Wearable device comprising modular actuator

Abstract

According to an embodiment, a wearable device comprises: a main body which is worn on the body of a user; and a pair of waist belts which are connected to the main body and encompass the waist of the user, wherein the main body comprises: a body case comprising a base plate, a housing which protrudes from the base plate and is provided with an accommodation space therein, and a plurality of guide holes formed through the housing; a modular actuator which is provided in the accommodation space of the body case to be detachable; and one or more fixed parts which are connected to the body case, are movable relative to the body case, and are at least partially inserted into the modular actuator.

Description

Wearable device including modular actuator

[0001] Embodiments relate to a wearable device comprising a modular actuator.

[0002] Wearable devices are being developed to assist users' movements by being worn on the body. These devices can assist with the movement of the user's hip and / or knee joints. These devices can also provide exercise programs to the user by applying a force that resists their movements.

[0003] According to one embodiment, the wearable device may include a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body may include a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; and one or more fixed parts connected to the body case, provided to be relatively movable with respect to the body case, and provided to be at least partially insertable into the modular actuator.

[0004] According to one embodiment, a wearable device may include a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body may include a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; an active fixing part at least a portion of which protrudes outside the body case and is provided so that the user can grip it; and a passive fixing part located inside the body case.

[0005] According to one embodiment, a wearable device includes a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body includes a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; one or more fixed parts connected to the body case, provided to be relatively movable with respect to the body case, and provided to be at least partially insertable into the modular actuator; and a pressing part disposed on the base plate and providing elasticity to the modular actuator, wherein the pressing part may include a pressing body disposed on the housing, and a pressing head provided to be relatively movable with respect to the pressing body and to contact the modular actuator.

[0006] These and / or other aspects, features and advantages will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings.

[0007] FIG. 1 is a front view of a wearable device according to one embodiment, showing a user wearing the wearable device.

[0008] FIG. 2 is a cross-sectional view of a front strap, thigh belt, and front force transmission cable according to one embodiment.

[0009] FIG. 3 is a perspective view of a front strap, thigh belt, and front force transmission cable according to one embodiment.

[0010] FIG. 4 is a rear view of a wearable device according to one embodiment, showing a user wearing the wearable device.

[0011] FIG. 5 is a drawing showing an unfolded view of a wearable device according to one embodiment.

[0012] FIG. 6 is an enlarged perspective view of a portion of a wearable device according to one embodiment.

[0013] FIG. 7 is a cross-sectional view schematically illustrating a wearable device according to one embodiment.

[0014] FIG. 8 is a perspective view schematically illustrating a portion of a wearable device according to one embodiment.

[0015] FIG. 9 is a perspective view schematically illustrating an active fixation part of a wearable device according to one embodiment.

[0016] FIG. 10 is a perspective view schematically illustrating a portion of a wearable device according to one embodiment.

[0017] FIG. 11 is a perspective view schematically illustrating a passive fixing part of a wearable device according to one embodiment.

[0018] FIG. 12 is a perspective view schematically illustrating a pressurized part of a wearable device according to one embodiment.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] FIG. 1 is a front view of a wearable device according to one embodiment, and illustrates a user wearing the wearable device. FIG. 2 is a cross-sectional view of a front strap, a thigh belt, and a front force transmission cable according to one embodiment. FIG. 3 is a perspective view of a front strap, a thigh belt, and a front force transmission cable according to one embodiment. FIG. 4 is a rear view of a wearable device according to one embodiment, and illustrates a user wearing the wearable device. FIG. 5 is a diagram illustrating a wearable device unfolded according to one embodiment.

[0024] Referring to FIGS. 1 to 5, a wearable device (100) according to one embodiment can be worn by a user. The wearable device (100) can be worn on the user's waist. The wearable device (100) can be worn on the user's thigh. The wearable device (100) can apply force to the user's thigh and / or waist. The wearable device (100) can assist movement of the user's hip joint and / or knee joint. The wearable device (100) can assist the user's walking. The wearable device (100) can assist the user to exercise by applying resistance to the user's movement.

[0025] A wearable device (100) may include a main body (11), a pair of waist belts (121, 122), a fixed band (13), a front strap (14), a rear strap (15), a thigh belt (16), a front force transmission cable (17), a force distribution cable (18), a rear force transmission cable (19), a guide (2), and a support plate (31).

[0026] The main body (11) can be worn on the user's body. The main body (11) can support the user's waist. For example, the main body (11) can support the user's back. The main body (11) can include a body case (111) having an internal storage space, and a modular actuator (112) detachably provided on the body case (111). Two modular actuators (112) can be provided. The two modular actuators (112) can each drive different cables. Each modular actuator (112) can drive one or more cables. For example, the modular actuator (112) can drive a front force transmission cable (17) and / or a rear force transmission cable (19). The modular actuator (112) can apply tension to the front force transmission cable (17) and / or the rear force transmission cable (19).

[0027] A pair of waist belts (121, 122) can wrap around the user's waist. The pair of waist belts (121, 122) can include a first waist belt (121) connected to one side of the main body (11) and a second waist belt (122) connected to the other side of the main body (11). The first waist belt (121) and the second waist belt (122) can overlap each other in front of the user. For example, the first waist belt (121) and the second waist belt (122) are detachable. For example, a hook may be provided on one surface of the first waist belt (121) and the second waist belt (122), and a loop may be provided on the other surface.

[0028] The fixed band (13) can support the first waist belt (121) and the second waist belt (122). The fixed band (13) can increase the bonding strength of the first waist belt (121) and the second waist belt (122). The fixed band (13) can surround the portion where the first waist belt (121) and the second waist belt (122) overlap.

[0029] The front strap (14) may be connected to the waist belt (121, 122). The front strap (14) may be arranged along the front of the thigh. The front strap (14) may have elasticity. One end of the front strap (14) may be connected to the waist belt (121, 122), and the other end may be connected to the thigh belt (16). The front strap (14) may have an accommodation space therein for accommodating a front force transmission cable (17). For example, the front strap (14) may include a pair of layers. One of the pair of layers may have a fixed edge and a non-fixed center portion. The force transmission cable (17) may be arranged along the center portion of the pair of layers.

[0030] The rear strap (15) may be connected to the main body (11). The rear strap (15) may be positioned along the back of the thigh. The front strap (14) and the rear strap (15) may be provided on opposite sides of the thigh. The rear strap (15) may have elasticity. One end of the rear strap (15) may be connected to the main body (11), and the other end may be connected to the thigh belt (16). The rear strap (15) may have a receiving space therein for accommodating a rear force transmission cable (19). For example, the front strap (14) may include a pair of layers. One of the pair of layers may have a fixed edge and a non-fixed central portion. The force transmission cable (17) may be provided along the central portion of the pair of layers.

[0031] The thigh belt (16) may encircle the user's thigh. The thigh belt (16) may include an elastic layer (166) comprising an elastic material. For example, the elastic layer (166) may include neoprene. The elastic layer (166) may be arranged to be positioned where the tendons of the user's thigh gather. The thigh belt (16) may include a cushion (not shown) provided around the elastic layer (166).

[0032] A force distribution cable (18) may be provided inside the thigh belt (16). The force distribution cable (18) may distribute the force transmitted to the thigh belt (16) over a wide range. The force distribution cable (18) may have both ends each fixed to the thigh belt (16). For example, the first end and the second end of the main distribution cable (18) may each be fixed to the lower portion of the thigh belt (16).

[0033] The force distribution cables (18) may be provided in multiple units. For example, the force distribution cables (18) may be provided in pairs. The pair of force distribution cables (18) may be connected to different force transmission cables. For example, one force distribution cable (18) of the pair of force distribution cables (18) may be connected to the front force transmission cable (17). The other force distribution cable (18) of the pair of force distribution cables (18) may be connected to the rear force transmission cable (19).

[0034] Compared to the case where the front force transmission cable (17) is directly fixed to the thigh belt (16), when the force distribution cable (18) is provided, the number of points of force application increases, so that the force distribution effect itself is also provided. The two ends of the main force distribution cable (18) fixed to the thigh belt (16) may be provided at positions spaced apart from each other along the length of the thigh belt (16). For example, the two ends of the force distribution cable (18) fixed to the rear force transmission cable (19) may be positioned on opposite sides with respect to the elastic layer (166). According to such a structure, the force can be prevented from being concentrated on the back of the user's thigh, and the wearing comfort can be improved.

[0035] A front force transmission cable (17) is connected to a modular actuator (112) and can transmit power from the modular actuator (112) to the thigh belt (16). One end of the front force transmission cable (17) can be connected to the modular actuator (112), and the other end can be connected to a force distribution cable (18) provided inside the thigh belt (16). The force distribution cable (18) is fixed to the thigh belt (16). Power generated from the modular actuator (112) can be transmitted to the thigh belt (16) through the front force transmission cable (17) and the force distribution cable (18). The front force transmission cable (17) can pass through the waist belt (12) and the front strap (14).

[0036] The rear force transmission cable (19) is connected to the modular actuator (112) and can transmit power from the modular actuator (112) to the thigh belt (16). One end of the rear force transmission cable (19) can be connected to the modular actuator (112), and the other end can be connected to a force distribution cable (18) provided inside the thigh belt (16). The force distribution cable (18) is fixed to the thigh belt (16). Power generated in the modular actuator (112) can be transmitted to the thigh belt (16) through the rear force transmission cable (19) and the force distribution cable (18). The rear force transmission cable (17) can pass through the rear strap (15).

[0037] The guide (2) is provided inside the waist belt (12) and can guide the direction of travel of the front force transmission cable (17). For example, the guide (2) can guide the front force transmission cable (17) toward the front strap (14).

[0038] The support plate (31) may be provided inside the waist belt (12). The support plate (31) may include a material that is stronger than the waist belt (12). The support plate (31) may support the guide (2). The support plate (31) may have a shape whose width increases as it moves away from the front strap (14). For example, the length of the upper side of the support plate (31) may be longer than the length of the lower side. For example, the support plate (31) may have an approximately diamond shape. The support plate (31) may distribute the force applied from the front force transmission cable (17) to the guide (2). The force applied from the front force transmission cable (17) to the guide (2) may be distributed over an area corresponding to the upper side of the support plate (31).

[0039] The front strap (14) may include a first front strap layer (141), a second front strap layer (142), a button (143), and an attachment layer (144).

[0040] The first front strap layer (141) covers one side of the front force transmission cable (17) and is detachable from the thigh belt (16). The first front strap layer (141) can be fixed on both sides to the second front strap layer (142). The end of the first front strap layer (141) can be separated from the second front strap layer (142).

[0041] The second front strap layer (142) covers the other side of the front force transmission cable (17) and is detachable from the thigh belt (16). The second front strap layer (142) can be fixed to the first front strap layer (141) at both sides. The end of the second front strap layer (142) can be separated from the first front strap layer (141). The lengths of the second front strap layer (142) and the first front strap layer (141) may be different. For example, the area where the second front strap layer (142) overlaps the thigh belt (16) may be larger than the area where the first front strap layer (141) overlaps the thigh belt (16).

[0042] The thigh belt (16) may include a first thigh layer (161) that is detachably provided to the first front strap layer (141) and a second thigh layer (162) that is detachably provided to the second front strap layer (142). A force distribution cable (18) may be provided between the first thigh layer (161) and the second thigh layer (162).

[0043] The button (143) may be placed on the first front strap layer (141). The button (143) may be inserted into the thigh belt (16).

[0044] An attachment layer (144) may be positioned on the second front strap layer (142). The attachment layer (144) may be a hook or loop. The thigh belt (16) may include an area that is attached to the attachment layer (144). A loop or hook may be provided in that area.

[0045] The forward force transmission cable (17) may be arranged to be movable relative to the force distribution cable (18). The forward force transmission cable (17) may include a ring-shaped end (171). The force distribution cable (18) may pass through the ring-shaped end (171) of the forward force transmission cable (17).

[0046] The rear force transmission cable (19) may be arranged to be movable relative to the force distribution cable (18). The rear force transmission cable (19) may include a ring-shaped end. The force distribution cable (18) may pass through the ring-shaped end of the rear force transmission cable (19).

[0047] Fig. 6 is an enlarged perspective view of a portion of a wearable device according to one embodiment. Fig. 7 is a cross-sectional view schematically illustrating a wearable device according to one embodiment.

[0048] Referring to FIGS. 6 and 7, the wearable device may include a main body (11). The main body (11) may be worn on a user's body. For example, the main body (11) may be worn on the user's back. The main body (11) may include a body case (111), a modular actuator (112), an active fixing part (113), a passive fixing part (114), and a pressurizing part (115).

[0049] The body case (111) can form the exterior of the main body (11). The body case (111) can have a receiving space for receiving a modular actuator (112).

[0050] The modular actuator (112) is provided so as to be detachable from the body case (111). For example, two modular actuators (112) may be provided so as to be detachable from the body case (111). It should be noted that the number of modular actuators (112) detachably provided from the body case (111) is not limited thereto.

[0051] A modular actuator (112) may include an actuator body (1121), an actuator cover (1122) connected to the actuator body (1121), and a plurality of actuator grooves (1123, 1124) recessed from an outer surface of the actuator body (1121). The plurality of actuator grooves (1123, 1124) may be provided in four numbers. The four plurality of actuator grooves (1123, 1124) may be spaced apart from each other by 90 degrees. Any one groove (1123) of the plurality of actuator grooves (1123, 1124) may accommodate an active fixed part (113). Among the plurality of actuator grooves (1123, 1124), another groove (1124) can accommodate a passive fixing part (114). The groove (1123) for accommodating the active fixing part (113) and the groove (1124) for accommodating the passive fixing part (114) can be spaced apart from each other by 180 degrees.

[0052] The active fixing part (113) is operable by the user. At least a portion of the active fixing part (113) may be provided to protrude outside the body case (111) so that the user can grip it. The user may move the active fixing part (113) to create a space into which the modular actuator (112) is inserted. For example, the user may pull the modular actuator (112) outward and then push the modular actuator (112) into the inside of the body case (111). When the modular actuator (112) is fully inserted, the active fixing part (113) may be restored to its original shape by a restoring force. At least a portion of the active fixing part (113) may be accommodated in one of the grooves (1123).

[0053] A manual fixing part (114) may be provided on the inside of the body case (111). The manual fixing part (114) may be deformed and / or restored by interacting with the modular actuator (112) while the modular actuator (112) is inserted. While the modular actuator (112) is pushed into the inside of the body case (111), the manual fixing part (114) may be pushed outward by being pressed by the modular actuator (112). When the modular actuator (112) is fully inserted, the manual fixing part (114) may be restored to its original shape by the restoring force. At least a portion of the manual fixing part (114) may be accommodated in another groove (1124).

[0054] The pressurizing part (115) can pressurize the bottom surface of the modular actuator (112). The pressurizing part (115) can reduce the shaking of the modular actuator (112).

[0055] Fig. 8 is a perspective view schematically illustrating a portion of a wearable device according to one embodiment. Fig. 9 is a perspective view schematically illustrating an active fixation part of a wearable device according to one embodiment.

[0056] Referring to FIGS. 8 and 9, the body case (111) may include a base plate (1111), a housing (1112) that protrudes from the base plate (1111) and has an internal receiving space, a plurality of guide holes (1113) that are formed through the housing, and a guide rod (1114) that is provided on the inside of the housing and protrudes from the base plate.

[0057] The base plate (1111) can support an active fixing part (113) and a passive fixing part (114). The active fixing part (113), the passive fixing part (114), and the pressurized part (see FIG. 7) are located on the outside of the housing (1112) and can be inserted into the housing (1112) to interact with the modular actuator.

[0058] The housing (1112) can support a pressurized part (see FIG. 7). The housing (1112) can have a roughly cylindrical shape.

[0059] A plurality of guide holes (1113) may be provided at 90-degree intervals, four in number. With this structure, a user can insert the modular actuator into the body case (111) in four directions. In other words, the modular actuator and the body case (111) may be aligned at four angles.

[0060] A plurality of guide rods (1114) can assist in inserting the modular actuator into the body case (111) while keeping it aligned in the correct direction.

[0061] The active fixing part (113) may include an active rod (1131) that is arranged to protrude outward from the body case (111), a slider (1132) connected to the active rod (1131), an active body (1133) connected to the slider (1132), an active head (1134) connected to the active body (1133), an inclined surface (1135) formed on the active head, and an active guide (1137) for guiding the sliding direction of the slider (1132). The active head (1134) may be arranged to be insertable into any one of a plurality of guide holes (1113). The active fixing part (113) may further include an elastic body, for example, a spring (not shown), that presses the slider (1132). In an initial state where no external force is applied to the elastic body, at least a portion of the active fixing part (113) may protrude into the inside of the housing (1112) by passing through the guide hole (1113). The active guide (1137) may be provided in a pair, and the pair of active guides (1137) may be provided on opposite sides with respect to the slider (1132). The active rod (1131), the slider (1132), and the active body (1133) may be located on the outside of the housing (1112).

[0062] Fig. 10 is a perspective view schematically illustrating a portion of a wearable device according to one embodiment. Fig. 11 is a perspective view schematically illustrating a passive fixing part of a wearable device according to one embodiment.

[0063] Referring to FIGS. 10 and 11, the manual fixing part (114) may protrude into the interior of the housing (1112) at least partially through the guide hole (1113). The manual fixing part (114) may include a manual shaft (1141) connected to the body case, a manual body (1142) connected to the manual shaft, a manual arm (1143) extending from the manual body, a manual head (1144) connected to an end of the manual arm, a manual guide (1145) formed penetrating the manual arm, and a manual protrusion (1149) inserted into the manual guide.

[0064] The manual fixing part (114) can be elastically deformed by being pressurized by a modular actuator. While the manual fixing part (114) is elastically deformed, the manual protrusion (1149) can move along the manual guide (1145). The manual protrusion (1149) can guide the deformation direction of the manual arm.

[0065] The manual head (1144) is provided so as to be insertable into any one of a plurality of guide holes. The manual protrusion (1149) can be connected to a manual structure (1146, 1147, 1148). The manual structure (1146, 1147, 1148) can be connected to a body case. The manual structure (1146, 1147, 1148) can include a first part (1146) connected to the body case, a second part (1147) connected to the first part (1146) and having a plate shape, and a third part (1148) protruding from the second part (1147). The third part (1148) can be inserted into the body case.

[0066] FIG. 12 is a perspective view schematically illustrating a pressurized part of a wearable device according to one embodiment.

[0067] Referring to FIG. 12, a pressurizing part (115) may be disposed in a housing (1112) to pressurize a modular actuator (112). The pressurizing part (115) may include a pressurizing body (1151) disposed in the housing (1112), a pressurizing head (1152) that is provided to be relatively movable with respect to the pressurizing body (1151) and contacts the modular actuator (112), and a pressurizing elastic body (1153) disposed in the housing (1112), provided on the inside of the pressurizing body (1151), and connected to the pressurizing head (1152). The pressurizing elastic body (1153) may be, for example, a spring. A rim portion of the pressurizing head (1152) may overlap with the pressurizing body (1151).

[0068] According to one embodiment, the wearable device may include a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body may include a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; and one or more fixed parts connected to the body case, provided to be relatively movable with respect to the body case, and provided to be at least partially insertable into the modular actuator.

[0069] In one embodiment, the one or more fixed parts may include an active fixed part, at least a portion of which protrudes outside the body case so as to be gripped by the user.

[0070] In one embodiment, the height at which the active fixed part protrudes from the body case may be less than the height at which the modular actuator protrudes from the body case.

[0071] In one embodiment, the active fixing part may include: an active rod configured to protrude outwardly from the body case; a slider connected to the active rod; an active body connected to the slider; and an active head connected to the active body and configured to be insertable into any one of the plurality of guide holes.

[0072] In one embodiment, the active fixing part may further include an inclined surface formed on the active head and inclined with respect to the protruding direction of the housing.

[0073] In one embodiment, the active fixing part may further include an active guide connected to the base plate and guiding the sliding direction of the slider.

[0074] In one embodiment, the active guides are provided in pairs, and the pair of active guides can be positioned opposite each other with respect to the slider.

[0075] In one embodiment, the active rod, slider and active body may be positioned externally to the housing.

[0076] In one embodiment, the active head may include a shape that becomes thicker as it moves away from the active body.

[0077] In one embodiment, the one or more fixed parts may include a passive fixed part positioned inside the body case.

[0078] In one embodiment, the manual fixing part may be configured to be elastically deformable when pressurized by the modular actuator.

[0079] In one embodiment, the manual fixing part may include: a manual shaft connected to the body case; a manual body connected to the manual shaft; a manual arm extending from the manual body; and a manual head connected to an end of the manual arm and configured to be insertable into any one of the plurality of guide holes.

[0080] In one embodiment, the manual fixing part may further include a manual guide formed penetrating the manual arm; and a manual protrusion inserted into the manual guide to guide the deformation direction of the manual arm.

[0081] In one embodiment, the body case may further include a guide rod provided on the inside of the housing and protruding from the base plate.

[0082] In one embodiment, the base plate may further include a pressurized part that provides elasticity to the modular actuator.

[0083] According to one embodiment, a wearable device may include a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body may include a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; an active fixing part at least a portion of which protrudes outside the body case and is provided so that the user can grip it; and a passive fixing part located inside the body case.

[0084] In one embodiment, the active fixing part may include: an active rod configured to protrude outwardly from the body case; a slider connected to the active rod; an active body connected to the slider; and an active head connected to the active body and configured to be insertable into any one of the plurality of guide holes.

[0085] In one embodiment, the active fixing part may further include an active guide connected to the base plate and guiding the sliding direction of the slider.

[0086] In one embodiment, the manual fixing part may include: a manual shaft connected to the body case; a manual body connected to the manual shaft; a manual arm extending from the manual body; and a manual head connected to an end of the manual arm and configured to be insertable into any one of the plurality of guide holes.

[0087] According to one embodiment, a wearable device includes a main body worn on a user's body; and a pair of waist belts connected to the main body and wrapping around the user's waist, wherein the main body includes a body case including a base plate, a housing protruding from the base plate and having an accommodation space therein, and a plurality of guide holes penetrating through the housing; a modular actuator detachably provided in the accommodation space of the body case; one or more fixed parts connected to the body case, provided to be relatively movable with respect to the body case, and provided to be at least partially insertable into the modular actuator; and a pressing part disposed on the base plate and providing elasticity to the modular actuator, wherein the pressing part may include a pressing body disposed on the housing, and a pressing head provided to be relatively movable with respect to the pressing body and to contact the modular actuator.

[0088] 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 the corresponding component from other corresponding components and do not limit the corresponding components in any other respect (e.g., importance or order). When a component (e.g., a first) 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 at least a third component(s).

[0089] 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.

[0090] 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.

[0091] While this disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are illustrative and not limiting. It will be further 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(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. Main body worn on the user's body; and A pair of waist belts connected to the main body and wrapping around the user's waist, The above main body, A body case including a base plate, a housing protruding from the base plate and having an internal receiving space, and a plurality of guide holes formed through the housing; A modular actuator that is detachably provided in the receiving space of the above body case; and A wearable device comprising one or more fixed parts connected to the body case, arranged to be relatively movable with respect to the body case, and arranged to be at least partially insertable into the modular actuator.

2. In paragraph 1, A wearable device, wherein the one or more fixed parts include an active fixed part, at least a portion of which protrudes outside the body case so that the user can grip it.

3. In paragraph 2, A wearable device, wherein the height at which the active fixing part protrudes from the body case is smaller than the height at which the modular actuator protrudes from the body case.

4. In paragraph 2, The above active fixed part is, An active rod arranged to protrude outward from the above body case; A slider connected to the above active load; an active body connected to the above slider; and A wearable device comprising an active head connected to the active body and configured to be insertable into any one of the plurality of guide holes.

5. In paragraph 4, The above active fixed part is, A wearable device formed on the active head and further comprising an inclined surface inclined with respect to the protruding direction of the housing.

6. In paragraph 4, The above active fixed part is, A wearable device further comprising an active guide connected to the base plate and guiding the sliding direction of the slider.

7. In paragraph 6, A wearable device wherein the above active guides are provided in a pair, and the pair of active guides are positioned on opposite sides with respect to the slider.

8. In paragraph 4, A wearable device wherein the above active rod, slider and active body are positioned outside the housing.

9. In paragraph 8, A wearable device, wherein the active head has a shape that becomes thicker as it moves away from the active body.

10. In paragraph 1, A wearable device, wherein the at least one fixed part comprises a passive fixed part located inside the body case.

11. In paragraph 10, A wearable device in which the above-mentioned manual fixing part is provided so as to be elastically deformable by being pressurized by the above-mentioned modular actuator.

12. In paragraph 10, The above manual fixing part is, A manual shaft connected to the above body case; A manual body connected to the above manual shaft; a manual arm extending from the above manual body; and A wearable device comprising a manual head connected to an end of the manual arm and configured to be insertable into any one of the plurality of guide holes.

13. In paragraph 12, The above manual fixing part is, A manual guide formed through the above manual arm; and A wearable device further comprising a manual protrusion inserted into the manual guide to guide the deformation direction of the manual arm.

14. In paragraph 1, A wearable device, wherein the body case further includes a guide rod provided on the inside of the housing and protruding from the base plate.

15. In paragraph 1, A wearable device further comprising a pressurized part disposed on the base plate and providing elasticity to the modular actuator.

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