiment of the present invention, the first elastic string (4000) may have one end fixed to the string pulley (3400) and the other end extended downward from one side of the drive module (3000). Additionally, according to one embodiment of the present invention, the second elastic string (5000) may have one end fixed to the string pulley (3400) and the other end extended downward from the other side of the drive module (3000).

[0149] As illustrated in FIG. 5(a), according to one embodiment of the present invention, the driving module (3000) may include a first main guide roller (3500) disposed on one side of the lower side and a second main guide roller (3600) disposed on the other side of the lower side. According to one embodiment of the present invention, the first main guide roller (3500) and the second main guide roller (3600) may each be disposed adjacent to each end of the lower side of the driving module (3000) so as to be arranged to face each other with the string pulley (3400) in between.

[0150] According to one embodiment of the present invention, the driving module (3000) may further include a first auxiliary guide roller (3700) and a second auxiliary guide roller (3800). The first auxiliary guide roller (3700) may be positioned adjacent to the first main guide roller (3500) by being positioned on one side of the lower side of the driving module (3000). According to one embodiment of the present invention, the first auxiliary guide roller (3700) may be positioned relatively lower than the first main guide roller (3500). Additionally, the relative distance between the first auxiliary guide roller (3700) and the second main guide roller (3600) may be shorter than that between the first main guide roller (3500).

[0151] According to one embodiment of the present invention, the second auxiliary guide roller (3800) may be positioned adjacent to the second main guide roller (3600) by being placed on the other side of the lower side of the drive module (3000). According to one embodiment of the present invention, the second auxiliary guide roller (3800) may be positioned relatively lower than the second main guide roller (3600), and the relative distance from the first main guide roller (3500) may be relatively short.

[0152] According to one embodiment of the present invention, the first main guide roller (3500) and the second main guide roller (3600) are each arranged to face each other, so that they can be arranged symmetrically with respect to the vertical axis. Additionally, according to one embodiment of the present invention, the first auxiliary guide roller (3700) and the second auxiliary guide roller (3800) are each arranged to face each other, so that they can be arranged symmetrically with respect to the vertical axis.

[0154] According to one embodiment of the present invention, the first elastic string (4000) has one end fixed to the string pulley (3400) and is guided by the first main guide roller (3500), so that the other end can be extended downward from the drive module (3000). The first elastic string (4000) can be guided by the first main guide roller (3500), so that instead of the other end extending directly downward from the string pulley (3400), it can be extended downward from one side of the drive module (3000).

[0155] Additionally, according to one embodiment of the present invention, the second elastic string (5000) has one end fixed to the string pulley (3400) and is guided by the second main guide roller (3600), so that the other end can be extended downward from the drive module (3000). The second elastic string (5000) can be guided by the second main guide roller (3600), so that instead of the other end extending directly downward from the string pulley (3400), it can be extended downward from the other end of the drive module (3000).

[0156] That is, each of the first main guide roller (3500) and the second main guide roller (3600) can perform the role of guiding the first elastic string (4000) and the second elastic string (5000) so that the other end of each of the first elastic string (4000) and the second elastic string (5000) can extend downward from one side and the other side, respectively, of the drive module (3000).

[0158] According to one embodiment of the present invention, the first elastic string (4000) may be guided to contact the upper portion of the first main guide roller (3500). According to one embodiment of the present invention, one end of the first elastic string (4000) is fixed to the string pulley (3400), and may be fixed to one or more of a plurality of through slits (3410) arranged adjacent to the second main guide roller (3600). A more detailed explanation thereof will be provided in the drawings described later.

[0159] That is, the area from one end of the first elastic string (4000) fixed to the string pulley (3400) to the point where it contacts the first main guide roller (3500) may be an area disposed inside the drive module (3000). Additionally, the area from the other end of the first elastic string (4000) to the point where it contacts the first main guide roller (3500) may be an area exposed to the outside of the drive module (3000).

[0160] In the following, the area from one end of the first elastic string (4000) fixed to the string pulley (3400) to the point where it contacts the first main guide roller (3500) is referred to as the first internal placement area, and the area from the other end of the first elastic string (4000) to the point where it contacts the first main guide roller (3500) is referred to as the first external placement area.

[0162] In addition, the second elastic string (5000) according to one embodiment of the present invention may be guided to contact the upper portion of the second main guide roller (3600). Furthermore, one end of the second elastic string (5000) may be fixed to the string pulley (3400), and may be fixed to one or more of a plurality of through slits (3410) located above the second main guide roller (3600). A more detailed explanation thereof will be provided in the drawings described later.

[0163] That is, the area of ​​the second elastic string (5000) from one end fixed to the string pulley (3400) to the point where it contacts the second main guide roller (3600) may be an area disposed inside the drive module (3000). Additionally, the area from the other end of the second elastic string (5000) to the point where it contacts the second main guide roller (3600) may be an area exposed to the outside of the drive module (3000).

[0164] In the following, the area from one end of the second elastic string (5000) fixed to the string pulley (3400) to the point where it contacts the second main guide roller (3600) is referred to as the second internal placement area, and the area from the other end of the second elastic string (5000) to the point where it contacts the second main guide roller (3600) is referred to as the second external placement area.

[0166] Meanwhile, according to one embodiment of the present invention, as shown in FIG. 5(a) and FIG. 5(b), one end of the first elastic string (4000) is fixed to the string pulley (3400) and guided by the first main guide roller (3500), so that the other end extends downward from one side of the drive module (3000), and can be additionally guided by the first auxiliary guide roller (3700) positioned adjacent to the first main guide roller (3500).

[0167] At this time, the first auxiliary guide roller (3700) may be positioned between the point where one end of the first elastic string (4000) is fixed to the string pulley (3400) and the first main guide roller (3500), thereby making contact with the first internal placement area of ​​the first elastic string (4000). According to one embodiment of the present invention, the first elastic string (4000) may be positioned to make contact with a part of the first auxiliary guide roller (3700), and to make contact with an area adjacent to the lower side.

[0168] According to one embodiment of the present invention, the first auxiliary guide roller (3700) can guide the first elastic string (4000) together with the first main guide roller (3500), thereby performing the role of distributing the load applied to the first elastic string (4000) when an auxiliary device (O) is connected to the other end of the first elastic string (4000).

[0170] That is, according to one embodiment of the present invention, the driving module (3000) includes the first auxiliary guide roller (3700), thereby distributing the load more stably than when the first elastic string (4000) is guided only by the first main guide roller (3500), and thus can produce the effect of improving the stability of the device.

[0172] In addition, according to one embodiment of the present invention, the second elastic string (5000) has one end fixed to the string pulley (3400) and guided by the second main guide roller (3600), so that the other end extends downward from the other side of the drive module (3000), and can be additionally guided by the second auxiliary guide roller (3800) positioned adjacent to the second main guide roller (3600).

[0173] At this time, the second auxiliary guide roller (3800) may be positioned between the point where one end of the second elastic string (5000) is fixed to the string pulley (3400) and the second main guide roller (3600), thereby making contact with the second internal placement area of ​​the second elastic string (5000). According to one embodiment of the present invention, the second elastic string (5000) may be positioned to make contact with a part of the second auxiliary guide roller (3800), and to make contact with an area adjacent to the lower side.

[0174] According to one embodiment of the present invention, the second auxiliary guide roller (3800) can guide the second elastic string (5000) together with the second main guide roller (3600), thereby distributing the load applied to the second elastic string (5000) when an auxiliary device (O) is connected to the other end of the second elastic string (5000).

[0176] That is, according to one embodiment of the present invention, the driving module (3000) includes the second auxiliary guide roller (3800), thereby distributing the load more stably than when the second elastic string (5000) is guided only by the second main guide roller (3600), and thus can produce the effect of improving the stability of the device.

[0178] According to one embodiment of the present invention, the driving module (3000) may further include a plurality of guide rollers rotatably fixed to the inside of the case (3100) in addition to the first main guide roller (3500), the second main guide roller (3600), the first auxiliary guide roller (3700), and the second auxiliary guide roller (3800). The plurality of guide rollers may perform the function of distributing the load by guiding each of the first elastic string (4000) and the second elastic string (5000) when necessary.

[0180] FIG. 6(a) schematically illustrates a case in which the other end of each of the first elastic string (4000) and the second elastic string (5000) moves upward as the motor (3300) of the driving module (3000) according to one embodiment of the present invention rotates, and FIG. 6(b) schematically illustrates a case in which the other end of each of the first elastic string (4000) and the second elastic string (5000) moves downward as the motor (3300) of the driving module (3000) according to one embodiment of the present invention rotates.

[0182] As described above, according to one embodiment of the present invention, the first elastic string (4000) has one end fixed to the string pulley (3400) and is guided by the first main guide roller (3500) and the first auxiliary guide roller (3700), so that the other end can be extended downward from one side of the drive module (3000). According to one embodiment of the present invention, the second elastic string (5000) has one end fixed to the string pulley (3400) and is guided by the second main guide roller (3600) and the second auxiliary guide roller (3800), so that the other end can be extended downward from the other side of the drive module (3000).

[0183] According to one embodiment of the present invention, as shown in FIG. 6(a), when the motor (3300) rotates, the first elastic string (4000) and the second elastic string (5000) are each wound onto the string pulley (3400) by rotating together with the string pulley (3400), thereby shortening the lengths of the first external exposure area and the second external exposure area. When the lengths of the first external exposure area and the second external exposure area are shortened, the other end of each of the first elastic string (4000) and the second elastic string (5000) can be moved upward.

[0184] On the other hand, according to one embodiment of the present invention, as shown in FIG. 6(b), when the motor (3300) rotates in the opposite direction after the lengths of the first external exposure area and the second external exposure area have been shortened by the motor (3300) rotating, the first elastic string (4000) and the second elastic string (5000) wound on the string pulley (3400) are unwound, thereby extending the lengths of the first external exposure area and the second external exposure area. When the lengths of the first external exposure area and the second external exposure area are extended, the other ends of the first elastic string (4000) and the second elastic string (5000), respectively, can be moved downward.

[0186] As illustrated in FIGS. 6(a) and FIGS. 6(b), the other ends of the first elastic string (4000) and the second elastic string (5000), respectively, according to one embodiment of the present invention, can be moved simultaneously in corresponding directions when the motor (3300) rotates in one direction. As previously mentioned, the driving module (3000) according to one embodiment of the present invention may include only one motor (3300).

[0187] In other words, the other ends of the first elastic string (4000) and the second elastic string (5000) can be moved in the same direction by the rotation of a single motor (3300). For example, when the motor (3300) rotates to one side, the other ends of the first elastic string (4000) and the second elastic string (5000) can be moved upwards simultaneously, and the lengths of the first external exposure area and the second external exposure area can be shortened. Meanwhile, when the motor (3300) rotates to the other side, the other ends of the first elastic string (4000) and the second elastic string (5000) can be moved downwards simultaneously, and the lengths of the first external exposure area and the second external exposure area can be extended.

[0189] As described above, according to one embodiment of the present invention, one end of the first elastic string (4000) may be fixed to one or more of the plurality of through slits (3410) positioned adjacent to the second main guide roller (3600), and one end of the second elastic string (5000) may be fixed to one or more of the plurality of through slits (3410) positioned above the second main guide roller (3600). Accordingly, the other ends of the first elastic string (4000) and the second elastic string (5000), respectively, may move simultaneously in corresponding directions when the motor (3300) rotates.

[0191] FIG. 7 schematically illustrates a second elastic string (5000) connected to a string pulley (3400) according to one embodiment of the present invention.

[0193] According to one embodiment of the present invention, each of the plurality of strings can be fixed to the wire pulley by having one end continuously pass through the plurality of through slits (3410) up and down.

[0195] FIGS. 7(a) and FIGS. 7(b) schematically illustrate a plurality of embodiments in which the second elastic string (5000) is fixed to a plurality of through slits (3410) formed in the string pulley (3400).

[0197] As described above, the string pulley (3400) according to one embodiment of the present invention is fixed to the front of the motor (3300) to cover the front and outer surface of the motor (3300), and has a diameter larger than that of the motor (3300), so that its inner surface can be spaced apart from the outer surface of the motor (3300). Accordingly, a gap of a width through which the first elastic string (4000) and the second elastic string (5000) can each pass can be formed between the outer surface of the motor (3300) and the string pulley (3400). In addition, one end of each of the first elastic string (4000) and the second elastic string (5000) according to one embodiment of the present invention can be fixed by one or more of the plurality of through slits (3410).

[0198] As illustrated in FIG. 7(a), the second elastic string (5000) according to one embodiment of the present invention may pass through the plurality of through slits (3410) continuously up and down, thereby allowing the area in contact with the outer surface of the string pulley (3400) and the area in contact with the inner surface of the string pulley (3400) and the outer surface of the motor (3300), respectively, to intersect.

[0199] As previously mentioned, a gap may be formed between the string pulley (3400) and the motor (3300). The second elastic string (5000) may pass through the gap and continuously pass through the plurality of through slits (3410) up and down. The second elastic string (5000) may be fitted into the gap and fixed to the string pulley (3400) by crossing the plurality of through slits (3410).

[0201] Meanwhile, according to one embodiment of the present invention, the second elastic string (5000) passes continuously up and down through the plurality of through slits (3410) as shown in FIG. 7(b), and can form a loop shape in which one end is fixed to the second elastic string (5000) and fixed to two adjacent through slits (3410). According to one embodiment of the present invention, the second elastic string (5000) can be fixed to the string pulley (3400) by tying one end of the second elastic string (5000) to the second elastic string (5000).

[0202] According to one embodiment of the present invention, the second elastic string (5000) is fixed to the string pulley (3400) by crossing the plurality of through slits (3410), so that when the portable auxiliary power device (1) is connected to the auxiliary device (O) worn by the user and applies auxiliary power, the load applied to one end of the second elastic string (5000) can be distributed to the string pulley (3400).

[0204] According to one embodiment of the present invention, the plurality of through slits (3410) can increase the area of ​​the adjacent region of the second elastic string (5000) that contacts the string pulley (3400) by allowing the second elastic string (5000) to be crossed and fixed to one end of the string pulley (3400), thereby improving the load distribution efficiency applied to the second elastic string (5000) and thus improving the stability of the portable auxiliary power device (1).

[0206] Although not shown in the drawings, the first elastic string (4000) according to one embodiment of the present invention may be fixed to a plurality of through slits (3410) formed in the string pulley (3400) in a manner corresponding to the second elastic string (5000).

[0207] Specifically, according to one embodiment of the present invention, the first elastic string (4000) passes through the plurality of through slits (3410) continuously up and down, so that the area in contact with the outer surface of the string pulley (3400) and the area in contact with the inner surface of the string pulley (3400) and the outer surface of the motor (3300), respectively, may intersect.

[0208] As previously mentioned, a gap may be formed between the string pulley (3400) and the motor (3300). The first elastic string (4000) may pass through the gap and continuously pass through the plurality of through slits (3410) up and down. The first elastic string (4000) may be fitted into the gap and fixed to the string pulley (3400) by crossing the plurality of through slits (3410).

[0209] Meanwhile, according to one embodiment of the present invention, the first elastic string (4000) passes continuously up and down through the plurality of through slits (3410), and one end may be fixed to the first elastic string (4000) to form a loop shape that is fixed to two adjacent through slits (3410). According to one embodiment of the present invention, the first elastic string (4000) may be fixed to the string pulley (3400) by tying one end of the first elastic string (4000) to the first elastic string (4000).

[0210] According to one embodiment of the present invention, the first elastic string (4000) is fixed to the string pulley (3400) by crossing the plurality of through slits (3410), so that when the portable auxiliary power device (1) is connected to the auxiliary device (O) worn by the user and applies auxiliary power, the load applied to one end of the first elastic string (4000) can be distributed to the string pulley (3400).

[0212] According to one embodiment of the present invention, the plurality of through slits (3410) can increase the area of ​​the adjacent region of the end of the first elastic string (4000) that contacts the string pulley (3400) by allowing the first elastic string (4000) to be crossed and fixed to one end of the string pulley (3400), thereby improving the load distribution efficiency applied to the first elastic string (4000) and thus improving the stability of the portable auxiliary power device (1).

[0214] FIGS. 8 and 9 schematically illustrate each of the wearing examples 1, 2, and 3 of a portable auxiliary power device (1) according to one embodiment of the present invention.

[0216] According to one embodiment of the present invention, when a user wears a foot strap that wraps around the foot as an assistive device (O), the portable auxiliary power device (1) can prevent knee flexion during the stance phase while walking by connecting the other ends of the first elastic string (4000) and the second elastic string (5000), respectively, to the foot strap.

[0217] According to one embodiment of the present invention, when a user wears a knee strap worn on the knee and a foot strap worn on the foot as an assistive device (O), the portable auxiliary power device (1) can assist knee extension during the swing phase while walking by connecting each of the first elastic string (4000) and the second elastic string (5000) to the front of the knee strap and connecting the other end of each of the first elastic string (4000) and the second elastic string (5000) to the foot strap on the front side of the leg.

[0218] According to one embodiment of the present invention, when a user wears a thigh strap worn on the upper side of the knee, a lower leg strap worn on the lower side of the knee, and a foot strap worn on the foot as an assistive device (O), the portable auxiliary power device (1) can assist knee flexion during the swing phase while walking by connecting each of the first elastic string (4000) and the second elastic string (5000) to the front of the thigh strap and the rear of the lower leg strap, respectively, and connecting the other end of each of the first elastic string (4000) and the second elastic string (5000) to the foot strap on the rear side of the leg.

[0220] FIGS. 8(a) and FIGS. 9(a) schematically illustrate Example 1 of the portable auxiliary power device (1) according to one embodiment of the present invention, FIGS. 8(b) and FIGS. 9(b) schematically illustrate Example 2 of the portable auxiliary power device (1) according to one embodiment of the present invention, and FIGS. 8(c) and FIGS. 9(c) schematically illustrate Example 3 of the portable auxiliary power device (1) according to one embodiment of the present invention.

[0222] As illustrated in FIGS. 8(a) and FIGS. 9(a), when a user wears a foot strap that wraps around the foot as an orthotic (O), the portable auxiliary power device (1) according to one embodiment of the present invention may be connected to the foot strap. This case will be referred to as Example 1 below.

[0223] Specifically, in Example 1, the other ends of the first elastic string (4000) and the second elastic string (5000), which extend downward from the drive module (3000), can be connected to each of the two sides of the foot strap. According to one embodiment of the present invention, in the portable auxiliary power device (1) corresponding to Example 1, the first elastic string (4000) and the second elastic string (5000) can each be positioned in front of the user's lower body by positioning the drive module (3000) on the user's abdominal side.

[0224] Accordingly, when the driving module (3000) operates and the lengths of the first elastic string (4000) and the second elastic string (5000) are shortened, an upward assisting force is applied to the foot strap, thereby allowing the forefoot of the user wearing the foot strap to be lifted upward. Therefore, Embodiment 1 can prevent the user's knee from bending by providing anterior and upward assisting forces to the user's foot during the stance phase of the walking phase.

[0225] In other words, Example 1 of the portable auxiliary power device (1) according to one embodiment of the present invention can perform the role of preventing knee flexion of the user during the stance phase while walking.

[0227] Meanwhile, as illustrated in FIGS. 8(b) and FIGS. 9(b), when a user wears a knee strap worn on the knee and a foot strap wrapped around the foot as assistive devices (O), the portable auxiliary power device (1) according to one embodiment of the present invention may be connected to the knee strap and the foot strap. This case will be referred to as Example 2 below.

[0228] Specifically, in Example 2, the first elastic string (4000) and the second elastic string (5000), each extending downward from the drive module (3000), can be connected to the knee strap by passing through the front of the knee strap. Additionally, the other ends of the first elastic string (4000) and the second elastic string (5000), each passing through the front of the knee strap, can be connected to each of the two sides of the foot strap. That is, in Example 2 of the portable auxiliary power device (1) according to one embodiment of the present invention, the first elastic string (4000) and the second elastic string (5000) can each be connected to the knee strap and the foot strap, respectively, in a state where they are positioned in front of the user's lower body.

[0229] Accordingly, when the driving module (3000) operates and the lengths of the first elastic string (4000) and the second elastic string (5000) are shortened, an upward auxiliary force may be applied to the knee strap and the foot strap. In this case, the foot of the user wearing the foot strap may receive a force that pulls the forefoot upward.

[0230] In the above-described embodiment 1, the auxiliary force is transmitted directly from the user's abdomen side, where the drive module (3000) is positioned, to the foot strap, thereby allowing the user's foot to be lifted toward the abdomen side. On the other hand, embodiment 2 has a structure in which the first elastic string (4000) and the second elastic string (5000) are each connected to the knee strap and then connected to the foot strap, so that the auxiliary force is applied to the user's knee and foot respectively to assist movement.

[0231] Accordingly, Embodiment 2 of the portable auxiliary power device (1) according to one embodiment of the present invention can perform the role of assisting the extension of the user's knee by providing assistive force to the user's knee and foot during the swing phase of the walking phase.

[0233] As illustrated in FIGS. 8(c) and FIGS. 9(c), the user may wear a thigh strap worn above the knee, a lower leg strap worn below the knee, and a foot strap that wraps around the foot, each as an orthotic device (O). In this case, the portable auxiliary power device (1) according to one embodiment of the present invention may be connected to each of the thigh strap, lower leg strap, and foot strap. This case will be referred to as Example 3 below.

[0234] Specifically, in Example 3, the first elastic string (4000) and the second elastic string (5000), each extending downward from the drive module (3000), may be arranged to pass through the front of the thigh strap and the rear of the lower leg strap. Additionally, the other end of each of the first elastic string (4000) and the second elastic string (5000), which are connected to the thigh strap and the lower leg strap respectively by passing through them, may be connected to each of the two sides of the foot strap.

[0235] That is, in the embodiment 3 of the portable auxiliary power device (1) according to one embodiment of the present invention, the first elastic string (4000) and the second elastic string (5000) can each be connected to the thigh strap, lower leg strap, and foot strap in a state where they are positioned forward in the user's thigh area and rearward in the lower leg area and foot area.

[0236] Accordingly, unlike the aforementioned embodiments 1 and 2, in embodiment 3, the first elastic string (4000) and the second elastic string (5000) can each be connected to the foot strap so as to face from the rear side of the user's lower body toward the front side. Therefore, when the driving module (3000) operates and the lengths of the first elastic string (4000) and the second elastic string (5000) are shortened, the auxiliary force applied to the foot strap is not applied directly from the user's abdominal side, but can be applied as a tensile force pulling from the rear side of the user's calf. Additionally, the auxiliary force applied from the driving module (3000) can also be transmitted to the thigh strap and the lower leg strap, respectively.

[0237] That is, Example 3 of the portable auxiliary power device (1) according to one embodiment of the present invention can perform the role of preventing knee flexion of the user by providing auxiliary force to the upper and lower sides of the user's knee and foot, respectively, during the swing phase of the walking stage.

[0239] According to one embodiment of the present invention, the portable auxiliary power device (1) can respond to various walking stages depending on the type of assistive device (O) worn by the user and the method of connecting to the assistive device (O), thereby providing an effect of improved practicality.

[0240] According to one embodiment of the present invention, the portable auxiliary power device (1) can achieve the effect of improving user friendliness by optimizing the walking assistance method according to the type of assistive device (O) worn by the user.

[0242] FIG. 10 schematically illustrates a control unit of a motor driver (3200) according to one embodiment of the present invention.

[0244] The motor driver (3200) illustrated in FIG. 4 described above may include components of the computing device (11000) illustrated in FIG. 10.

[0245] As illustrated in FIG. 10, the computing device (11000) may include at least one processor (11100), memory (11200), peripheral interface (11300), input / output subsystem (I / O subsystem) (11400), power circuit (11500), and communication circuit (11600). In this case, the computing device (11000) may correspond to the control unit included in the motor driver (3200) illustrated in FIG. 4.

[0246] The memory (11200) may include, for example, high-speed random access memory, a magnetic disk, SRAM, DRAM, ROM, flash memory, or non-volatile memory. The memory (11200) may include software modules, instruction sets, or various other data required for the operation of the computing device (11000).

[0247] At this time, access to memory (11200) from other components, such as the processor (11100) or peripheral device interface (11300), can be controlled by the processor (11100).

[0248] The peripheral device interface (11300) can connect input and / or output peripheral devices of the computing device (11000) to the processor (11100) and memory (11200). The processor (11100) can perform various functions for the computing device (11000) and process data by executing software modules or instruction sets stored in the memory (11200).

[0249] The input / output subsystem can connect various input / output peripherals to the peripheral interface (11300). For example, the input / output subsystem may include a controller and connection terminals for connecting peripherals such as a monitor, keyboard, mouse, printer, or, if necessary, a touchscreen or sensor to the peripheral interface (11300). According to another aspect, input / output peripherals may be connected to the peripheral interface (11300) without passing through the input / output subsystem.

[0250] The power circuit (11500) can supply power to all or part of the components of the terminal. For example, the power circuit (11500) may include one or more power sources such as a power management system, a battery (2000) or alternating current (AC), a charging system, a power failure detection circuit, a power converter or inverter, a power status indicator, or any other components for power generation, management, and distribution.

[0251] The communication circuit (11600) can enable communication with another computing device (11000) using at least one external port.

[0252] Alternatively, as described above, the communication circuit (11600) may enable communication with another computing device (11000) by including an RF circuit and transmitting and receiving an RF signal, also known as an electromagnetic signal, as needed. That is, the communication circuit (11600) may enable wired or wireless communication with another computing device (11000).

[0253] The embodiment of FIG. 10 is merely an example of a computing device (11000), and the computing device (11000) may have some components shown in FIG. 10 omitted, additional components not shown in FIG. 10 added, or a configuration or arrangement that combines two or more components. For example, a computing device (11000) for a communication terminal in a mobile environment may include a touchscreen or sensors in addition to the components shown in FIG. 10, and the communication circuit (11600) may include a circuit for RF communication of various communication methods (WiFi, 3G, LTE, Bluetooth, NFC, Zigbee, etc.). Components that can be included in the computing device (11000) may be implemented as hardware, software, or a combination of both hardware and software, including one or more integrated circuits specialized for signal processing or applications.

[0254] Methods according to embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computing devices (11000) and recorded on a computer-readable medium. In particular, the program according to the present embodiment may be configured as a PC-based program or an application dedicated to a mobile terminal. An application to which the present invention is applied may be installed on a computing device (11000) through a file provided by a file distribution system. For example, the file distribution system may include a file transmission unit (not shown) that transmits the file in response to a request from the computing device (11000).

[0256] The device described above may be implemented as a hardware component, a software component, and / or a combination of a hardware component and a software component. For example, the device and components described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0257] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or command the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave in order to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computing devices (11000) and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0258] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0260] According to one embodiment of the present invention, the portable auxiliary power device (1) can be connected to various auxiliary devices (O) by connecting to the auxiliary device (O) owned by the user to apply auxiliary power, thereby improving expandability, and can be mass-produced with a single design rather than through a custom production method, thereby improving economic efficiency.

[0261] According to one embodiment of the present invention, the portable auxiliary power device (1) includes a first elastic string (4000) and a second elastic string (5000) to transmit auxiliary power from both sides of the auxiliary device (O), and is formed to allow simultaneous length adjustment with a single motor (3300), thereby improving stability and enabling weight reduction, which can produce the effect of improving wearing convenience.

[0262] According to one embodiment of the present invention, the portable auxiliary power device includes a first elastic string (4000) and a second elastic string (5000), respectively, and is connected to both ends of the assistive device (O) worn by the user, thereby providing a uniform assistive force to the assistive device (O) and having the effect of improving the user's walking stability.

[0263] According to one embodiment of the present invention, a portable auxiliary power device (1) is connected to an auxiliary device (O) and provides an upward force as an auxiliary power, thereby minimizing the energy consumed by the user while walking and improving user friendliness and convenience.

[0264] According to one embodiment of the present invention, a portable auxiliary power device (1) is connected to an assistive device (O) and provides resistance to the downward movement of the user's lower limbs, thereby minimizing the impact caused by collision with the ground while walking, which can prevent injury and improve safety.

[0265] According to one embodiment of the present invention, the portable auxiliary power device (1) can have the effect of improving the precision of walking assistance by including a sensor unit that senses the walking stage of the user.

[0266] According to one embodiment of the present invention, the portable auxiliary power device (1) includes a function to adjust the lengths of the first elastic string (4000) and the second elastic string (5000) respectively according to the leg length of the user wearing it, thereby enabling automatic optimization even when the user changes, which can produce the effect of improving convenience and economic efficiency.

[0267] According to one embodiment of the present invention, the driving module (3000) includes a first auxiliary guide roller (3700), thereby distributing the load more stably than when the first elastic string (4000) is guided only by the first main guide roller (3500), and thus can have the effect of improving the stability of the device.

[0268] According to one embodiment of the present invention, the driving module (3000) includes a second auxiliary guide roller (3800), thereby distributing the load more stably than when the second elastic string (5000) is guided only by the second main guide roller (3600), and thus can produce the effect of improving the stability of the device.

[0269] According to one embodiment of the present invention, a plurality of through slits (3410) allow the second elastic string (5000) to be crossed and fixed to one end of the string pulley (3400), thereby increasing the area of ​​the adjacent region of the second elastic string (5000) that contacts the string pulley (3400) and improving the load distribution efficiency applied to the second elastic string (5000), so as to improve the stability of the portable auxiliary power device (1).

[0270] According to one embodiment of the present invention, a plurality of through slits (3410) allow the first elastic string (4000) to be crossed and fixed to one end of the string pulley (3400), thereby increasing the area of ​​the adjacent region of the first elastic string (4000) that contacts the string pulley (3400) and improving the load distribution efficiency applied to the first elastic string (4000), so as to improve the stability of the portable auxiliary power device (1).

[0271] According to one embodiment of the present invention, the portable auxiliary power device (1) can respond to various walking stages depending on the type of assistive device (O) worn by the user and the method of connecting to the assistive device (O), thereby providing an effect of improved practicality.

[0272] According to one embodiment of the present invention, the portable auxiliary power device (1) can have the effect of improving user friendliness by optimizing the walking assistance method according to the type of assistive device (O) worn by the user.

[0274] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents. Therefore, other implementations, other embodiments, and equivalents to the claims below are also within the scope of the claims. Explanation of the symbols

[0276] 1 : Portable auxiliary power device 1000 : Waistband 2000 : Battery 3000 : Drive module 3100 : Case 3110 : Front casing 3111 : Protruding joint 3120 : Rear casing 3200 : Motor driver 3300 : Motor 3400 : String pulley 3410 : Penetrating slit 3500 : 1st main guide roller 3600 : 2nd main guide roller 3700 : 1st auxiliary guide roller 3800 : 2nd auxiliary guide roller 4000 : 1st elastic string 5000 : 2nd elastic string 6000 : Connecting member O : Assistive device

Claims

Claim 1 A portable auxiliary power device comprising: a waist band fixed to a user's waist and adjustable in waist circumference; a drive module disposed in the front direction of the waist band and including a motor and a string pulley rotatably coupled to the motor; a first elastic string having one end fixed to the string pulley and the other end extending downward from one side of the drive module; and a second elastic string having one end fixed to the string pulley and the other end extending downward from the other side of the drive module; wherein, as the motor rotates, an auxiliary force is generated in the drive module, and the length of each of the first elastic string and the second elastic string is shortened by being wound around the string pulley, and when the other ends of each of the first elastic string and the second elastic string are connected to an assistive device worn by the user, the auxiliary force of the drive module is transmitted to the assistive device to perform walking assistance. Claim 2 A portable auxiliary power device according to claim 1, wherein the driving module further comprises: a first main guide roller rotatably fixed to one side of the lower inner side of the driving module; and a second main guide roller rotatably fixed to the other side of the lower inner side of the driving module. Claim 3 A portable auxiliary power device according to claim 2, wherein the first elastic string is guided by the first main guide roller and the other end extends to the lower side of the drive module, and the second elastic string is guided by the second main guide roller and the other end extends to the lower side of the drive module, and when the motor rotates, the other ends of the first elastic string and the second elastic string, respectively, move in either the upper or lower direction, and each moves in a direction corresponding to each other. Claim 4 A portable auxiliary power device according to claim 2, wherein the driving module further comprises: a first auxiliary guide roller rotatably fixed to the inside of the driving module and disposed adjacent to the first main guide roller; and a second auxiliary guide roller rotatably fixed to the inside of the driving module and disposed adjacent to the second main guide roller; wherein the first elastic string is guided by the first auxiliary guide roller and the first main guide roller, with its other end extending to the lower side of the driving module, and the second elastic string is guided by the second auxiliary guide roller and the second main guide roller, with its other end extending to the lower side of the driving module, and when the motor rotates, the other ends of the first elastic string and the second elastic string, respectively, move in either the upward or downward direction, and each moves in a direction corresponding to each other. Claim 5 A portable auxiliary power device according to claim 1, wherein the motor is disc-shaped and disposed inside the drive module, and the string pulley is disposed to cover the front and outer surface of the motor in the shape of a disc-shaped lid having a diameter larger than that of the motor, with the central portion rotatably coupled to the front of the motor. Claim 6 A portable auxiliary power device according to claim 1, wherein when a user wears a foot strap that wraps around the foot as an assistive device, the other end of each of the first elastic string and the second elastic string is connected to the foot strap to prevent knee flexion during the stance phase while walking. Claim 7 In claim 1, when a user wears a knee strap worn on the knee and a foot strap worn on the foot as assistive devices, the portable auxiliary power device assists knee extension during the swing phase of walking by having each of the first elastic string and the second elastic string connected to the front of the knee strap and the other end of each of the first elastic string and the second elastic string connected to the foot strap on the front side of the leg. Claim 8 In claim 1, when a user wears a thigh strap worn on the upper side of the knee, a lower leg strap worn on the lower side of the knee, and a foot strap worn on the foot as an assistive device, the portable auxiliary power device assists knee flexion during the swing phase of walking by having each of the first elastic string and the second elastic string connected to the front of the thigh strap and the rear of the lower leg strap, respectively, and the other end of each of the first elastic string and the second elastic string connected to the foot strap on the rear side of the leg. Claim 9 A portable auxiliary power device according to claim 1, wherein the string pulley has a disc-shaped lid and includes a plurality of through slits formed on the outer surface, and each of the plurality of through slits is arranged at equal intervals on the outer surface of the string pulley. Claim 10 A portable auxiliary power device according to claim 1, wherein each of the first elastic string and the second elastic string further comprises a connecting member at the other end that can be connected to a user's assistive device. Claim 11 A portable auxiliary power device according to claim 1, wherein the driving module further comprises a motor driver, and the motor driver comprises: a control unit comprising one or more processors and one or more memories; and a sensor unit for recognizing the walking stage of the user; and wherein the control unit controls the operation of the motor based on the walking stage of the user recognized by the sensor unit.

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