Waist assistance apparatus

Abstract

A waist assistance apparatus according to one embodiment may comprise: a base body for supporting the back of a user; a connection frame connected to the base body; a driving module that is connected to the connection frame and generates power; a support extending from the base body; a lower link fixed to an end of the support; an upper link rollably connected to the lower link; an upper shaft connected to the upper link; a connector connecting the lower link and the upper shaft; a rolling joint including a torsion spring that is deformed when the upper link is rolled with respect to the lower link; and an upper body-wearable module that is connected to the upper link and can be worn on the upper body of the user.

Description

Lumbar support device

[0001] The present invention relates to a lumbar support device.

[0002] As we enter an aging society, the number of people complaining of discomfort and pain when bending or straightening their back due to muscle weakness or joint problems caused by aging is increasing. Interest is growing in lumbar support devices that help elderly people with weakened muscles or patients with muscle and joint problems move their backs more smoothly.

[0003] A lumbar support device according to one embodiment 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a rolling joint including a torsion spring that deforms when the upper link rolls relative to the lower link, and an upper body wearing module connected to the upper link and wearable on the user's upper body.

[0004] A lumbar support device according to one embodiment 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a cable at least a portion of which is fixed to the upper link, a rolling joint including a tension spring that deforms when the upper link is rolled relative to the lower link, and an upper body wearing module connected to the upper link and wearable on the user's upper body.

[0005] According to one embodiment, a lumbar support 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a rolling joint including a torsion spring that deforms when the upper link rolls relative to the lower link, and a stopper that is protruded from one of the lower link and the upper link and sets a rolling range of the upper link relative to the lower link, an upper body wearing module connected to the upper link and wearable on the user's upper body, and a bracket fixed to the upper body wearing module.

[0006] FIG. 1 is a drawing for explaining an outline of a waist assistance device worn on a user's body according to one embodiment.

[0007] FIG. 2 is a drawing for explaining an exercise management system including a waist assistance device and an electronic device according to one embodiment.

[0008] FIG. 3 is a rear schematic diagram of a lumbar support device according to one embodiment.

[0009] FIG. 4 is a left side view of a lumbar support device according to one embodiment.

[0010] FIG. 5 is a left side view of a lumbar support device according to one embodiment.

[0011] Figure 6 is a graph showing the torque generated from the drive module for the pelvic flexion angle.

[0012] FIG. 7 is a perspective view of an upper holder, a rolling joint, and a bracket according to one embodiment.

[0013] Figure 8 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0014] Figure 9 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0015] Figure 10 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0016] Figure 11 is a graph showing the torque generated by the torsion spring with respect to the lumbar flexion angle.

[0017] Figure 12 is a rear schematic diagram of a lumbar support device according to one embodiment.

[0018] FIG. 13 is a perspective view of an upper holder, a rolling joint, and a bracket according to one embodiment.

[0019] Figure 14 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0020] Figure 15 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0021] Figure 16 is a schematic side view of an upper holder, a rolling joint and a bracket in one embodiment.

[0022] Figure 17 is a graph showing the torque generated by the tension spring with respect to the lumbar flexion angle.

[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 the user's (U) walking, exercise, and / or work. In one embodiment, the wearable device (10) may also be used to measure the user's (U) physical ability (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', 'exercise assistance device', or 'lumbar assistance device'. The user (U) may be a human or an animal, but is not limited thereto. A wearable device (10) is worn on the body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) of a user (U) and can apply external forces of assistance force and / or resistance force to the body movement of the user (U). Assistance force is a force applied in the same direction as the direction of the body movement of the user (U), and represents a force that assists the body movement of the user (U). Resistance force is a force applied in the opposite direction to the body movement of the user (U), and represents a force that hinders the body movement of the user (U). The term 'resistance force' may 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 one embodiment, the wearable device (10) can operate in a lumbar assistance mode to assist flexion and extension of the pelvis and waist, respectively, of the user (U). In the lumbar assistance mode, the wearable device (10) can assist pelvic flexion of the user (U) by applying an assisting force generated from a 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 flexion and extension of the pelvis and waist, respectively, of the user (U).

[0033] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (10) as illustrated in FIG. 1 is used 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.

[0034] In one embodiment, the wearable device (10) may include a support frame (e.g., a leg frame (83) of FIG. 3) for assisting body movement of the user (U) when the wearable device (10) is worn on the body of the user (U), a connection frame (12), a sensor module for acquiring sensor data including movement information about body movement of the user (U) (e.g., leg movement, upper body movement), a driving module (91) for generating a torque applied to the leg of the user (U) (e.g., a driving module (13) of FIG. 3), and a control module (92) for controlling the wearable device (10).

[0035] 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 connection frame (or base body (base body (11) of FIG. 3)) of the wearable device (10). The movement value of the connection 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'.

[0036] 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.

[0037] FIG. 2 is a drawing for explaining an exercise management system including a waist assistance device and an electronic device according to one embodiment.

[0038] Referring to FIG. 2, the exercise management system (50) may include a wearable device (10) worn on a user's body, an electronic device (51), another wearable device (52), and a server (53). In one embodiment, the exercise management system (50) may omit at least one of these devices (e.g., another wearable device (52) or the server (53)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (10)).

[0039] 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.

[0040] 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 (51) 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.

[0041] In one embodiment, the wearable device (10) may be worn on the user's body in a lumbar assistance mode to assist the user's movements. For example, the wearable device (10) may be worn on the user's upper body to generate an assistive force to assist the user's lumbar and pelvic movements, thereby assisting the user's lumbar flexion and extension.

[0042] In one embodiment, the wearable device (10) may be used to measure a user's physical ability in conjunction with an electronic device (51). 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 (51), and may transmit sensor data acquired by the user's movements in the physical ability measurement mode to the electronic device (51). The electronic device (51) may analyze the sensor data received from the wearable device (10) to estimate the user's physical ability.

[0043] In one embodiment, the electronic device (51) 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 (51) 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 (51). The electronic device (51) can extract the user's movement value from the sensor data, and evaluate the user's exercise action based on the extracted movement value. The electronic device (51) 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.

[0044] In one embodiment, the electronic device (51) 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 (51) can provide a graphical user interface (GUI) for interaction with the user. The electronic device (51) can be a variety of devices. For example, the electronic device (51) 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.

[0045] In one embodiment, the electronic device (51) may be connected to a server (53) using short-range wireless communication or cellular communication. The server (53) may receive user profile information of a user using the wearable device (10) from the electronic device (51) 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 (53) may receive exercise history information on exercise performed by the user from the electronic device (51) and store and manage the received exercise history information. The server (53) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (51).

[0046] In one embodiment, the wearable device (10) and / or the electronic device (51) may be connected to another wearable device (52). The other wearable device (52) may be, for example, wireless earphones (522), a smartwatch (524), or smartglasses (526), ​​but is not limited to the aforementioned devices. In one embodiment, the smartwatch (524) may measure a biosignal including heart rate information of the user, and transmit the measured biosignal to the electronic device (51) and / or the wearable device (10). The electronic device (51) 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 (524), and may provide the estimated heart rate information to the user.

[0047] 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 (51) may be transmitted to another wearable device (52) and provided to the user through the other wearable device (52). Status information of the wearable device (10) may also be transmitted to another wearable device (52) and provided to the user through the other wearable device (52). In one embodiment, the wearable device (10), the electronic device (51), and the other wearable device (52) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0048] 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 (51). 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 (51) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (10).

[0049] In one embodiment, the electronic device (51) 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 (51) and / or the server (53). When the server (53) determines the exercise volume targets, the server (53) may transmit information about the determined exercise volume targets to the electronic device (51). The electronic device (51) 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 (51) may display a GUI screen indicating the exercise volume targets for each exercise type on the display.

[0050] In one embodiment, the electronic device (51) and / or the server (53) 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 (51) and / or the server (53) may recommend an exercise program suitable for the user. The exercise goal may include, for example, at least one of muscle strength improvement, physical strength improvement, cardiopulmonary endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device (51) and / or the server (53) may store and manage exercise programs performed by the user and the results of the exercise programs performed.

[0051] In one embodiment, the electronic device (51) may evaluate the user's walking ability in conjunction with the wearable device (10). For example, the electronic device (51) 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 (51) 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 (51) may calculate the gait index in real time while the user is walking while wearing the wearable device (10).

[0052] 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 (51). The electronic device (51) 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 (51) 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 (51) determines that the user's measured stride length is shorter than a desired stride length, the electronic device (51) may suggest to the user to walk with a wider stride length.

[0053] In one embodiment, the wearable device (10) and the electronic device (51) can estimate gait indices such as walking speed using an angle sensor (e.g., angle sensor (93)) and an inertial measurement unit (e.g., inertial measurement unit (94)) of the wearable device (10) without using a global positioning system (GPS) sensor for tracking the user's location, and thus gait indices can be estimated not only outdoors but also indoors. In addition, the wearable device (10) and the electronic device (51) 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 (51) 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.

[0054] FIG. 3 is a rear perspective view of a lumbar support device according to one embodiment, FIGS. 4 and 5 are left side views of the lumbar support device according to one embodiment, and FIG. 6 is a graph showing torque generated from a drive module with respect to a pelvic flexion angle.

[0055] Referring to FIGS. 3 to 6, a wearable device (10) according to one embodiment may include a base body (11), a connecting frame (12), a driving module (13), a waist frame (81), a waist belt (82), a leg frame (83), a thigh fastening part (84), a support (14), an upper body wearing module (15), and a rolling joint (16). In one embodiment, at least one of these components may be omitted from the wearable device (10), or one or more other components (e.g., a haptic module) may be added.

[0056] 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 the wearable device (10) from falling 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 connected to a connecting frame (12). Connecting elements (not shown) for connecting to the connecting frame (12) can be provided at both ends of the base body (11).

[0057] 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 connected to the connecting frame (12).

[0058] In one embodiment, a control module, an inertial measurement device (not shown) (e.g., the 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).

[0059] 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 (83). 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.

[0060] In one embodiment, a waist frame (81) may be connected to a drive module (13). The waist frame (81) may surround at least a portion of the user's waist. The waist frame (81) may comprise a material that is stiffer than the waist belt (82). The waist frame (81) may support the waist belt (82).

[0061] In one embodiment, the waist belt (82) may be positioned on the front of the user's waist. For example, the waist belt (82) 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. It is noted that the waist belt (82) may also include a buckle structure consisting of a female buckle and a male buckle.

[0062] In one embodiment, the drive module (13) may 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) may generate an assistive force or a resistance force applied to the user's legs.

[0063] In one embodiment, when the user is standing on the ground, the external force generated from the driving module (13) may act as an assisting force to assist the flexion and extension of the user's pelvis. For example, when the user is in a maximum flexion posture, the pelvic flexion angle (hereinafter referred to as the 'maximum pelvic flexion angle') may be 58° and the lumbar flexion angle (hereinafter referred to as the 'maximum lumbar flexion angle') may be 45°. Here, the pelvic flexion angle ( ) is the angle at which the user's pelvis is tilted with respect to an imaginary line perpendicular to the ground, and the lumbar flexion angle ( ) is the angle at which the lumbar spine is tilted relative to the user's pelvis. While the user's pelvis flexes from a standing position toward the maximum pelvic flexion angle, the assistive torque may not be applied. While the pelvis extends from the maximum pelvic flexion angle toward a standing position, the assistive torque may increase linearly until it reaches the maximum assistive torque, and then decrease linearly again.

[0064] In one embodiment, the drive module (13) may be positioned corresponding to the position of the user's hip joint. The drive module (13) may include an actuator and a joint member. The actuator may provide power transmitted to the joint member. The actuator may include a motor that receives power from a battery and generates power (or torque). When the motor is powered and driven, the motor may generate a force (assisting force) to assist the user's body movement or a force (resisting force) to hinder the body movement. In one embodiment, the control module may control the intensity and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0065] In one embodiment, the drive module (13) may be connected to the waist frame (81) via a fixer (85). The fixer (85) may be formed of a relatively rigid material, such as plastic. The drive module (13) may remain aligned with the user's joints while connected to the fixer (85).

[0066] 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 the user's joint part. One side of the joint member can be connected to the actuator, and the other side can be connected to the leg frame (83). 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.

[0067] 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.

[0068] In one embodiment, the leg frame (83) 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 (83) may transmit, for example, power (torque) generated by the driving module (13) to the user's thigh. The power generated by the driving module (13) may act as an external force applied to the user's leg movement. One end of the leg frame (83) may be connected to a joint member and rotated, and the other end of the leg frame (83) may be connected to a thigh fastening portion (84), such that the leg frame (83) may transmit the power generated by the driving module (13) to the user's thigh. For example, the leg frame (83) may push or pull the user's thigh. The leg frame (83) may extend along the longitudinal direction of the user's thigh. The leg frame (83) may be bent to wrap at least a portion of the user's thigh. The upper part of the leg frame (83) may cover the side of the thigh, and the lower part of the leg frame (83) may cover the front of the thigh. The central part of the leg frame (83) may have a twisted shape.

[0069] In one embodiment, the thigh fastening member (84) is connected to the leg frame (83) and may secure the leg frame (83) to the thigh. In one embodiment, the thigh frame may include a fastening frame (841) and a wearing strap (842).

[0070] In one embodiment, the fastening frame (841) can apply torque generated from the driving module (13) to the user's thigh. The fastening frame (841) is positioned on one side of the user's thigh and can push or pull the user's thigh. The fastening frame (841) can be positioned, for example, on the front side of the user's thigh. The fastening frame (841) can be positioned along the circumference of the user's thigh. The fastening frame (841) can extend in both directions with the other end of the leg frame (83) as the center, and can include a curved surface corresponding to the user's thigh.

[0071] In one embodiment, a wearing strap (842) may be connected to a fastening frame (841) and fit snugly against the user's thigh. The wearing strap (842) may surround the remaining portion not covered by the fastening frame (841). The wearing strap (842) may include, for example, an elastic material.

[0072] In one embodiment, the support (14) may extend from the base body (11). The support (14) may include a pipe (141) that extends in the height direction along the user's waist and has a hollow formed therein, a lower holder (142) that secures one end of the pipe (141) to the base body (11), and an upper holder (143) that secures the other end of the pipe (141). Here, the height direction is the +z direction with reference to FIG. 4.

[0073] In one embodiment, the pipe (141) may be formed of a lightweight, high-strength material, such as carbon fiber. The portions protruding inward from the lower holder (142) and the upper holder (143) may be inserted into holes formed on the surface of the pipe (141). To more firmly secure one end of the pipe (141) to the base body (11), a support frame (144) may be screw-connected to the lower holder (142). The support frame (114) may press the lower holder (142) toward the base body (11).

[0074] In one embodiment, the upper body wear module (15) can be worn on the user's upper body. For example, the upper body wear module (15) can be of the vest type. The upper body wear module (15) can include various tightness adjustment means so that it can maintain tight contact with the user's upper body while the user moves his or her body. A bracket (17) can be fixed to the outer surface of the upper body wear module (15). The bracket (17) can be connected to a core material disposed inside the upper body wear module (15).

[0075] In one embodiment, the support (14) and the bracket (17) may be connected to each other via a rolling joint (16). During the user's lumbar flexion and extension, the upper body wearable module (15) may move relative to the support (14). Here, rolling means that the position of the instantaneous rotation center (ICR) of one fixed component (e.g., the upper link (163)) relative to another fixed component (e.g., the lower link (161)) moves along the circumference of the other component, as illustrated in FIGS. 8 to 10.

[0076] From the structure as described above, the bracket (17) can be translated as well as rotated with respect to the support (14). The rolling joint (16) can compensate for the degree of freedom for the rotation and translation of the upper body wearing module (15) with respect to the support (14) according to the lumbar flexion and extension. The rolling joint (16) can compensate for the range of motion of the spine, which has a high degree of freedom and is composed of a series of vertebrae, for example, seven cervical vertebrae, twelve thoracic vertebrae, and five lumbar vertebrae. During the user's lumbar flexion and extension, the upper body wearing module (15) is maintained aligned with the user's upper body, and the gap and friction between the upper body wearing module (15) and the user's upper body can be reduced. The loss of power generated from the driving module (13) and transmitted to the upper body wearing module (15) can be reduced, and the wearing comfort of the wearable device (10) can be improved. Hereinafter, the rolling joint (16) will be described in detail.

[0077] FIG. 7 is a perspective view of an upper holder, a rolling joint, and a bracket according to one embodiment, FIGS. 8 to 10 are schematic side views of the upper holder, the rolling joint, and the bracket according to one embodiment, and FIG. 11 is a graph showing torque generated in a torsion spring with respect to a lumbar flexion angle.

[0078] Referring to FIGS. 7 to 11, a rolling joint (16) according to one embodiment can connect a support (14) and a bracket (17). The rolling joint (16) can include a lower link (161), an upper link (163), a connector (165), and a torsion spring (166).

[0079] In one embodiment, the lower link (161) may be connected to the other end of the support (14). The lower link (161) may be fixed to the upper holder (143), for example, and may not move relative to the upper holder (143). The lower link (161) may include a lower body (1611) and a lower pin (1612).

[0080] In one embodiment, the lower bodies (1611) may be provided as a pair facing each other. Each of the pair of lower bodies (1611) may be referred to as a first lower body (1611a) and a second lower body (1611b). The lower bodies (1611) may have a shape that is convexly curved upward. Here, the upward direction is the +z direction with respect to FIG. 7.

[0081] In one embodiment, a lower pin (1612) may be positioned between a pair of lower bodies (1611). One end of the lower pin (1612) may be fixed to a first lower body (1611a), and the other end of the lower pin (1612) may be fixed to a second lower body (1611b). The lower pin (1612) may maintain a constant gap between the pair of lower bodies (1611).

[0082] In one embodiment, to prevent a pair of lower bodies (1611) from rotating about a lower pin (1612) with respect to each other, at least two lower pins (1612) may be arranged. From this structure, a pair of lower bodies (1611) can be maintained in a state of not rotating with respect to each other.

[0083] In one embodiment, the upper link (163) may be rotatably connected to the lower link (161) and rotatably connected to the bracket (17). The upper link (163) may be connected to the bracket (17) via an upper shaft (164) and may rotate about the upper shaft (164) as an axis of rotation. The upper link (163) may rotate about the bracket (17) while rolling about the lower link (161). Based on the standing posture, the angle at which the center of the upper link (163) rotates about the center of the lower link (161) is the lumbar flexion angle ( ) can be understood as being the same.

[0084] In one embodiment, the upper link (163) and the lower link (161) may be connected to each other via a connector (165). The connector (165) may be arranged in a space between a pair of lower bodies (1611) that are provided as a pair and face each other. One end of the connector (165) may be rotatably connected to the lower link (161), and the other end of the connector (165) may be rotatably connected to the upper link (163). With this structure, the upper link (163) may remain in contact with the lower link (161) while being rolled relative to the lower link (161).

[0085] In one embodiment, one end of the connector (165) can rotate about a lower shaft (162) positioned between a pair of lower bodies (1611). The other end of the connector (165) can rotate about an upper shaft (164) as a rotational axis. The longitudinal direction of the lower shaft (162) can be parallel to the longitudinal direction of the upper shaft (164). The upper link (163) can include an upper body (1631) and an upper pin (1632).

[0086] In one embodiment, the upper bodies (1631) may be provided as a pair facing each other. Each of the pair of upper bodies (1631) may be referred to as a first upper body (1631a) and a second upper body (1631b). The first upper body (1631a) may be rolled relative to the first lower body (1611a), and the second upper body (1631b) may be rolled relative to the second lower body (1611b).

[0087] In one embodiment, an upper pin (1632) may be positioned between a pair of upper bodies (1631). One end of the upper pin (1632) may be fixed to a first upper body (1631a), and the other end of the upper pin (1632) may be fixed to a second upper body (1631b). The upper pin (1632) may maintain a constant gap between the pair of upper bodies (1631).

[0088] In one embodiment, at least two upper fins (1632) may be arranged to prevent a pair of upper bodies (1631) from rotating about the rotational axis of the upper fins (1632) relative to each other. With this structure, the pair of upper bodies (1631) can remain stationary relative to each other.

[0089] Meanwhile, in the drawings of this specification, the number of lower fins (1612) and upper fins (1632) is illustrated as two each, but it should be noted that the number of lower fins (1612) and upper fins (1632) is not limited thereto.

[0090] In one embodiment, the torsion spring (166) may deform when the upper link (163) rolls relative to the lower link (161). For example, when the upper link (163) rolls toward the user's back, the torsion spring (166) may deform to generate an elastic force. The elastic force generated from the torsion spring (166) may act as an auxiliary force that assists the user's waist extension and may supplement the auxiliary torque generated from the drive module (e.g., the drive module (13) of FIG. 4).

[0091] In one embodiment, the elastic force of the torsion spring (166) ) is defined as in the following mathematical expression 1, and the elastic force generated from the torsion spring (166) can increase or decrease nonlinearly.

[0092] [Mathematical Formula 1]

[0093]

[0094] ( : Torsion spring constant, : the angle at which the torsion spring is pressed, : the distance from the center of the torsion spring to the point where the load is applied)

[0095] In one embodiment, when the user's maximum pelvic flexion angle is 58° and the maximum lumbar flexion angle is 45°, the elastic force may nonlinearly increase to reach the maximum elastic force while the user's lumbar flexes from a standing position toward the maximum lumbar flexion angle. The elastic force may nonlinearly decrease while the lumbar extends from the maximum lumbar flexion angle toward the standing position. The torsion spring (166) may include a spring body (1661) and a pair of spring arms (1662).

[0096] In one embodiment, the spring body (1661) may be a wound portion of a torsion spring (166) and may have a hollow internal space. The spring body (1661) may be disposed between a pair of lower bodies (1611). The spring body (1661) may be connected to a pair of connectors (165). For example, the spring body (1661) may be connected to the connectors (165) by passing a connecting shaft, each end of which is fixed to a pair of connectors (165), through the internal space of the spring body (1661).

[0097] In one embodiment, a spacer (S) may be arranged between the spring body (1661) and the connector (165) to reduce the clearance between the spring body (1661) and the connector (165). In one embodiment, the spacer (S) may be provided to be replaceable. By adjusting the number of spacers (S) arranged, various torsion springs (166) having different thicknesses of the spring body (1661) depending on the difference in the number of turns may be connected to the connector (165).

[0098] In one embodiment, a pair of spring arms (1662) may extend from a spring body (1661). The pair of spring arms (1662) may be supported by a lower pin (1612) and an upper pin (1632), respectively. Among the pair of spring arms (1662), the spring arm (1662) supported by the lower pin (1612) may be referred to as a first spring arm (1662a), and the spring arm (1662) supported by the upper pin (1632) may be referred to as a second spring arm (1662b). For example, as shown in FIG. 8, in a state where the longitudinal direction of the connector (165) is parallel to the longitudinal direction of the support (14) (hereinafter referred to as an “upright state”), a pair of spring arms (1662) can be supported by the lower pin (1612) and the upper pin (1632), respectively, while a preload is applied. Meanwhile, for the convenience of understanding, unlike in FIG. 7, it is noted that in FIG. 8, the first spring arm (1662a) is shown supported by an upper pin positioned closer to the user’s back among the plurality of upper pins (1632).

[0099] When the user bends his / her back from the above state, the upper link (163) can roll toward the user's back with respect to the lower link (161), and the upper pin (1632) can press the second spring arm (1662b) while maintaining contact with the second spring arm (1662b). As the second spring arm (1662b) is pressed, the torsion spring (166) can be deformed, and elastic force can be generated. When the user straightens his / her back again from this state, the upper link (163) can roll away from the user's back with respect to the lower link (161). As the second spring arm (1662b) is restored, it presses the upper pin (1632), and the elastic force can act as an assisting force to assist the user's waist extension.

[0100] In one embodiment, while the upper link (163) is rolled relative to the lower link (161), the position of the spring body (1661) can change along the instantaneous center of rotation of the upper body (1631) relative to the lower body (1611). The instantaneous center of rotation of the upper body (1631) relative to the lower body (1611) can overlap the inner space of the spring body (1661) with respect to the longitudinal direction of the upper shaft (164). From this structure, the deformation of the torsion spring (166) depends only on the rolling range of the upper link (163), and the influence of the position of the torsion spring (166) relative to the upper link (163) can be reduced.

[0101] In one embodiment, a string (167) may be arranged on the surface of at least one of the lower body (1611) and the upper body (1631). The string (167) may be formed of a material having high friction, such as rubber. The string (167) may reduce slip occurring between the adjacent lower body (1611) and the upper body (1631) and assist rolling. For example, the string (167) may reduce forward-backward slip and left-right slip of the upper body (1631) with respect to the lower body (1611) with respect to the instantaneous center of rotation. Here, the forward-backward direction and the left-right direction are directions parallel to the x-axis and the y-axis, respectively, with reference to FIG. 7.

[0102] In one embodiment, the strings (167) are provided as a pair, which may be referred to as a first string (167a) and a second string (167b), respectively. The first string (167a) may be placed in the first lower body (1611a), and the second string (167b) may be placed in the second lower body (1611b). A portion of the first string (167a) may be placed in the first upper body (1631a), and a portion of the second string (167b) may be placed in the second upper body (1631b). For convenience of explanation, the following description will be based on the first string (167a).

[0103] In one embodiment, the first string (167a) may pass between the first lower body (1611a) and the first upper body (1631a) so as to pass through the instantaneous center of rotation. One end of the first string (167a) may be fixed to the first lower body (1611a), and the other end of the first string (167a) may be fixed to the first upper body (1631a). A portion of the first string (167a) may be disposed on a surface of the first lower body (1611a), and another portion of the first string (167a) may be disposed on a surface of the first upper body (1631a). It is to be noted that a washer may be additionally placed on the portion of the first string (167a) connected to the first lower body (1611a) and the first upper body (1631a).

[0104] In one embodiment, while the upper link (163) is rolled relative to the lower link (161), the size of the area disposed on the first lower body (1611a) of the first string (167a) may change. For example, with reference to the first string (167a) illustrated in FIG. 7, when the upper link (163) is rolled relative to the lower link (161) toward the user's back, the size of the area disposed on the first lower body (1611a) of the first string (167a) may increase, and the size of the area disposed on the first upper body (1631a) may decrease. In contrast, when the upper link (163) is rolled away from the lower link (161) toward the user's back, the size of the area disposed on the first lower body (1611a) among the first strings (167a) may decrease, and the size of the area disposed on the first upper body (1631a) may increase.

[0105] In one embodiment, the side surfaces of the string (167) may be supported by the lower rail (1613) and the upper rail (1633). For example, both side surfaces of the first string (167a) disposed on the surface of the first lower body (1611a) may be supported by the first lower rail (1613a), and both side surfaces of the first string (167a) disposed on the surface of the first upper body (1631a) may be supported by the first upper rail (1633a). The first lower rail (1613a) may be formed to protrude from the first lower body (1611a) in a direction away from the lower shaft (162). The first lower rail (1633a) may be formed to protrude from the first upper body (1631a) in a direction away from the upper shaft (164). At this time, the point where the first lower rail (1613a) and the first upper rail (1633) contact each other may be understood as the instantaneous center of rotation. From this structure, the left-right slip of the string (167) may be reduced. Similarly, both sides of the second string (167b) may be supported by the second lower rail (1613b) and the second upper rail (1633b).

[0106] In one embodiment, the arrangement directions of a pair of strings (167) may be opposite to each other. From this structure, regardless of which direction the upper link (163) rolls relative to the lower link (161), the pair of strings (167) can assist the rolling of the upper link (163) in a balanced manner. For example, while the upper link (163) rolls relative to the lower link (161), the area where the first string (167a) is arranged on the first lower body (1611a) may decrease, and the area where the second string (167b) is arranged on the second lower body (1611b) may increase. While the upper link (163) rolls in the opposite direction to the lower link (161), the area of ​​the first string (167a) disposed on the first lower body (1611a) may increase, and the area of ​​the second string (167b) disposed on the second lower body (1611b) may decrease.

[0107] In one embodiment, the rolling joint (16) may further include a stopper (168) for setting a rollable range of the upper link (163) with respect to the lower link (161). The stopper (168) may be formed to protrude from at least one of the lower link (161) and the upper link (163). When the connector (165) continues to move in one direction and is caught by the stopper (168) at a preset position, the movement of the connector (165) in the corresponding direction may be restricted. As the connector (165) is caught by the stopper (168), the rolling of the upper link (163) with respect to the lower link (161) in the corresponding direction may also be restricted. The stopper (168) may reduce the rolling of the upper link (163) beyond a suitable rollable range required to assist the user's waist.

[0108] In one embodiment, the stopper (168) is disposed on both the upper body (1631) and the lower body (1611), and may be referred to as an upper stopper (168a) and a lower stopper (168b), respectively. The upper stopper (168a) and the lower stopper (168b) may be provided as a pair, respectively. For example, the upper stopper (168a) may be formed on the opposite side of the upper body wearing module with respect to the connector (165). In this case, the upper stopper (168a) may inhibit the upper link (163) from rolling away from the user's back relative to the lower link (161) when the user is in a specific state (e.g., an upright state). For example, the lower stopper (168b) may be formed on the opposite side of the upper body wearing module with respect to the connector (165). From this structure, the lower stopper (168b) can suppress the upper link (163) from rolling toward the user's back with respect to the lower link (161). Meanwhile, it should be noted that the arrangement positions and numbers of the upper stopper (168a) and the lower stopper (168b) are not necessarily limited thereto.

[0109] Fig. 12 is a rear schematic diagram of a lumbar support device according to one embodiment, and Fig. 13 is a perspective view of an upper holder, a rolling joint, and a bracket according to one embodiment. Figs. 14 to 16 are schematic side views of an upper holder, a rolling joint, and a bracket according to one embodiment, and Fig. 17 is a graph showing torque generated by a tension spring with respect to a lumbar flexion angle.

[0110] Referring to FIGS. 12 to 17, in one embodiment, when the upper link (263) is rolled relative to the lower link (261), the tension spring (266) may be deformed. For example, when the upper link (263) is rolled toward the user's back, the tension spring (266) may be tensioned to generate an elastic force. The elastic force generated from the tension spring (266) may act as an auxiliary force that assists the user's waist extension and may supplement the auxiliary torque generated from the drive module (e.g., the drive module (13) of FIG. 4).

[0111] In one embodiment, the elastic force of the tension spring (266) ) is defined as in the following mathematical expression 2, and the elastic force generated from the tension spring (266) can linearly increase or decrease.

[0112] [Equation 2]

[0113]

[0114] ( : tensile spring constant, : The distance between the center of the upper link (263) and the center of the lower link (261), : waist flexion angle)

[0115] In one embodiment, if the user's maximum pelvic flexion angle is 58° and the maximum lumbar flexion angle is 45°, the elastic force may linearly increase to reach the maximum elastic force while the user's lumbar flexes from a standing position toward the maximum lumbar flexion angle. The elastic force may linearly decrease while the lumbar extends from the maximum lumbar flexion angle toward a standing position.

[0116] In one embodiment, the rolling joint (26) may include a lower link (261), an upper link (263), a cable (268), and a tension spring (266). In one embodiment, the lower link (261) may be fixed to an end of the support (24). The lower link (261) may be fixed to, for example, an upper holder (243) and may not move relative to the upper holder (243). The upper portion of the lower link (261) may have a shape that is curved upward.

[0117] In one embodiment, the upper link (263) may be rotatably connected to the lower link (261) and rotatably connected to the bracket (27). The upper link (263) is connected to the bracket (27) via an upper shaft (264) and may rotate about the upper shaft (264) as an axis of rotation. The upper link (263) may rotate about the bracket (27) while rolling about the lower link (261).

[0118] In one embodiment, the upper link (263) and the lower link (261) may be connected to each other via a connector (265). The connector (265) may connect the lower link (261) and the upper shaft (264). The connectors (265) may be provided as a pair and may be positioned on the sides of the upper link (263) and the lower link (261), respectively. One end of the connector (265) may be rotatably connected to the lower link (261). One end of the connector (265) may rotate about the lower shaft (262) connected to the lower link (261) as a rotational axis. The other end of the connector (265) may be rotatably connected to the upper link (263). The other end of the connector (265) may rotate about the upper shaft (264) as a rotational axis. From this structure, the upper link (263) can remain in contact with the lower link (261) while rolling relative to the lower link (261). At least a portion of the cable (268) can be fixed to the upper link (263).

[0119] In one embodiment, one end of the cable (268) may be fixed to the upper link (263), and the other end of the cable (268) may be connected to a tension spring (266). The cable (268) may be formed of, for example, a stainless steel material. One end of the tension spring (266) may be connected to the cable (268), and the other end of the tension spring (266) may be connected to the support (24). For example, the other end of the tension spring (266) may be connected to the lower holder (242). Meanwhile, it should be noted that the other end of the tension spring (266) may also be connected to the lower holder (242) via a connecting element such as a wire. From this structure, when the upper link (263) rolls relative to the lower link (261), the tension spring (266) may be deformed. Meanwhile, it is noted that the other end of the tension spring (266) can be connected to the base body.

[0120] In one embodiment, the lower link (261) may include a lower body (2611) and a lower rail (2613). The lower body (2611) may be disposed between a pair of connectors (265) and connected to a lower shaft (262). The lower rail (2613) may be formed to protrude from the lower body (2611) in a direction away from the lower shaft (262). The lower rails (2613) are provided as a pair, and may be referred to as a first lower rail (2613a) and a second lower rail (2613b), respectively.

[0121] In one embodiment, the upper link (263) may include an upper body (2631) and an upper rail (2633). The upper body (2631) may be connected to an upper shaft (264) and may rotate about the upper shaft (264) as an axis of rotation. The upper rail (2633) may be formed to protrude from the upper body (2631) in a direction away from the upper shaft (264). The upper rails (2633) may be provided as a pair, and may be referred to as a first upper rail (2633a) and a second upper rail (2633b), respectively. At this time, the points where the first lower rail (2613a) and the second lower rail (2613b) contact the first upper rail (2633a) and the second upper rail (2633b), respectively, may be understood as instantaneous centers of rotation.

[0122] In one embodiment, strings (267) may be arranged on the surface of at least one of the lower body (2611) and the upper body (2631). In one embodiment, the strings (267) may be provided in a pair, which may be referred to as a first string (267a) and a second string (267b), respectively. A portion of the first string (267a) may be arranged on the surface of the lower body (2611), and another portion of the first string (267a) may be arranged on the surface of the upper body (2631). A portion of the second string (267b) may be arranged on the surface of the lower body (2611), and another portion of the second string (267b) may be arranged on the surface of the upper body (2631).

[0123] In one embodiment, both sides of the first string (267a) disposed on the surface of the lower body (2611) may be supported by the first lower rail (2613a), and both sides of the first string (267a) disposed on the surface of the upper body (2631) may be supported by the first upper rail (2633a). Both sides of the second string (267b) disposed on the surface of the lower body (2611) may be supported by the second lower rail (2613b), and both sides of the second string (267b) disposed on the surface of the upper body (2631) may be supported by the second upper rail (2633b).

[0124] In one embodiment, the arrangement directions of a pair of strings (267) may be opposite to each other. For example, while the upper link (263) rolls in one direction relative to the lower link (261), the area of ​​the first string (267a) arranged on the lower body (2611) may decrease, and the area of ​​the second string (267b) arranged on the lower body (2611) may increase.

[0125] In one embodiment, the cable (268) can pass between the first lower rail (2613a) and the second lower rail (2613b) and then between the first upper rail (2633a) and the second upper rail (2633b). From this structure, the cable (268) can be aligned without being deviated in the left-right direction with respect to the lower link (261) and the upper link (263).

[0126] In one embodiment, at least a portion of the cable (268) may be wound around an idler (269). The idler (269) may be disposed on an extension body (2614) extending from the lower body (2611). The idler (269) may compress the cable (268) such that the area of ​​the cable (268) in contact with the lower link (261) and the upper link (263) increases. The rearward deviation of the cable (268) may be reduced.

[0127] In one embodiment, the upper link (263) may further include a link protrusion (2634) for setting a rollable range of the upper link (263) relative to the lower link (261). The link protrusion (2634) may be provided to protrude from the upper body (2631) and be insertable into the extension body (2614) at a preset position. When the upper link (263) rolls in one direction relative to the lower link (261) and the link protrusion (2634) is fully inserted into the extension body (2614) at the preset position, movement of the upper link (263) in the corresponding direction may be restricted. For example, as illustrated in FIG. 13, the link protrusion (2634) may be fully inserted into the extension body (2614) when the user is in an upright position. At this time, the upper link (263) may not roll away from the user's back with respect to the lower link (261).

[0128] A lumbar support device according to one embodiment 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a rolling joint including a torsion spring that deforms when the upper link rolls relative to the lower link, and an upper body wearing module connected to the upper link and wearable on the user's upper body.

[0129] In one embodiment, the lumbar support device may further include a bracket secured to the upper body wearable module.

[0130] In one embodiment, the upper link may be rotatably connected to the bracket.

[0131] In one embodiment, the lower link may include a pair of lower bodies facing each other and a lower pin disposed between the pair of lower bodies, and the upper link may include a pair of upper bodies each rollable with respect to the pair of lower bodies and an upper pin disposed between the pair of upper bodies.

[0132] In one embodiment, the torsion spring may include a spring body connected to a pair of the connectors, and a pair of spring arms extending from the spring body and supported by the lower pin and the upper pin, respectively.

[0133] In one embodiment, the spring body may be positioned between the pair of lower bodies.

[0134] In one embodiment, the instantaneous rotation center (ICR) of the upper body relative to the lower body may overlap the internal space of the spring body with respect to the longitudinal direction of the upper shaft.

[0135] In one embodiment, the rolling joint may further include a string disposed on a surface of at least one of the lower body and the upper body.

[0136] In one embodiment, one end of the string may be fixed to one of the lower body and the upper body, and the other end of the string may be fixed to the other of the lower body and the upper body.

[0137] In one embodiment, a portion of the string may be disposed on a surface of the lower body, and another portion of the string may be disposed on a surface of the upper body.

[0138] In one embodiment, while the upper link is rolled relative to the lower link, the size of the area of ​​the string disposed on the lower body may change.

[0139] In one embodiment, the strings may be provided in a pair, and the pair of strings may include a first string disposed in one lower body of the pair of lower bodies, and a second string disposed in the other lower body of the pair of lower bodies.

[0140] In one embodiment, a portion of the first string may be disposed in one lower body of the pair of lower bodies, and a portion of the second string may be disposed in the other lower body of the pair of lower bodies.

[0141] In one embodiment, while the upper link is rolled relative to the lower link, the area over which the first string is disposed on the lower body may decrease, and the area over which the second string is disposed on the lower body may increase.

[0142] In one embodiment, the rolling joint may further include a stopper formed to protrude from at least one of the lower link and the upper link, and which sets a rollable range of the upper link relative to the lower link.

[0143] A lumbar support device according to one embodiment 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a cable at least a portion of which is fixed to the upper link, a rolling joint including a tension spring that deforms when the upper link is rolled relative to the lower link, and an upper body wearing module connected to the upper link and wearable on the user's upper body.

[0144] In one embodiment, one end of the tension spring may be connected to the cable, and the other end of the tension spring may be connected to the support.

[0145] In one embodiment, the lower link may include a lower body disposed between a pair of connectors, and an extension body extending from the lower body.

[0146] In one embodiment, the upper link may include an upper body that rotates about the upper shaft as a rotation axis, and a link protrusion that protrudes from the upper body and is provided to be insertable into the extension body.

[0147] According to one embodiment, a lumbar support 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, a support extending from the base body, a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, a rolling joint including a torsion spring that deforms when the upper link rolls relative to the lower link, and a stopper that is protruded from one of the lower link and the upper link and sets a rolling range of the upper link relative to the lower link, an upper body wearing module connected to the upper link and wearable on the user's upper body, and a bracket fixed to the upper body wearing module.

[0148] 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 among the phrases, 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.

[0149] 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 integral 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).

[0150] 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.

[0151] 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.

[0152] 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.

Claims

1. Base body that supports the user's back; A connecting frame connected to the above base body; A drive module connected to the above connecting frame and generating power; A support extending from the above base body; A rolling joint including a lower link fixed to an end of the support, an upper link rotatably connected to the lower link, an upper shaft connected to the upper link, a connector connecting the lower link and the upper shaft, and a torsion spring that deforms when the upper link rolls relative to the lower link; and An upper body wearable module connected to the upper link and wearable on the user's upper body A lumbar support device, including:

2. In paragraph 1, A lumbar support device further comprising a bracket fixed to the upper body wearing module.

3. In paragraph 2, The upper link is a waist support device rotatably connected to the bracket.

4. In paragraph 1, The above lower link is, It comprises a pair of lower bodies facing each other and a lower fin disposed between the pair of lower bodies, The above upper link, A waist assist device comprising a pair of rollable upper bodies for each of the pair of lower bodies, and an upper pin disposed between the pair of upper bodies.

5. In paragraph 4, The above torsion spring, a spring body connected to a pair of said connectors; and A lumbar support device comprising a pair of spring arms extending from the spring body and supported by the lower pin and the upper pin, respectively.

6. In paragraph 5, The above spring body is a waist support device arranged between the pair of lower bodies.

7. In paragraph 5, The instantaneous rotation center (ICR) of the upper body relative to the lower body overlaps the internal space of the spring body based on the longitudinal direction of the upper shaft, a waist support device 8. In paragraph 4, The above rolling joint, A waist support device further comprising a string disposed on the surface of at least one of the lower body and the upper body.

9. In paragraph 8, One end of the above string is fixed to one of the lower body and the upper body, A waist support device, wherein the other end of the above string is fixed to the other one of the lower body and the upper body.

10. In paragraph 8, A portion of the above string is placed on the surface of the lower body, A waist support device, wherein another part of the above string is placed on the surface of the above upper body.

11. In paragraph 10, A waist support device in which the size of the area of ​​the string arranged on the lower body changes while the upper link is rolled relative to the lower link.

12. In paragraph 8, The above strings are provided in pairs, A pair of strings, A first string disposed on one of the lower bodies of the pair of lower bodies; and A waist support device comprising a second string disposed on another lower body of the pair of lower bodies.

13. In paragraph 12, A portion of the above first string is placed in one of the lower bodies of the pair of lower bodies, A waist support device, wherein a portion of the second string is placed on the other lower body of the pair of lower bodies.

14. In paragraph 13, A waist assist device, wherein while the upper link is rolled relative to the lower link, the area where the first string is disposed on the lower body decreases and the area where the second string is disposed on the lower body increases.

15. In paragraph 4, The above rolling joint, A waist assist device further comprising a stopper formed by protruding from at least one of the lower link and the upper link and setting a rolling range of the upper link relative to the lower link.

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