Exercise assistance device

Abstract

An exercise assistance device according to an embodiment may comprise: a base body supporting the back of a user; a connection frame connected to the base body; a driving module which is connected to the connection frame and generates power for assisting exercise of the user; a waist frame connected to the driving module; a waist belt connected to the waist frame; a frame body which receives power from the driving module and thus rotates; a leg frame including a frame holder extending from the frame body; and a thigh fastening part including a fastening frame disposed on the thigh of the user, a wearing strap connected to the fastening frame and capable of being in close contact with the thigh of the user, and a connection strap extending from the wearing strap and passing between the frame body and the frame holder.

Description

Exercise assist devices

[0001] The present invention relates to a motion assistance device.

[0002] As we enter an aging society, the number of people who complain of discomfort and pain in walking due to weakened muscles or joint problems caused by aging, or who have a desire to exercise, is increasing. Interest is also growing in walking assistance devices that can help elderly people with weakened muscles or patients with muscle and joint problems walk smoothly or enable people to exercise.

[0003] In one embodiment, a motion assistance device may include a base body that includes a support and supports a user's back, a connecting frame directly or indirectly connected to the base body, a driving module (including a motor and / or a circuit) directly or indirectly connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt directly or indirectly connected to the waist frame, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder extending from the frame body, and a thigh fastening unit that includes a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of being in close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame holder.

[0004] According to one embodiment, a motion assistance device includes a base body supporting a user's back, a connecting frame directly or indirectly connected to the base body, a driving module (including a motor and / or a circuit) directly or indirectly connected to the connecting frame and generating power for assisting the user's motion, a waist frame directly or indirectly connected to the driving module, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder extending from the frame body, and a thigh fastening part including a fastening frame placed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and in close contact with the user's thigh, and a wearing strap extending from the wearing strap and passing between the frame body and the frame holder, wherein the leg frame may be provided to be able to slide and tilt with respect to the thigh fastening part.

[0005] According to one embodiment, a motion assistance device includes a base body supporting a user's back, a connecting frame directly or indirectly connected to the base body, a driving module directly or indirectly connected to the connecting frame and generating power for assisting the user's motion, a waist frame directly or indirectly connected to the driving module, a waist belt directly or indirectly connected to the waist frame, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder each of both ends of which are fixed to the frame body, and a thigh connecting portion including a fastening frame disposed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and in close contact with the user's thigh, a connecting strap extending from the wearing strap and passing between the frame body and the frame holder, and a stopper that sets a slidable distance of the frame holder, wherein the leg frame may be provided to be slidable and tiltable with respect to the thigh connecting portion.

[0006] In one embodiment, a motion assistance device may include a base body that supports a user's back, a connecting frame directly or indirectly connected to the base body, a driving module directly or indirectly connected to the connecting frame and generating power for assisting the user's motion, a waist frame directly or indirectly connected to the driving module, a waist belt directly or indirectly connected to the waist frame, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder extending from the frame body, and a thigh connecting part that includes a fastening frame placed on the user's thigh, a wearing strap directly or indirectly connected to the fastening frame and capable of being in close contact with the user's thigh, and a connecting strap directly or indirectly connected to the fastening frame and passing through the frame holder.

[0007] In one embodiment, a motion assistance device may include a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt connected to the waist frame, a frame body that rotates by receiving power from the driving module, and a leg frame including a frame holder extending from the frame body, and a thigh connecting part including a fastening frame placed on the user's thigh, a wearing strap connected to the fastening frame and in close contact with the user's thigh, a connecting strap connected to the fastening frame and passing through the frame holder, and a friction reducing strap at least a portion of which is located between the frame holder and the fastening frame.

[0008] FIG. 1 is a drawing for explaining an outline of an exercise assistance device worn on a user's body according to one embodiment.

[0009] FIG. 2 is a drawing for explaining an exercise management system including an exercise assistance device and an electronic device according to one embodiment.

[0010] FIG. 3 illustrates a rear schematic diagram of a motion assistance device according to one embodiment.

[0011] FIG. 4 illustrates a left side view of a motion assistance device according to one embodiment.

[0012] FIG. 5 is a perspective view illustrating a leg frame and thigh fastening member according to one embodiment.

[0013] FIG. 6 is a perspective view illustrating a thigh fastening member according to one embodiment.

[0014] FIG. 7 is a side view illustrating a leg frame and thigh fastening member according to one embodiment.

[0015] FIG. 8 is a side view illustrating a leg frame and thigh fastening member according to one embodiment.

[0016] FIG. 9 is a side view illustrating a leg frame and thigh fastening member according to one embodiment.

[0017] FIG. 10 is a side view illustrating a bridge frame and support band according to one embodiment.

[0018] FIG. 11 is a perspective view illustrating a sliding plate, a stopper, and a shock absorbing pad according to one embodiment.

[0019] FIG. 12 is a perspective view illustrating a leg frame and thigh fastening member according to one embodiment.

[0020] FIG. 13 is a cross-sectional view illustrating a leg frame and thigh fastening member according to one embodiment.

[0021] FIG. 14 is a perspective view illustrating a sliding plate, a connecting strap, and a friction reducing strap according to one embodiment.

[0022] FIG. 15 is an exploded perspective view illustrating a sliding plate, a connecting strap, a friction reducing strap, and a plate cover according to one embodiment.

[0023] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0024] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "has" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0026] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0027] FIG. 1 is a drawing for explaining an overview of an exercise assistance device worn on a user's body according to one embodiment.

[0028] Referring to FIG. 1, in one embodiment, a wearable device (10) may be a device worn on the body of a user (U) to assist walking, exercise, and / or work of the user (U). In one embodiment, the wearable device (10) may also be used to measure the physical ability (e.g., walking ability, exercise ability, exercise posture) of the user (U). In embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (U) may be a human or an animal, but is not limited thereto. The wearable device (10) may be worn on the body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) of the user (U) to apply an external force of assistance force and / or resistance force to the body movement of the user (U). Assistance is a force applied in the same direction as the user's (U) body movement, representing a force that assists the user's (U) body movement. Resistance is a force applied in the opposite direction of the user's (U) body movement, representing a force that impedes the user's (U) body movement. The term "resistance" can also be referred to as "exercise load."

[0029] In one embodiment, the wearable device (10) can operate in a walking assistance mode to assist the walking of a user (U). In the walking assistance mode, the wearable device (10) can assist the walking of the user (U) by applying an assistive force generated from the driving module (91) of the wearable device (10) to the body of the user (U). The wearable device (10) can assist the force required for the walking of the user (U), thereby enabling the user (U) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (U). The wearable device (10) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0030] In one embodiment, the wearable device (10) may operate in an exercise assistance mode to enhance the exercise effect of the user (U). In the exercise assistance mode, the wearable device (10) may impede the body movement of the user (U) or provide resistance to the body movement of the user (U) by applying a resistance force generated from the driving module (91) to the body of the user (U). If the wearable device (10) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (U), the wearable device (10) may provide an exercise load to the leg movement of the user (U) while being worn on the legs, thereby further enhancing the exercise effect on the legs of the user (U). In one embodiment, the wearable device (10) may also apply an assistive force to the body of the user (U) to assist the exercise of the user (U). For example, when a disabled person or an elderly person wears a wearable device (10) to exercise, the wearable device (10) may provide assistive force to assist body movements during the exercise. In one embodiment, the wearable device (10) may provide a combination of assistive force and resistance force by exercise section or time section, such as providing assistive force in some exercise sections and resistance force in other exercise sections.

[0031] In one embodiment, the wearable device (10) may operate in a physical ability measurement mode for measuring the physical ability of a user (U). The wearable device (10) may measure the user's movement information using sensors (e.g., an angle sensor (93), an inertial measurement unit (IMU) (94)) provided in the wearable device (10) while the user is walking or exercising, and may evaluate the user's physical ability based on the measured movement information. For example, the user's gait index or exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) may be estimated through the user's movement information measured by the wearable device (10). The physical ability measurement mode may include an exercise movement measurement mode for measuring the user's exercise movement.

[0032] In various embodiments, for convenience of explanation, a hip-type wearable device (10) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (10) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device may vary depending on the body part on which it is worn.

[0033] In one embodiment, the wearable device (10) may include a support frame (e.g., a leg frame (16) of FIG. 3, a connection frame (12)) for assisting body movement of the user (U) when the wearable device (10) is worn on the body of the user (U), a sensor module for acquiring sensor data including movement information about body movement (e.g., leg movement, upper body movement) of the user (U), a drive module (91) for generating a torque applied to the leg of the user (U) (e.g., a drive module (13) of FIG. 3, which may include a motor and / or circuit), and a control module (92) for controlling the wearable device (10).

[0034] In one embodiment, the wearable device (10) may include an angle sensor (93) for measuring a joint angle of the user and an inertial measurement device (94) for measuring changes in acceleration and rotational speed according to the body movement of the user (U). The angle sensor (93) may measure a rotation angle (or angular velocity) of a leg frame of the wearable device (10) corresponding to a hip joint angle value of the user (U). The rotation angle of the leg frame measured by the angle sensor (93) may be estimated to be a hip joint angle value (or leg angle value) of the user (U). The angle sensor (93) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensors (93) may be present near the left hip joint and the right hip joint of the user (U), respectively. The inertial measurement device (94) may include an acceleration sensor and / or an angular velocity sensor (e.g., a gyro sensor) and may measure changes in acceleration and / or angular velocity (or rotational velocity) according to the movement of the user (U). The inertial measurement device (94) may measure, for example, an upper body movement value of the user (U) corresponding to a movement value of the connecting frame (or base body (base body (11) of FIG. 3 including a support)) of the wearable device (10). The movement value of the connecting frame measured by the inertial measurement device (94) may be estimated to be an upper body movement value of the user (U). In the present specification, an 'inertial measurement device' may also be referred to as an 'inertial sensor'.

[0035] In one embodiment, the control module (92) and the inertial measurement device (94) may be placed in the base body of the wearable device (10) (e.g., the base body (11) of FIG. 3). The base body may be positioned at the lumbar region (waist region) of the user (U) while the user (U) wears the wearable device (10). The base body may be formed or attached to the outside of the connecting frame of the wearable device (10). The base body may be mounted at the lumbar region of the user (U) to provide a cushioning feeling to the user's waist, and may support the user's waist together with the connecting frame.

[0036] FIG. 2 is a drawing for explaining an exercise management system including an exercise assistance device and an electronic device according to one embodiment.

[0037] Referring to FIG. 2, the exercise management system (20) may include a wearable device (10) worn on a user's body, an electronic device (21), another wearable device (22), and a server (23). In one embodiment, the exercise management system (20) may omit at least one of these devices (e.g., another wearable device (22) or the server (23)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (10) including a processing circuit).

[0038] In one embodiment, the wearable device (10) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (10) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0039] In one embodiment, the wearable device (10) may generate and apply to the user's body a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., squats, split lunges, dumbbell squats, lunges and knee ups, stretching, etc.) to be exercised using the wearable device (10) through the electronic device (21) and / or an exercise intensity to be applied to the wearable device (10). The wearable device (10) may control the drive module of the wearable device (10) according to the exercise program selected by the user, and may acquire sensor data including information on the user's movement through the sensor module. The wearable device (10) may adjust the strength of the resistance force or the assistive force to be applied to the user according to the exercise intensity selected by the user. For example, the wearable device (10) can control the drive module to generate a resistance corresponding to the exercise intensity selected by the user.

[0040] In one embodiment, the wearable device (10) may be used to measure a user's physical ability in conjunction with an electronic device (21). The wearable device (10) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (21), and may transmit sensor data acquired by the user's movements in the physical ability measurement mode to the electronic device (21). The electronic device (21) may analyze the sensor data received from the wearable device (10) to estimate the user's physical ability.

[0041] In one embodiment, the electronic device (21) can communicate with the wearable device (10), remotely control the wearable device (10), or provide the user with status information about the status of the wearable device (10) (e.g., booting status, charging status, sensing status, error status). The electronic device (21) can receive sensor data acquired by a sensor of the wearable device (10) from the wearable device (10), and estimate the user's physical ability or exercise result based on the received sensor data. In one embodiment, when the user wears the wearable device (10) and exercises, the wearable device (10) can acquire sensor data including movement information of the user using the sensors, and transmit the acquired sensor data to the electronic device (21). The electronic device (21) can extract the user's movement value from the sensor data, and evaluate the user's exercise motion based on the extracted movement value. The electronic device (21) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a graphical user interface.

[0042] In one embodiment, the electronic device (21) can execute a program (e.g., an application) for controlling the wearable device (10), and the user can adjust the operation or setting value of the wearable device (10) (e.g., the torque intensity output from the driving module (13) of FIG. 3), the volume of audio output from the sound output module, the light unit, etc. through the program. The program executed in the electronic device (21) can provide a graphical user interface (GUI) for interaction with the user. The electronic device (21) can be a device of various forms. For example, the electronic device (21) can include a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device), but is not limited to the devices described above.

[0043] In one embodiment, the electronic device (21) may be connected to a server (23) using short-range wireless communication or cellular communication. The server (23) may receive user profile information of a user using the wearable device (10) from the electronic device (21), and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (23) may receive exercise history information on exercise performed by the user from the electronic device (21), and store and manage the received exercise history information. The server (23) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (21).

[0044] In one embodiment, the wearable device (10) and / or the electronic device (21) may be directly or indirectly connected to another wearable device (22). The other wearable device (22) may be, for example, wireless earphones (222), a smartwatch (224), or smartglasses (226), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a biosignal including heart rate information of the user, and transmit the measured biosignal to the electronic device (21) and / or the wearable device (10). The electronic device (21) may estimate heart rate information of the user (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch (224), and may provide the estimated heart rate information to the user.

[0045] In one embodiment, the user's exercise result information, physical ability information (e.g., gait evaluation information), and / or exercise motion evaluation information evaluated by the electronic device (21) may be transmitted to another wearable device (22) and provided to the user through the other wearable device (22). Status information of the wearable device (10) may also be transmitted to another wearable device (22) and provided to the user through the other wearable device (22). In one embodiment, the wearable device (10), the electronic device (21), and the other wearable device (22) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0046] In one embodiment, the wearable device (10) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (10) according to a control signal received from the electronic device (21). For example, the wearable device (10) may provide visual feedback through a light unit and may provide auditory feedback through an audio output module. The wearable device (10) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (21) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (10).

[0047] In one embodiment, the electronic device (21) may present personalized exercise goals to the user in an exercise assistance mode. The personalized exercise goals may include exercise volume targets for each of the exercise types (e.g., strength training, balance training, aerobic training) that the user wishes to perform, as determined by the electronic device (21) and / or the server (23). When the server (23) determines the exercise volume targets, the server (23) may transmit information about the determined exercise volume targets to the electronic device (21). The electronic device (21) may present exercise volume targets for the exercise types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program to be performed (e.g., squats, split lunges, lunge and knee-ups) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (21) may display a GUI screen indicating the exercise volume targets for each exercise type on the display.

[0048] In one embodiment, the electronic device (21) and / or the server (23) may include a database storing information on a plurality of exercise programs that may be provided to the user through the wearable device (10). To achieve the user's exercise goal, the electronic device (21) and / or the server (23) may recommend an exercise program suitable for the user. The exercise goal may include, for example, at least one of muscle strength improvement, muscle stamina improvement, cardiopulmonary endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device (21) and / or the server (23) may store and manage exercise programs performed by the user and the results of the exercise programs performed.

[0049] In one embodiment, the electronic device (21) may evaluate the user's walking ability in conjunction with the wearable device (10). For example, the electronic device (21) may estimate a gait index, which is an index indicating the user's walking state, based on sensor data acquired from a sensor module of the wearable device (10) worn by the user. The gait index may be a measure for judging the quality of walking performed by the user. The gait index estimated by the electronic device (21) may include, for example, at least one of walking speed, step time, step length of one step, stride length of two steps, walking distance, gait symmetry index, gait variability index, or walk ratio. The electronic device (21) may calculate the gait index in real time while the user is walking while wearing the wearable device (10).

[0050] In one embodiment, when a user wears a wearable device (10) and walks (or exercises), the wearable device (10) may obtain sensor data including movement information related to the user's walking using sensors, and transmit the obtained sensor data to an electronic device (21). The electronic device (21) may estimate the user's walking evaluation information based on the sensor data, and provide the estimated walking evaluation information to the user. The walking evaluation information may include, for example, various walking indices related to the user's walking (e.g., walking speed, walking time, stride length, walking symmetry index, walking variability index, walking ratio) when the user walks while wearing the wearable device (10). The electronic device (21) may also provide the user with feedback information for improving the user's walking condition based on the walking evaluation information. For example, if the electronic device (21) determines that the user's measured stride length is shorter than a desired stride length, the electronic device (21) may suggest to the user to walk with a wider stride length.

[0051] In one embodiment, the wearable device (10) and the electronic device (21) can estimate gait indices such as walking speed using an angle sensor (e.g., angle sensor (93)) and an inertial measurement device (e.g., inertial measurement device (94)) of the wearable device (10) without using a global positioning system (GPS) sensor for tracking the user's location, and thus can estimate gait indices not only outdoors but also indoors. In addition, the wearable device (10) and the electronic device (21) can estimate gait indices even when the user walks in a fixed location such as a treadmill, and can estimate gait indices by reflecting the user's individual characteristics. The electronic device (21) can provide evaluation information on the user's gait state to the user using the wearable device (10), thereby increasing the user's interest in walking or exercising.

[0052] FIG. 3 illustrates a rear schematic view of a motion assistance device according to one embodiment, and FIG. 4 illustrates a left side view of a motion assistance device according to one embodiment.

[0053] Referring to FIGS. 3 and 4, a wearable device (10) according to one embodiment may include a base body (11) including a support, a connecting frame (12), a driving module (13), a waist frame (14), a waist belt (15), a leg frame (16), and a thigh fastening part (17). In one embodiment, the wearable device (10) may omit at least one of these components, or may have one or more other components (e.g., a haptic module) added. Each of the 'driving modules' herein may include a motor and / or a circuit.

[0054] In one embodiment, the base body (11) can be positioned on the user's lower back while the user wears the wearable device (10). The base body (11) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (11) can be hung over the user's buttocks (hip area) to prevent or reduce the possibility of the wearable device (10) from being dislodged downward due to gravity while the user wears the wearable device (10). The base body (11) can distribute a portion of the weight of the wearable device (10) to the user's lower back while the user wears the wearable device (10). The base body (11) can be directly or indirectly connected to the connecting frame (12). Connecting frame connecting elements (not shown) that can be directly or indirectly connected to the connecting frame (12) can be provided at both ends of the base body (11).

[0055] In one embodiment, a connecting frame (12) may extend from both ends of a base body (11). A user's lower body may be accommodated on the inside of the connecting frame (12). The connecting frame (12) may include at least one rigid body beam. The connecting frame (12) may extend from one end and the other end of the base body (11), respectively. Each beam may have a curved shape having a predetermined curvature so as to surround a user's lower body. A driving module (13) may be directly or indirectly connected to the connecting frame (12).

[0056] In one embodiment, a control module, an inertial measurement device (not shown) (e.g., an inertial measurement device (94) of FIG. 1), a communication module (not shown), and a battery (not shown) may be arranged inside the base body (11). The base body (11) may protect the control module, the inertial measurement device, the communication module, and the battery. The control module may generate a control signal for controlling the operation of the wearable device (10). The control module may include a control circuit including a processor and a memory for controlling an actuator of the drive module (13). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (10). Each of the 'processors' herein may include a processing circuit or may include a plurality of processors. For example, the term 'processor' as used herein, including the claims, may include various processing circuits including at least one processor, and may be configured to perform various functions described herein in a distributed manner, either individually or in combination. May be configured. When "processor," "at least one processor," and "one or more processors" are described herein as being configured to perform multiple functions, these terms include, but are not limited to, situations where one processor performs some of the enumerated functions and another processor performs the remaining functions, and situations where a single processor can perform all of the enumerated functions. Furthermore, the at least one processor may comprise a combination of processors that perform the various enumerated / disclosed functions, for example, in a distributed manner. At least one processor may execute program instructions to achieve or perform the various functions.

[0057] In one embodiment, the wearable device (10) may include a sensor module (not shown) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data that changes according to the user's movement. In one embodiment, the sensor module may obtain sensor data including movement information of the user and / or movement information of a component of the wearable device (10). The sensor module may include, but is not limited to, an inertial measurement device (e.g., an inertial measurement device (94) of FIG. 1) for measuring a movement value of the user's upper body or a movement value of the connecting frame (12) and an angle sensor (e.g., an angle sensor (93) of FIG. 1) for measuring a hip joint angle value of the user or a movement value of the leg frame (16). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

[0058] In one embodiment, the waist frame (14) may be directly or indirectly connected to the drive module (13). The waist frame (14) may surround at least a portion of the user's waist. The waist frame (14) may comprise a material that is stiffer than the waist belt (15). The waist frame (14) may support the waist belt (15).

[0059] In one embodiment, the waist belt (15) may be positioned on the front of the user's waist. For example, the waist belt (15) may include a Velcro structure. One of the two waist belts may have a hook surface, and the other waist belt may have a loop surface.

[0060] In one embodiment, the drive module (13) can generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the drive module (13) can generate an assistive force or a resistive force applied to the user's leg. In one embodiment, the drive module (13) can be located at a location corresponding to the user's hip joint position. The drive module can include an actuator (e.g., a motor) and a joint member. The actuator can provide power transmitted to the joint member. The actuator can include a motor that receives power from a battery and generates power (or torque). When the motor is supplied with power and driven, the motor can generate a force to assist the user's body movement (assisting force) or a force to hinder the body movement (resistive force). In one embodiment, the control module can control the intensity and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0061] In one embodiment, the joint member can receive power from an actuator and apply an external force to the user's body based on the received power. The joint member can be positioned at a location corresponding to a joint of the user. One side of the joint member can be directly or indirectly connected to the actuator, and the other side can be directly or indirectly connected to a leg frame (16). The joint member can be rotated by the power received from the actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the joint member (corresponding to the user's joint angle) can be placed on one side of the joint member.

[0062] In one embodiment, the actuator may be disposed laterally of the joint member. The rotational axis of the actuator and the rotational axis of the joint member may be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, the actuator may be disposed spaced apart from the joint member. In this case, the drive module (13) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0063] In one embodiment, the leg frame (16) may be positioned along the user's leg (e.g., thigh) when the wearable device (10) is worn on the user's leg. The leg frame (16) may transmit, for example, power (torque) generated by the drive module (13) to the user's thigh. The power generated by the drive module (13) may act as an external force applied to the user's leg movement. One end of the leg frame (16) may be directly or indirectly connected to a joint member and may rotate, and the other end of the leg frame (16) may be directly or indirectly connected to a thigh fastening portion (17), thereby transmitting the power generated by the drive module (13) to the user's thigh. For example, the leg frame (16) may push or pull the user's thigh. The leg frame (16) may extend along the longitudinal direction of the user's thigh. The leg frame (16) may be bent to wrap at least a portion of the user's thigh. The upper part of the leg frame (16) may cover the side of the thigh, and the lower part of the leg frame (16) may cover the front of the thigh. The central part of the leg frame (16) may have a twisted shape.

[0064] In one embodiment, the thigh fastening member (17) may be directly or indirectly connected to the leg frame (16) and may secure the leg frame (16) to the thigh. In one embodiment, the thigh fastening member (17) may include a fastening frame (171) and a wearing strap (172).

[0065] In one embodiment, the fastening frame (171) can apply torque generated from the driving module to the user's thigh. The fastening frame (171) is positioned on one side of the user's thigh and can push or pull the user's thigh. The fastening frame (171) can be positioned, for example, on the front of the user's thigh. The fastening frame (171) can be positioned along the circumference of the user's thigh. The fastening frame (171) can extend in both directions with the other end of the leg frame as the center, and can include a curved surface corresponding to the user's thigh.

[0066] In one embodiment, the wearing strap (172) may be directly or indirectly connected to the fastening frame (171) and fit snugly against the user's thigh. The wearing strap (172) may surround the remaining portion not covered by the fastening frame (171). The wearing strap (172) may include, for example, an elastic material.

[0067] FIG. 5 is a perspective view illustrating a leg frame and a thigh fastening member according to one embodiment, and FIG. 6 is a perspective view illustrating a thigh fastening member according to one embodiment.

[0068] Referring to FIGS. 5 and 6, a leg frame (16) according to one embodiment can be detachably connected to a thigh fastening portion (17) via a ring structure. The leg frame (16) can include a frame body (161) and a frame holder (162).

[0069] In one embodiment, the frame body (161) can rotate by receiving power from a drive module (e.g., the drive module (13) of FIG. 4). The frame body (161) can extend toward the fastening frame (171) while wrapping around the outer surface of the user's thigh. An end of the frame body (161) can face the thigh fastening portion (17).

[0070] In one embodiment, the frame holder (162) may extend from the frame body (161) toward the thigh fastening portion (17). The frame holder (162) may have a shape that protrudes convexly toward the thigh fastening portion (17). The frame holder (162) may be formed of, for example, the same material as the frame body (161). Both ends of the frame holder (162) may be fixed to the frame body (161). One end and the other end of the frame holder (162) may be arranged along the vertical direction. Here, the vertical direction is a direction parallel to the z-axis with reference to FIG. 5. From this structure, the frame body (161) and the frame holder (162) may form a ring structure with both ends of the frame holder (162) as boundaries. A connecting strap (173) may pass through the space between the frame body (161) and the frame holder (162). To prevent or reduce the possibility of the frame holder (162) from being detached from the connecting strap (173), both ends of the connecting strap (173) may be directly or indirectly connected to the fastening frame (171). In one embodiment, the fastening frame (171) may include a sliding plate (1711) and a shock absorbing pad (1712).

[0071] In one embodiment, the sliding plate (1711) may face the frame body (161). The frame holder (162) may be slidable on the sliding plate (1711). Meanwhile, as will be described later, the slidable distance of the frame holder (162) in the y-axis direction may be limited by a stopper (174).

[0072] In one embodiment, a shock absorbing pad (1712) may be attached to the inner surface of the sliding plate (1711). The shock absorbing pad (1712) may be in close contact with the user's thigh. The shock absorbing pad (1712) may include a soft material. When the sliding plate (1711) is pressed toward the user's thigh by an external force, the shock absorbing pad (1712) may be compressed and absorb a portion of the external force. This may improve the wearing comfort of the exercise assistance device. In one embodiment, the shock absorbing pad (1712) may be provided to be replaceable. A shock absorbing pad (1712) suitable for the shape of the user's thigh and the type of exercise may be used.

[0073] In one embodiment, a connecting strap (173) may extend from a wearing strap (172) and support a frame holder (162). One end of the connecting strap (173) may be fixed to one end of the wearing strap (172). The other end of the connecting strap (173) may be detachably connected to a frame detachable surface (1713) disposed on a sliding plate (1711). With the connecting strap (173) directly or indirectly connected to the detachable surface, the other end of the wearing strap (172) may be directly or indirectly connected to the other end of the connecting strap (173). With this structure, the leg frame (16) and the thigh fastening portion (17) may be easily connected and detached. For example, when connecting a leg frame (16) to a thigh fastening portion (17), the other end of the connecting strap (173) can be separated from the fastening frame (171) and the wearing strap (172) and then passed through the space between the frame body (161) and the frame holder (162). Thereafter, the other end of the wearing strap (172) can be reattached to the fastening frame (171) and the connecting strap (173), and the leg frame (16) can remain connected without being separated from the thigh fastening portion (17). The connecting strap (173) can include a support band (1731) and a fixing band (1732).

[0074] In one embodiment, a support band (1731) may be directly or indirectly connected to one end of a wearing strap (172) and may support a frame holder (162). The support band (1731) may support the frame holder (162) in a direction toward the sliding plate (1711). In one embodiment, the frame holder (162) may be formed of a material that is stiffer than the support band (1731). The support band (1731) may be formed of a material that is relatively flexible compared to the frame holder (162), thereby supporting the frame holder (162) to move in various directions. Flexible movement of the leg frame (16) relative to the thigh fastening portion (17) may be possible. Squeak caused by friction between the frame holder (162) and the support band (1731) may be reduced.

[0075] In one embodiment, a fixing band (1732) extends from a support band (1731) and can be removably connected directly or indirectly to a frame detachable surface (1713). The other end of the wearing strap (172) can be directly or indirectly connected to the fastening frame (171) via the fixing band (1732). A first strap detachable surface (1733) can be disposed on one side of the fixing band (1732), and a second strap detachable surface (1734) can be disposed on the other side. In one embodiment, at least a portion of the first strap detachable surface (1733) and the second strap detachable surface (1734) can overlap each other with respect to a direction parallel to the x-axis. The first strap detachable surface (1733) can be connected to the frame detachable surface (1713). For example, the first strap attachment / detachment surface (1733) and the frame attachment / detachment surface (1713) may include a hook-and-loop fastener structure. The other end of the wearing strap (172) may be connected to the second strap attachment / detachment surface (1734). From this structure, both sides of the fixed band (1732) may be supported by the fastening frame (171) and the wearing strap (172), respectively. When an external force is applied to the fixed band (1732) by the frame holder (162) pulling the support band (1731), the fixed band (1732) may not be easily detached from the position where it is attached to the fastening frame (171).

[0076] In one embodiment, the other end of the wearing strap (172) can be detachably connected to a second strap attachment surface (1734). By detaching the wearing strap (172) from the second strap attachment surface (1734), the thigh fastening portion (17) can be easily worn on the user's thigh. For example, when the user wants to wear the thigh fastening portion (17) on the thigh, the other end of the wearing strap (172) can be detached from the second strap attachment surface (1734), wrapped around the user's thigh, and then reconnected to the second strap attachment surface (1734).

[0077] In one embodiment, the wearing strap (172) may be provided to be adjustable in length. For example, the wearing strap (172) may include a plurality of bands and a connecting member (e.g., a ring, a fixing pin, a buckle, a dial, etc.) connecting two adjacent bands. In one embodiment, the wearing strap (1722) may include a main band (1721), an auxiliary band (1722), and a band connecting ring (1726).

[0078] In one embodiment, the length of the main band (1721) may be longer than the length of the auxiliary band (1722). One end of the main band (1721) and one end of the auxiliary band (1722) may be positioned opposite each other with respect to the frame holder (162). For example, one end of the main band (1721) may be fixed to the surface of the fastening frame (171). The first band detachment surface (1723) positioned at one end of the auxiliary band (1722) may be attached to the second strap detachment surface (1734). For example, the first band detachment surface (1723) and the second strap detachment surface (1734) may include a hook-and-loop fastener structure.

[0079] In one embodiment, the other end of the main band (1721) and the other end of the auxiliary band (1722) may be connected to each other via a band connecting ring (1726). For example, the band connecting ring (1726) may include two holes formed parallel to each other. The other end of the auxiliary band (1722) may pass through one of the holes of the band connecting ring (1726) and then be bent in the opposite direction to form a ring. The band connecting ring (1726) may be connected to a ring formed in the auxiliary band (1722) and may not be separated from the auxiliary band (1722). The other end of the main band (1721) may pass through the other of the holes of the band connecting ring (1726) and then be bent in the opposite direction to form a ring. At this time, the second band detachable surface (1724) and the third detachable surface arranged on the outer surface of the main band (1721) may be detachably connected to each other. For example, the second band detachable surface (1724) and the third detachable surface may include a hook-and-loop fastener structure. In one embodiment, a plurality of third band detachable surfaces (1725) may be provided spaced apart from each other along the longitudinal direction of the main band (1721). The fastening strap may be closely fitted to correspond to the thigh circumference of various users. Although the number of third band detachable surfaces (1725) is illustrated as four in the drawings of the present specification, it should be noted that the number is not necessarily limited thereto.

[0080] FIGS. 7 to 9 are side views illustrating a leg frame and a thigh fastening member according to one embodiment, and FIG. 10 is a side view illustrating a leg frame and a support band according to one embodiment.

[0081] Referring to FIGS. 7 to 10, a leg frame (16) according to one embodiment may be capable of sliding and tilting relative to a thigh fastening portion (17). Here, tilting means rotating (pitch rotation) about the y-axis as a rotational axis based on FIG. 5. In one embodiment, as the frame holder (162) moves in the space between the support band (1731) and the fastening frame (171), the leg frame (16) may move relative to the thigh fastening portion (17).

[0082] In one embodiment, the frame holder (162) may be provided to be slidable in at least two directions relative to the fastening frame. For example, the frame holder (162) may be provided to be slidable in a first direction parallel to the longitudinal direction of the connecting strap (173) and a second direction intersecting the first direction. Here, the first direction and the second direction are directions parallel to the y-axis and the z-axis, respectively, with reference to FIG. 5 .

[0083] In one embodiment, since both ends of the frame holder (162) are connected to the frame body (161), the distance that the support band (1731) can slide along the frame holder (162) can be limited to between the both ends of the frame holder (162). Considering the thickness of the support band (1731), the slidable distance (L1) of the frame holder (162) in the second direction can be smaller than the distance (L2) between the both ends of the frame holder (162).

[0084] In one embodiment, the leg frame (16) can slide and tilt simultaneously with respect to the thigh fastening portion (17). For convenience of explanation, the case where the thigh fastening portion (17) moves with respect to the leg frame (16) will be described as an example. For example, as shown in FIG. 7, the thigh fastening portion (17) may be in a state horizontal to an imaginary reference line (H) that faces the front of the thigh fastening portion (17) from the leg frame (16). In this state, when the thigh fastening portion (17) is pulled upward, the support band (1731) slides upward along the curved surface of the frame holder (162), so that the thigh fastening portion (17) can slide and tilt upward with respect to the reference line (H), as shown in FIG. 8. In contrast, when the thigh fastening part (17) is pulled downward in a state as in FIG. 7, the support band (1731) slides downward along the curved surface of the frame holder (162), so that the thigh fastening part (17) can slide and tilt downward with respect to the reference line (H) as in FIG. 9.

[0085] In one embodiment, the leg frame (16) may be capable of roll rotation about the thigh fastening member (17). Here, roll rotation means rotation about the x-axis with reference to FIG. 5 as the rotation axis. The first direction sliding range and roll rotation range of the leg frame (16) may be limited by a stopper (e.g., the stopper (174) of FIG. 5). The stopper will be described in detail below.

[0086] Fig. 11 is a perspective view illustrating a sliding plate, a stopper, and a shock absorbing pad according to one embodiment. It should be noted that the frame attachment / detachment surface, which is directly or indirectly positioned on the surface of the sliding plate, has been omitted.

[0087] Referring to FIG. 11, a thigh fastening part (e.g., thigh fastening part (17) of FIG. 5) according to one embodiment may further include a stopper (174). At least a portion of the stopper (174) may protrude from a fastening frame (e.g., fastening frame (171) of FIG. 5) toward a frame body (e.g., frame body (161) of FIG. 5). The stopper (174) may reduce a roll rotation range and a first direction sliding range of a frame holder with respect to the thigh fastening part. The stopper (174) may reduce a loss of power transmitted from a leg frame (e.g., leg frame (16) of FIG. 5) to the thigh fastening part. The stopper (174) may include a support body (1741), a pair of first body protrusions (1742), and a pair of second body protrusions (1743).

[0088] In one embodiment, a support body (1741) may be provided between a sliding plate (1711) and a shock absorbing pad (1712). A pair of first body protrusions (1742) may be formed to protrude from a base body. The pair of first body protrusions (1742) may each pass through a hole formed through the sliding plate (1711). With respect to the first direction, a frame holder may be disposed between the pair of first body protrusions (1742). The movement of the frame holder in the first direction is limited by the pair of first body protrusions (1742), and the frame holder may not deviate in the first direction between the pair of first body protrusions (1742). From this structure, the pair of first body protrusions (1742) may set a sliding distance and a roll rotation range of the frame holder in the first direction.

[0089] In one embodiment, a pair of second body protrusions (1743) may be formed to protrude from a support body (1741). The pair of second body protrusions (1743) may each pass through a hole formed through the sliding plate (1711). The pair of second body protrusions (1743) may be provided at a position spaced apart from the pair of first body protrusions (1742) in a second direction. With respect to the first direction, the frame holder may be disposed between the pair of second body protrusions (1743). The movement of the frame holder in the first direction is limited by the pair of second body protrusions (1743), and the frame holder may not deviate in the first direction between the pair of second body protrusions (1743). As used herein, the term "based on" includes the meaning of "at least based on."

[0090] In one embodiment, a pair of second body protrusions (1743) may be positioned on opposite sides of a pair of first body protrusions (1742) with respect to a support band (e.g., support band (1731) of FIG. 5). With respect to the second direction, the first body protrusions (1742) and the second body protrusions (1743) may support opposite ends of the support band. A range of movement of the support band in the second direction may be limited by the pair of first body protrusions (1742) and the pair of second body protrusions (1743). For example, an upward movement of the support band may be limited by the pair of first body protrusions (1742), and a downward movement may be limited by the pair of second body protrusions (1743). The support band can be maintained in a state of extending in the first direction without being deviated in the second direction between the first body protrusion (1742) and the second body protrusion (1743).

[0091] In one embodiment, the stopper (174) may be provided to be replaceable. If the exercise assist device is used for a long period of time, the first body protrusion (1742) and the second body protrusion (1743) may be damaged and worn due to repeated contact with the frame holder. After separating the shock absorbing pad (1712) from the sliding plate (1711), only the stopper (174) may be replaced. This may facilitate maintenance and repair of the exercise assist device.

[0092] FIG. 12 is a perspective view illustrating a leg frame and a thigh fastening member according to one embodiment, FIG. 13 is a cross-sectional view illustrating a leg frame and a thigh fastening member according to one embodiment, and FIG. 14 is a perspective view illustrating a sliding plate, a connecting strap, and a friction reducing strap according to one embodiment.

[0093] Referring to FIGS. 12 to 14, a connecting strap (373) according to one embodiment can support a frame holder (362) that moves in various directions. Flexible movement of the leg frame (36) relative to the thigh fastening portion (37) can be possible.

[0094] In one embodiment, the connecting strap (373) may be connected to the fastening frame (371) and may pass through the frame holder (362). The connecting strap (373) may not extend from the wearing strap (372). One end and the other end of the connecting strap (373) may be connected to the inside of the fastening frame (371). The wearing strap (372) may be connected to a side of the fastening frame (371). With this structure, the appearance of the thigh fastening portion (37) may be improved, and the influence of the connecting strap (373) from the wearing strap (372) may be reduced. In one embodiment, the connecting strap (373) may include a center part (3731) and fixed parts (3732a, 3732b).

[0095] In one embodiment, the center part (3731) can pass between the frame body (361) and the frame holder (362). The center part (3731) can press the frame holder (362) against the fastening frame (371).

[0096] In one embodiment, the fixed parts (3732a, 3732b) may extend from the center part (3731) and be fixed to the interior of the fastening frame (371). The fixed parts (3732a, 3732b) may be provided as a pair, for example. Each of the pair of fixed parts (3732a, 3732b) may extend from one end and the other end of the center part (3731), respectively. The pair of fixed parts (3732a, 3732b) may be referred to as a first fixed part (3732a) and a second fixed part (3732b), respectively. The fastening frame (371) may include a sliding plate (3711) and a shock absorbing pad (3712).

[0097] In one embodiment, the sliding plate (3711) may face the frame body (361). In one embodiment, the sliding plate (3711) may include a plate body (3711a), a pair of guide holes (3711b, 3711c), a strap guide (3711d), a support rib (3711e), and a hook projection (3711f).

[0098] In one embodiment, the plate body (3711a) can support a wearing strap (372). For example, holes are formed through both sides of the plate body (3711a), and the wearing strap (372) can pass through the holes and be connected to the plate body (3711a).

[0099] In one embodiment, a fixed part (3732a, 3732b) may be connected to the rear of the plate body (3711a). For example, the fixed parts (3732a, 3732b) and the plate body (3711a) may be joined through hot melt bonding. As another example, the fixed parts (3732a, 3732b) and the plate body (3711a) may be provided to be detachably attached to each other through a Velcro structure. For example, a loop surface may be formed on the plate body (3711a), and a hook surface may be formed on the fixed parts (3732a, 3732b). Meanwhile, the first fixed part (3732a) may be connected to the plate body (3711a) through heat-sealing, and the second fixed part (3732b) may be connected to the plate body (3711a) through a Velcro structure.

[0100] In one embodiment, a pair of guide holes (3711b, 3711c) may be formed penetrating the plate body (3711a). The guide holes (3711b, 3711c) may extend in a second direction. A connecting strap (373) may pass through the pair of guide holes (3711b, 3711c). The pair of guide holes (3711b, 3711c) may be referred to as a first guide hole (3711b) and a second guide hole (3711c), respectively. The first guide hole (3711b) may be adjacent to the first fixing part (3732a, 3732b), and the second guide hole (3711c) may be adjacent to the second fixing part (3732b).

[0101] In one embodiment, when the leg frame (36) is fastened to the thigh fastening portion (37), the user can extend the connecting strap (373) from the rear to the front of the plate body (3711a) through the first guide hole (3711b) while the first fixing part (3732a) is attached to the rear of the plate body (3711a). Thereafter, the user can pass the connecting strap (373) between the frame body (361) and the frame holder (362) and then extend the connecting strap (373) from the front to the rear of the plate body (3711a) through the second guide hole (3711c). Finally, the second fixing part (3732b) can be attached to the rear of the plate body (3711a).

[0102] In one embodiment, a strap guide (3711d) may be provided between a pair of guide holes (3711b, 3711c). The strap guide (3711d) may face the frame holder (362) in a third direction (e.g., a direction parallel to the x-axis) intersecting the first and second directions. To reduce friction occurring between the frame holder (362) and the strap guide (3711d), a friction-reducing strap (374) may be arranged on the strap guide (3711d).

[0103] In one embodiment, at least a portion of the friction reduction strap (374) may be positioned between the frame holder (362) and the strap guide (3711d). For example, the friction reduction strap (374) may have a ring shape that passes through the first guide hole (3711b) and the second guide hole (3711c) and covers both the front and rear sides of the strap guide (3711d). With this structure, the frame holder (362) does not directly contact the strap guide (3711d), and the wear and tear of the frame holder (362) can be reduced. Meanwhile, it should be noted that the friction reduction strap (374) may also cover only the front side of the strap guide (3711d) without passing through the first guide hole (3711b) and the second guide hole (3711c).

[0104] In one embodiment, the support rib (3711e) may be formed to protrude from the rear surface of the plate body (3711a). The support ribs (3711e) may be provided as a pair, for example, and the pair of support ribs (3711e) may be formed on opposite sides with respect to the strap guide (3711d). The support ribs (3711e) may extend in a first direction. The pair of support ribs (3711e) may support the fixing parts (3732a, 3732b) of the connecting strap (373) and the friction reducing strap (374) in a second direction.

[0105] In one embodiment, the hooking protrusion (3711f) may be formed to protrude from the rear surface of the plate body (3711a). The hooking protrusions (3711f) may be provided as a pair, for example, and the pair of hooking protrusions (3711f) may be formed on opposite sides with respect to the strap guide (3711d). A hook formed on a shock absorbing pad (3712) may be fastened to the pair of hooking protrusions (3711f).

[0106] In one embodiment, a shock absorbing pad (3712) may be attached to the inner surface of the sliding plate (3711). The shock absorbing pad (3712) may be in close contact with the user's thigh. In one embodiment, the shock absorbing pad (3712) may press the fixed parts (3732a, 3732b) toward the plate body (3711a). The fixed parts (3732a, 3732b) are pressed between the plate body (3711a) and the shock absorbing pad (3712), and the connection strength of the connection strap (373) to the fastening frame (371) may be increased.

[0107] Each embodiment in this specification may be used in combination with other embodiments described in this specification.

[0108] FIG. 15 is an exploded perspective view illustrating a sliding plate, a connecting strap, a friction reducing strap, and a plate cover according to one embodiment.

[0109] Referring to FIG. 15, a sliding plate (4711) according to one embodiment may further include a strap support protrusion (4711g) and a plate cover (4711h).

[0110] In one embodiment, the strap support protrusion (4711g) may be formed to protrude from the plate body (4711a) and may penetrate the fixed parts (4732a, 4732b). The strap support protrusion (4711g) may extend, for example, in a third direction. Since the fixed parts (4732a, 4732b) are supported by the strap support protrusion (4711g), the first and second direction movements of the fixed parts (4732a, 4732b) with respect to the plate body (4711a) may be restricted.

[0111] In one embodiment, the strap support protrusions (4711g) may be provided in multiple numbers, for example. For example, the strap support protrusions (4711g) may be provided in eight numbers, and the first fixing part (4732a) and the second fixing part (4732b) may each be supported by four strap support protrusions (4711g).

[0112] In one embodiment, the strap support protrusion (4711g) may have a screw boss structure with a groove formed on the inside. A plate cover (4711h) may be connected to the strap support protrusion (4711g).

[0113] In one embodiment, a protrusion that can be inserted into a strap support protrusion (4711g) may be formed protruding on a surface of the plate cover (4711h) that faces the plate body (4711a). The plate cover (4711h) may be disposed inside a shock absorbing pad (e.g., the shock absorbing pad (3712) of FIG. 12) and may cover the fixed parts (4732a, 4732b) and the friction reducing strap (474). In one embodiment, the plate cover (4711h) may press the fixed parts (4732a, 4732b) in a third direction. The fixed parts (4732a, 4732b) may be pressed between the plate body (4711a) and the plate cover (4711h), and movement of the fixed parts (4732a, 4732b) in the third direction may be restricted. Meanwhile, it is to be noted that the screw boss structure may be formed on the plate cover (4711h) instead of the plate body (4711a).

[0114] In one embodiment, to increase the connection strength between the plate body (4711a) and the fixed parts (4732a, 4732b), the fixed parts (4732a, 4732b) and the plate body (4711a) may be connected to each other through a heat-sealing bond or a Velcro structure.

[0115] According to one embodiment, a motion assistance device may include a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt connected to the waist frame, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder extending from the frame body, and a thigh fastening unit including a fastening frame placed on the user's thigh, a wearing strap connected to the fastening frame and capable of being in close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame holder.

[0116] In one embodiment, the leg frame may be configured to slide and tilt relative to the thigh fastening portion.

[0117] In one embodiment, the frame holder may be provided to be slidable in a first direction parallel to the longitudinal direction of the connecting strap and slidable in a second direction intersecting the first direction.

[0118] In one embodiment, each end of the frame holder can be fixed to the frame body.

[0119] In one embodiment, the slidable distance of the frame holder in the second direction may be less than the distance between the two ends of the frame holder.

[0120] In one embodiment, the thigh fastening member may further include a stopper that sets a slidable distance of the frame holder in the first direction.

[0121] In one embodiment, the fastening frame may include a sliding plate facing the frame body, and a shock absorbing pad attached directly or indirectly to an inner surface of the sliding plate.

[0122] In one embodiment, the stopper may include a support body provided between the sliding plate and the shock absorbing pad, and a pair of first body protrusions formed to protrude from the support body and arranged along the first direction.

[0123] In one embodiment, the stopper may further include a pair of second body protrusions formed to protrude from the support body and provided at a position spaced apart from the pair of first body protrusions in the second direction.

[0124] In one embodiment, the frame holder may be slidable and tiltable between the pair of first body protrusions and between the pair of second body protrusions.

[0125] In one embodiment, the connecting strap may include a support band connected to one end of the wearing strap and supporting the frame holder, and a fixing band extending from the support band and detachably connected to the fastening frame.

[0126] In one embodiment, the first body protrusion and the second body protrusion can support both ends of the support band with respect to the second direction.

[0127] In one embodiment, the fastening frame further comprises a frame detachable surface disposed directly or indirectly on one surface of the sliding plate, and one surface of the fixing band is detachably connected to the frame detachable surface.

[0128] In one embodiment, the other end of the fixed band may be detachably connected to the other end of the wearing strap.

[0129] In one embodiment, the frame holder may be formed of a material that is stronger than the support band.

[0130] According to one embodiment, a motion assistance device includes a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a frame body that rotates by receiving power from the driving module, a leg frame including a frame holder extending from the frame body, and a thigh fastening part including a fastening frame directly or indirectly placed on a user's thigh, a wearing strap connected to the fastening frame and in close contact with the user's thigh, and a connecting strap extending from the wearing strap and passing between the frame body and the frame holder, wherein the leg frame may be provided to be able to slide and tilt with respect to the thigh fastening part.

[0131] In one embodiment, the frame holder may be provided to be slidable in a first direction parallel to the longitudinal direction of the connecting strap and slidable in a second direction intersecting the first direction.

[0132] In one embodiment, the thigh fastening member may further include a stopper that sets a slidable distance of the frame holder in the first direction.

[0133] In one embodiment, each end of the frame holder can be fixed to the frame body.

[0134] In one embodiment, the slidable distance of the frame holder in the second direction may be less than the distance between the two ends of the frame holder.

[0135] According to one embodiment, a motion assistance device includes a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt connected to the waist frame, a frame body that rotates by receiving power from the driving module, and a leg frame including a frame holder each of both ends of which are fixed to the frame body, and a thigh connecting portion including a fastening frame arranged on the user's thigh, a wearing strap connected to the fastening frame and in close contact with the user's thigh, a connecting strap extending from the wearing strap and passing between the frame body and the frame holder, and a stopper that sets a slidable distance of the frame holder, wherein the leg frame may be provided to be able to slide and tilt with respect to the thigh connecting portion.

[0136] According to one embodiment, a motion assistance device may include a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt connected to the waist frame, a leg frame including a frame body that rotates by receiving power from the driving module, and a frame holder extending from the frame body, and a thigh connecting part including a connecting frame arranged on the user's thigh, a wearing strap connected to the connecting frame and capable of being in close contact with the user's thigh, and a connecting strap connected to the connecting frame and passing through the frame holder.

[0137] In one embodiment, the connecting strap may include a center part passing between the frame body and the frame holder, and a fixing part extending from the center part and fixed to the interior of the fastening frame.

[0138] In one embodiment, the fastening frame may include a sliding plate facing the frame body, and a shock absorbing pad attached directly or indirectly to an inner surface of the sliding plate.

[0139] In one embodiment, the sliding plate may include a plate body that supports the wearing strap, a pair of guide holes formed through the plate body, a strap guide provided between the pair of guide holes, a strap support protrusion that protrudes from the plate body and penetrates the fixed part, and a plate cover that is connected to the strap support protrusion and covers the fixed part.

[0140] In one embodiment, a motion assistance device may include a base body supporting a user's back, a connecting frame connected to the base body, a driving module connected to the connecting frame and generating power for assisting the user's motion, a waist frame connected to the driving module, a waist belt connected to the waist frame, a frame body that rotates by receiving power from the driving module, and a leg frame including a frame holder extending from the frame body, and a thigh connecting part including a fastening frame directly or indirectly placed on the user's thigh, a wearing strap connected to the fastening frame and in close contact with the user's thigh, a connecting strap connected to the fastening frame and passing through the frame holder, and a friction reducing strap at least a portion of which is located between the frame holder and the fastening frame.

[0141] The various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In the present disclosure, each of the phrases "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) is referred to as "coupled" or "connected" to another (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through a third component.

[0142] The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integrally formed component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0143] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, or computer storage medium or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium (e.g., memory) that can be read by a machine. For example, a processor of the device may recall at least one of the one or more instructions stored from the storage medium and execute it. This enables the device to operate to perform at least one function in accordance with the recalled at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0144] According to one embodiment, the method according to various embodiments disclosed in the present disclosure may be provided as included in a computer program product. The computer program product may be traded as a commodity between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., Play Store™) or directly between two user devices (e.g., smart phones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0145] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0146] While the present disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are illustrative rather than restrictive. Furthermore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. Furthermore, it will be understood that any embodiment described herein may be combined with other embodiments described herein.

Claims

1. A base body that includes support and supports the user's back; A connecting frame connected to the above base body; A drive module including a motor, connected to the connecting frame, and generating power to assist the user's movement; A waist frame connected to the above drive module; A waist belt connected to the above waist frame; A leg frame including a frame body that rotates by receiving power from the driving module and a frame holder extending from the frame body; and A thigh fastening unit including a fastening frame configured to be placed on a user's thigh, a wearing strap connected to the fastening frame and capable of being closely fitted to the user's thigh, and a connecting strap extending from the wearing strap and configured to pass between the frame body and the frame holder; An exercise assist device, comprising:

2. In paragraph 1, An exercise assist device wherein the above leg frame is configured to be able to slide and tilt relative to the thigh fastening portion.

3. In paragraph 2, An exercise assist device, wherein the frame holder is configured to be slidable in a first direction substantially parallel to the longitudinal direction of the connecting strap and slidable in a second direction intersecting the first direction.

4. In paragraph 3, An exercise assist device, wherein the frame holder includes two ends, and the two ends of the frame holder are each fixed to the frame body.

5. In paragraph 4, A motion assist device, wherein the sliding distance of the frame holder in the second direction is smaller than the distance between the two ends of the frame holder.

6. In paragraph 3, An exercise assist device, wherein the thigh fastening portion further includes a stopper that sets a sliding distance of the frame holder in the first direction.

7. In paragraph 6, The above-mentioned fastening frame is, a sliding plate facing the above frame body; and An exercise assist device comprising a shock absorbing pad attached to the inner surface of the sliding plate.

8. In paragraph 7, The above stopper, A support body provided between at least the sliding plate and the shock absorbing pad; and A motion assisting device comprising a pair of first body protrusions formed by protruding from the support body and arranged along the first direction.

9. In paragraph 8, The above stopper, A motion assisting device further comprising a pair of second body protrusions formed by protruding from the support body and provided at a position spaced apart from the pair of first body protrusions in the second direction.

10. In paragraph 9, The above frame holder, A motion assist device configured to slide and tilt between the pair of first body protrusions and between the pair of second body protrusions.

11. In paragraph 9, The above connecting strap is, a support band connected to one end of the above wearing strap and supporting the above frame holder; and An exercise assist device comprising a fixing band extending from the support band and detachably connected to the fastening frame.

12. In paragraph 11, A motion assisting device wherein the first body protrusion and the second body protrusion support a plurality of ends of the support band with respect to the second direction.

13. In paragraph 11, The above fastening frame further includes a frame attachment / detachment surface arranged on one side of the above sliding plate, An exercise assist device, wherein one side of the above fixed band is detachably connected to the above frame detachable surface.

14. In paragraph 13, An exercise assist device, wherein the other end of the above fixed band is detachably connected to the other end of the above wearing strap.

15. In paragraph 11, The above frame holder is an exercise assist device formed of a material stronger than the above support band.

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