Wearable aid device

Abstract

The present invention relates to a wearable aid device, the wearable unit of which attaches to a main body to allow vertical movement, thus allowing the device to be worn at a suitable position on the basis of the size of the user's body when putting the device on, and the device to be stably kept on. Also, the device allows the adjustment functions for the placement of the wearable unit to be locked or unlocked in response to user operation to thus allow the convenient and stable conditions to be maintained while wearing the device.

Description

Wearable assistive devices

[0001] The present invention relates to a wearable assistive device. More specifically, the present invention relates to a wearable assistive device in which a wearable unit worn by a wearer on the upper body is mounted in a manner that allows the wearer to move up and down relative to the main body, so that the wearer can wear the device in an accurate position according to the wearer's body size during the wearing process, maintain a stable wearing state, and enable the position adjustment function of the wearable unit to be locked and unlocked according to the user's operation, thereby maintaining a more convenient and stable wearing state.

[0002] Recently, wearable assistive devices for the disabled, patients, or elderly with physical abilities that make daily life impossible, or wearable assistive devices for industrial or military use to enhance physical strength or abilities, are being developed.

[0003] In the case of wearable assistive devices for the disabled, patients, or elderly, they can be classified into wearable assistive devices for completely paralyzed disabled people and wearable assistive devices for the elderly, patients with partial paralysis, or disabled people, depending on physical ability, the amount of assistive power required, or the role.

[0004] In the case of these wearable assistive devices, the main body is equipped with a battery and a controller, and is mounted on the wearer's back; a joint actuator mounted on the hip joint and knee joint for driving each joint; and a support unit connected to each joint actuator and for supporting the wearer's thigh or lower leg.

[0005] In the case of such wearable assistive devices, a joint actuator is placed near the wearer's joint, and an assistive force in the form of an assistive torque is provided to the wearer's thigh or lower leg according to the wearer's walking motion, thereby assisting the wearer's walking.

[0006] Assuming that the wearer walks in the X-axis direction in a three-dimensional coordinate space, each joint actuator rotates around the Y-axis, which is parallel to the X-axis direction, which is the walking direction of the hip and knee joints, and the Z-axis direction, which is the vertical direction, to provide assistive power. In other words, the joint actuators can also be configured to rotate around the Y-axis, which corresponds to the rotation direction of the joints when the wearer walks.

[0007] These wearable assistive devices are equipped with a wearing means that can fix the wearable assistive device while it is being worn by the wearer. The wearing means is equipped with a support unit that supports the thigh and lower leg, and a main body that is attached to the wearer's back. The wearing means equipped on the main body is configured to fix the main body of the wearable assistive device to the wearer's shoulder and back, and is formed so that the position can be fixed using a wearing band or the like.

[0008] However, since the size of the body, especially the length, width, or thickness of the upper body, is different for each wearer, it is difficult to stably fix the main body of the wearable assistive device to the wearer's body using only a general wearing method, and there are problems such as the wearable assistive device not being able to normally perform its function of assisting the wearer's physical activities due to its unstable fixation state.

[0009] The present invention aims to provide a wearable auxiliary device that can be worn by a wearer on the upper body by mounting a wearable unit that can move up and down relative to a main body, so that the wearable unit can be worn in an accurate position according to the wearer's body size during the wearing process, and can maintain a stable wearing state, and can lock and unlock the position adjustment function of the wearable unit according to the user's operation, thereby maintaining a more convenient and stable wearing state.

[0010] In addition, the present invention aims to provide a wearable assistive device that can lock and unlock the position adjustment function of the wearable unit according to the user's operation, thereby maintaining a more convenient and stable wearing structure in various situations, such as when the wearable assistive device is worn, when the wearer is walking, or when the wearer is sitting.

[0011] In order to solve the above problem, the present invention provides a wearable assistive device comprising: a main body; a pelvic unit mounted on the main body, the pelvic unit surrounding a pelvic region of the wearer and extending to a lateral region of the hip joint of the wearer; a pair of hip joint actuators mounted on both ends of the pelvic unit; a thigh unit coupled to the side of the hip joint actuator and mounted on the outer side of the thigh of the wearer to assist movement of the thigh of the wearer; and a wearing unit mounted on the rear of the upper body of the wearer and movably mounted on the main body to change a connection position with respect to the main body.

[0012] At this time, the wearable unit may include a connecting body detachably connected to the main body; a support body that is connected to the connecting body so as to be movable up and down and to which a wearable band is connected so that the wearer can wear it; and a locking means provided to restrict the up and down movement state of the support body with respect to the connecting body or to release the restricting state to allow the up and down movement of the support body by the user.

[0013] In addition, the connecting body includes a connecting portion detachably connected to the main body, and an upper and lower slider that is arranged longitudinally in the vertical direction and is rotatably connected to the connecting portion, and the support body can be connected to the upper and lower slider so as to be movable up and down.

[0014] In addition, the support body may be formed with an upper and lower guide groove into which the upper and lower sliders are inserted so that the upper and lower sliders guide the upper and lower movement path of the support body.

[0015] In addition, the locking means includes a first gear portion connected to at least one side of the upper and lower sliders; a horizontal spacer member having a second gear portion formed on one side in a direction opposite to the first gear portion and movably coupled to the support body in the left and right width directions so that the second gear portion can be engaged with the first gear portion; and a vertical movement member that is vertically movably coupled to the support body so as to be moved up and down by a user's operation, and the horizontal spacer member is horizontally spaced in conjunction with the vertical movement of the vertical movement member, and the first gear portion and the second gear portion can be engaged or disengaged with each other according to the horizontal movement of the horizontal spacer member.

[0016] Additionally, a pressing protrusion may be formed on at least one side of the vertically movable member to press the horizontally spaced member toward the first toothed portion so that the second toothed portion engages with the first toothed portion when the vertically movable member moves downward.

[0017] In addition, the pressurizing protrusion may be formed with a first inclined surface whose width increases from left to right as it goes upward, and an insertion groove may be formed on the other side of the horizontal spacing member so that the pressurizing protrusion may be inserted and placed, and a second inclined surface may be formed on the inner side of the insertion groove so as to be in contact with the first inclined surface and have a shape corresponding to the first inclined surface.

[0018] Additionally, the horizontal spacing member can be elastically supported in a direction in which the second tooth portion is spaced apart from the first tooth portion.

[0019] In addition, the locking means may further include an operating lever coupled to the vertically movable member so as to be operable by a user and to move up and down integrally with the vertically movable member, and the operating lever may be formed to be positionally fixed to the support body in a state where the second gear portion is moved to engage with the first gear portion.

[0020] According to the present invention, by arranging the wearable unit worn by the wearer on the upper body in a way that it can move up and down on the main body, it can be worn in an accurate position according to the wearer's body size during the wearing process, and a stable wearing state can be maintained, thereby having the effect of normally maintaining the ability to perform the physical activity assistance function.

[0021] In addition, the position adjustment function of the wearing unit can be locked and unlocked according to the user's operation, which has the effect of maintaining a more convenient and stable wearing structure.

[0022] FIG. 1 is a front perspective view schematically illustrating a wearing state of a wearable auxiliary device according to one embodiment of the present invention.

[0023] FIG. 2 is a rear perspective view schematically illustrating the exterior of a wearable auxiliary device according to one embodiment of the present invention.

[0024] FIG. 3 is a front perspective view schematically illustrating the configuration of a main body to which a wearing unit is coupled according to one embodiment of the present invention.

[0025] Figure 4 is a front perspective view schematically illustrating a joint structure of a wearing unit and a main body according to one embodiment of the present invention.

[0026] FIG. 5 is a rear perspective view schematically illustrating a joint structure of a wearing unit and a main body according to one embodiment of the present invention.

[0027] Figure 6 schematically illustrates a position adjustment state of a wearing unit according to one embodiment of the present invention.

[0028] FIG. 7 is a partially exploded perspective view schematically illustrating the internal structure of a wearable unit according to one embodiment of the present invention.

[0029] FIG. 8 and FIG. 9 are operation state diagrams for explaining the position adjustment state and locking state of the wearing unit according to one embodiment of the present invention.

[0030] FIG. 10 is a cross-sectional view illustrating the operating state of the operating lever of the wearing unit according to one embodiment of the present invention.

[0031] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosure is thorough and complete, and to sufficiently convey the spirit of the invention to those skilled in the art. Like reference numbers designate like elements throughout the specification.

[0032] FIG. 1 is a front perspective view schematically illustrating a state of wearing a wearable auxiliary device according to one embodiment of the present invention, and FIG. 2 is a rear perspective view schematically illustrating an external appearance of a wearable auxiliary device according to one embodiment of the present invention.

[0033] In this specification, the wearable assistive device (1000) may be a robot worn on the lower body of a disabled person, an elderly person, or a patient (hereinafter referred to as "the wearer") to assist walking movements. Assisting walking movements here means providing driving force to compensate for muscle strength insufficient in the hip and knee joints, etc., to enable independent walking of a wearer who has some motor function in the lower body.

[0034] The above-described wearable assistive device may be configured to include a main body (500) including a controller for providing a control signal and a battery for providing power; a pelvic unit (400) mounted on the main body, which is mounted to surround a waist region and a pelvic region of a wearer and extends to a side region of a hip joint of the wearer; a pair of hip joint actuators (100a, 100b) mounted on both ends of the pelvic unit (400) extending to the side region of the hip joint of the wearer; and a thigh unit (200a, 200b) coupled to a side of the hip joint actuator, driven by the hip joint actuator, and providing a rotational assisting force to assist movement of the thigh of the wearer.

[0035] In addition, in order to assist the wearer's hip joint as well as the knee joint, the device may further include a pair of knee joint actuators (100c, 100d) mounted on the end of the femoral unit; a lower leg unit (200c, 200d) coupled to the side of the knee joint actuator and driven by the knee joint actuator to provide rotational assist force to the wearer's lower leg; and a pair of foot units (300a, 300b) mounted on the end of the lower leg unit to support the wearer's foot.

[0036] The above main body (500) is mounted on the pelvic unit (400), and a pair of leg units can also be mounted on both ends of the pelvic unit (400).

[0037] Here, the leg unit is provided at the hip joint and knee joint, respectively, to provide auxiliary torque to the thigh and lower leg to assist the wearer's independent walking.

[0038] Accordingly, each leg unit's hip and knee joint corresponding areas may be equipped with a driving device for providing driving torque. Each driving device may be composed of a joint actuator (100) each equipped with a driving motor.

[0039] Each leg unit may be configured to include a pair of hip joint actuators (100a, 100b), a pair of thigh units (200a, 200b) each connected to the pair of hip joint actuators (100a, 100b) to support or assist the thighs of the wearer, a pair of knee joint actuators (100c, 100d) each connected to the lower portions of the pair of thigh units (200a, 200b), a pair of lower leg units (200c, 200d) each connected to the pair of knee joint actuators (100c, 100d) to support or assist the lower leg of the wearer, and a pair of foot units (300a, 300b) each connected to the lower portions of the lower leg units (200c, 200d) to support the feet of the wearer.

[0040] The above joint actuators (100a, 100b, 100c, 100d) can be installed in the hip joint and knee joint areas of the wearer, respectively. The hip joint actuators (100a, 100b) can be installed in the area where the pelvis and the thigh meet, and the knee joint actuators (100c, 100d) can be installed in the knee area at the border between the thigh and the lower leg. The wearable assistive device (1000) illustrated in FIGS. 1 and 2 is an example in which the joint actuators (100) are provided only in the hip joint and knee joint of the wearer, but a separate actuator can also be provided in the ankle joint if necessary.

[0041] In addition, each of the thigh support units (200a, 200b) and the lower leg support units (200c, 200d) may be provided with at least one wearable member (600) for fixing the wearer's thigh and lower leg to the thigh unit (200a, 200b) and the lower leg unit (200c, 200d), and the driving force provided from each joint actuator (100) may ultimately be transmitted to the wearer's thigh or lower leg through the wearable member (600) to assist independent walking.

[0042] A pair of leg units like this are arranged along the side of the wearer, and the aforementioned main body (500) is arranged at the rear of the upper body of the wearer, so that the main body is mounted at the rear through the pelvic unit (400), the pelvic unit (400) is mounted to surround the waist area of ​​the wearer, and both ends of the pelvic unit (400) can be configured to extend to the waist and pelvic side areas of the wearer.

[0043] In the case of the wearable assistive device according to the present invention illustrated in FIGS. 1 and 2, a hip joint actuator and a knee joint actuator are provided, respectively, and when it is assumed that the wearer walks in the X-axis direction in a three-dimensional coordinate space, each joint actuator rotates around the Y-axis that is perpendicular to both the X-axis direction, which is the walking direction, and the Z-axis direction, which is the vertical direction, to provide assistive power. Since the hip joint, in particular, among the joints of the body, has a structure that allows rotation in various axial directions, unlike the knee joint, etc., in the case of the hip joint actuator, a structure that allows rotation around the X-axis or Z-axis is provided, thereby providing a structure that can maximize the wearer's wearing comfort or convenience.

[0044] Meanwhile, the main body (500) is equipped with a pelvic unit (400), an input unit for inputting various movements, a display unit for displaying movement status, etc., and a control unit for transmitting movement control signals to various devices.

[0045] This main body (500) is equipped with a wearing unit (700) for the wearer to wear the entire wearable auxiliary device. The wearing unit (700) can be formed to be wearable by being fixed to the wearer's shoulder and back through a wearing band or the like.

[0046] According to one embodiment of the present invention, a wearing unit (700) can be arranged to be movable up and down on a main body (500) so as to adjust a wearing position according to a wearer's body size, and thus, during the process of wearing the wearable auxiliary device, the wearable auxiliary device can be worn at an accurate position according to the wearer's body size, and a stable wearing state of the wearable auxiliary device can be maintained so that the wearable auxiliary device can accurately perform its physical activity assistance function.

[0047] Below, the detailed configuration of this wearing unit (700) will be examined in detail.

[0048] FIG. 3 is a front perspective view schematically illustrating a configuration of a main body part to which a wearing unit is coupled according to one embodiment of the present invention, FIG. 4 is a front perspective view schematically illustrating a coupling structure of a wearing unit and a main body part according to one embodiment of the present invention, FIG. 5 is a rear perspective view schematically illustrating a coupling structure of a wearing unit and a main body part according to one embodiment of the present invention, and FIG. 6 is a drawing schematically illustrating a position adjustment state of a wearing unit according to one embodiment of the present invention.

[0049] A wearing unit (700) according to one embodiment of the present invention is mounted on the rear of the upper body of the wearer and is positioned to be movable up and down on the main body (500) so that the connection position to the main body can be changed.

[0050] This wearing unit (700) is configured to include a connecting body (710), a support body (720), and a locking means (730).

[0051] The connecting body (710) is configured to be detachably connected to the main body (500), and includes a connecting portion (711) detachably connected to the main body (500), and an upper and lower slider (712) connected to the connecting portion (711) so as to be rotatable about a horizontal rotation axis (HC).

[0052] The upper and lower sliders (712) may be pivotally coupled to the connecting portion (711), but the upper and lower sliders (712) and the connecting portion (711) may be integrally formed or fixed in a non-rotatable manner.

[0053] The slider (712) can be formed in a roughly rectangular shape that is arranged in a vertical direction. A concave groove-shaped connecting portion (501) is formed on the front surface (the surface facing the back) of the main body (500) so that the connecting portion (711) can be inserted and detachably connected. Although not shown, the connecting portion (711) can be inserted and detachably connected to the connecting portion (501) of the main body (500) in a one-touch manner, and this detachable connecting structure can be applied in various ways through various mechanical elements.

[0054] The support body (720) is connected to the connection body (710) so as to be movable up and down, and a wearable band (WB) is connected to it so that the wearer can wear it. The wearable band (WB) is formed in a shape that wraps around the wearer's shoulder area, and the main body (500) and the entire wearable auxiliary device are fixedly supported in a wearing state by the wearer through this wearable band (WB).

[0055] In addition, the upper part of the support body (720) may be configured to have a shape that branches and extends toward the wearer's shoulders, and the lower part of the support body (720) may have a structure that extends in both directions toward the wearer's waist. However, the shape of the support body may be variously changed depending on the type of wearable auxiliary device, etc.

[0056] More specifically, the support body (720) is connected to the upper and lower sliders (712) of the connecting body (710) so as to be able to move up and down. To this end, the support body (720) is formed with an upper and lower guide groove (721) into which the upper and lower sliders (712) are inserted and guided so that the upper and lower movement path of the support body (720) with respect to the upper and lower sliders (712) is guided. Accordingly, in a state where the connecting portion (711) of the connecting body (710) is connected and fixed to the main body (500), the support body (720) connected to the upper and lower sliders (712) can move up and down along the upper and lower guide groove (721).

[0057] The locking means (730) is provided to restrict the up-and-down movement of the support body (720) with respect to the connecting body (710) or to release the restriction state to allow the up-and-down movement of the support body by the user. The locking means (730) is provided with an operation lever (737) that can be operated in an up-and-down movement manner by the user, as illustrated in FIGS. 5 and 6. For example, when the operation lever (737) is moved upward, the up-and-down movement of the support body (720) becomes possible, and when the operation lever (737) is moved downward, the up-and-down movement of the support body (720) becomes restricted.

[0058] According to this structure, when the operating lever (737) is moved upward by the user's operation as shown in (a) of FIG. 6, the support body (720) can be moved up and down. For example, as shown in (b) of FIG. 6, the position can be adjusted by moving the support body (720) downward along the upper and lower guide grooves (721). When the position adjustment of the support body (720) is completed, the operating lever (737) is moved downward by the user's operation as shown in (c) of FIG. 6, and in this state, the up and down movement of the support body (720) is restricted and the position is fixed.

[0059] Accordingly, when the wearer wants to wear the wearable assistive device, the locking means (730) is unlocked to adjust the upper and lower positions of the support body (720) according to the wearer's body size, and when the upper and lower positions of the support body (720) are adjusted, the locking means (730) is operated in a locked state to fix the position of the support body (720), thereby maintaining an accurate and stable wearing state.

[0060] Next, the locking means (730) according to one embodiment of the present invention will be examined in more detail.

[0061] FIG. 7 is a partially exploded perspective view schematically illustrating the internal structure of a wearing unit according to one embodiment of the present invention, FIGS. 8 and 9 are operation state diagrams for explaining a position adjustment state and a locking state of a wearing unit according to one embodiment of the present invention, and FIG. 10 is a cross-sectional view for explaining an operation state of an operation lever of a wearing unit according to one embodiment of the present invention.

[0062] First, the support body (720) can be formed separately by forming a support body main body (722) with one side open to form an accommodation space inside, and a support body cover (723) coupled to the open side of the support body main body (722).

[0063] The locking means (730) is arranged in the internal space of the support body (720) to restrict and release the up-and-down movement of the support body (720), and is configured to include a first gear portion (731) connected to at least one side of the up-and-down slider (712), a second gear portion (733) formed on one side in a direction opposite to the first gear portion (731) so that the second gear portion (733) can be engaged with the first gear portion (731), a horizontal spacing member (732) that is movably coupled to the support body (720) in the left-right width direction, and a vertical movement member (734) that is movably coupled to the support body (720) so that it can be moved up and down by a user's operation. At this time, an operation lever (737) that is formed to be operable by a user and moves up and down integrally with the vertical movement member (734) is coupled to the vertical movement member (734). That is, when the operation lever (737) moves up and down by the user's operation, the up and down moving member (734) combined with the operation lever (737) moves up and down as one unit.

[0064] At this time, the horizontal separation member (732) is configured to move horizontally in the left and right width directions in conjunction with the vertical movement of the vertical movement member (734), and the first gear portion (731) and the second gear portion (733) are configured to engage or disengage with each other according to the horizontal movement of the horizontal separation member (732).

[0065] Looking into more detail, first, the upper and lower sliders (712) of the connecting body (710) are formed with first toothed portions (731) facing each other on both ends in the left and right width direction. The horizontal spacer members (732) are arranged in the internal space of the support body (720), and two are arranged so as to move horizontally in the left and right width direction from the center. The two horizontal spacer members (732) move horizontally in a direction approaching or moving away from each other. The two horizontal spacer members (732) are formed with second toothed portions (733) facing the first toothed portion (731) so as to be able to engage with the first toothed portion (731) on each outer end surface.

[0066] The vertical movement member (734) is arranged in the space between the two horizontal spaced members (732), and a pressing protrusion (735) is formed on both sides to press the two horizontal spaced members (732) away from each other when the vertical movement member (734) moves downward. The pressing protrusion (735) is formed with a first inclined surface (7351) whose left-right width increases as it goes upward, and an insertion groove (736) is formed on the opposing surfaces of the two horizontal spaced members (732) so that the pressing protrusion (735) is inserted and placed, and a second inclined surface (7361) of a shape corresponding to the first inclined surface (7351) is formed on the inner surface of the insertion groove (736) so as to come into contact with the first inclined surface (7351). That is, the second inclined surface (7361) is formed to be inclined in a direction away from the center toward both ends as it goes upward.

[0067] At this time, although not shown, the two horizontal spaced members (732) can be elastically supported by an elastic member (not shown) that applies elastic force in a direction approaching each other. That is, as long as the two horizontal spaced members (732) are not pressed in a direction away from each other by the pressing protrusion (735), the second tooth portion (733) can be elastically supported while being spaced apart from the first tooth portion (731).

[0068] According to this structure, when the operation lever (737) is operated to move upward as illustrated in FIG. 8, the vertical movement member (734) also moves upward. In this state, since the pressure projection (735) does not press the horizontal spacing member (732), the two horizontal spacing members (732) are positioned close to each other by the elastic force of the elastic member, and the second toothed portion (733) maintains a spacing distance (d) from the first toothed portion (731). In this way, since the second toothed portion (733) and the first toothed portion (731) are not engaged with each other, the support body (720) can be moved upward and downward to a required position along the upper and lower guide grooves (721) with respect to the upper and lower sliders (712) of the connecting body (710).

[0069] In contrast, when the operating lever (737) is operated to move downward as illustrated in FIG. 9, the vertical movement member (734) also moves downward. In this process, the pressure protrusion (735) presses the horizontal spacing members (732) in a direction away from each other, so that the two horizontal spacing members (732) move horizontally, and the second gear part (733) engages with the first gear part (731). When the second gear part (733) engages with the first gear part (731) in this way, the vertical movement of the support body (720) with respect to the upper and lower sliders (712) of the connecting body (710) is restricted, so that the support body (720) is fixed in position.

[0070] In the process of the vertical movement member (734) moving downward, the first inclined surface (7351) of the pressure protrusion (735) moves while contacting the second inclined surface (7361) of the insertion groove (736) of the horizontal separation member (732), so that the horizontal movement of the horizontal separation member (732) can be smoothly performed when the vertical movement member (734) moves downward.

[0071] Meanwhile, the vertical movement member (734) moves up and down together with the operating lever (737), and the operating lever (737) is formed to be fixed in position to the support body (720) in a state where the second gear portion (733) moves downward so as to engage with the first gear portion (731). For example, as illustrated in FIG. 10, a hook (7371) may be formed on the operating lever (737), and an engaging protrusion (7221) that can engage with the hook (7371) may be formed on the support body (720), and the hook (7371) may be formed to engage with the engaging protrusion (7221) in a state where the operating lever (737) moves downward.

[0072] Accordingly, as shown in (a) of FIG. 10, when the operating lever (737) moves upward, the engaging hook (7371) and the engaging protrusion (7221) are disengaged, and as shown in (b) of FIG. 10, when the operating lever (737) moves downward, the engaging hook (7371) and the engaging protrusion (7221) are engaged. When the engaging hook (7371) and the engaging protrusion (7221) are engaged in this manner, the upward movement of the operating lever (737) is restricted. Accordingly, in a state where the operating lever (737) moves downward, that is, in a state where the upward and downward movement of the support body (720) is restricted, the movement of the operating lever (737) and the vertical movement member (734) that moves integrally with it is restricted, so that the movement restriction state of the support body (720) is stably maintained.

[0073] In order to smoothly engage the engaging action of the engaging hook (7371) and the engaging projection (7221) when the operating lever (737) moves up and down, the operating lever (737) can be coupled to the up and down moving member (734) so ​​as to be close to or detachable from the up and down moving member (734), and the operating lever (737) can be elastically supported by an elastic spring (SP) in the direction in which it separates from the up and down moving member (734) (in the direction in which the engaging hook (7371) engages the engaging projection (7221).

[0074] While this specification has described preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and variations can be made to the present invention without departing from the spirit and scope of the invention as defined in the claims below. Therefore, any modified implementation that fundamentally includes the elements of the claims should be considered within the technical scope of the present invention.

Claims

1. Main body including a controller and a battery for power supply; A pelvic unit mounted on the main body, wrapping around the pelvic area of ​​the wearer and extending to the side area of ​​the hip joint of the wearer; A pair of hip joint actuators mounted on both ends of the above pelvic unit; A thigh unit coupled to the hip joint actuator side and mounted on the outer side of the wearer's thigh to assist the movement of the wearer's thigh; and A wearable auxiliary device characterized by including a wearing unit mounted on the rear of the wearer's upper body and movably mounted on the main body to change the connection position to the main body.

2. In paragraph 1, The above wearing unit is A connecting body detachably connected to the main body; A support body that is connected to the above connecting body so as to be movable up and down, and to which a wearable band is connected so that the wearer can wear it; and A wearable auxiliary device characterized by including a locking means provided to restrain the up-and-down movement state of the support body with respect to the above-mentioned connecting body or to release the restraining state to allow the up-and-down movement of the support body by the user.

3. In paragraph 2, The above connecting body includes a connecting portion detachably connected to the main body, and an upper and lower slider that is arranged longitudinally in the upper and lower directions and is rotatably connected to the connecting portion. A wearable auxiliary device characterized in that the support body is connected to the upper and lower sliders so as to be able to move up and down.

4. In paragraph 3, A wearable auxiliary device characterized in that the support body has an upper and lower guide groove formed therein into which the upper and lower sliders are inserted so that the upper and lower sliders guide the upper and lower movement path of the support body with respect to the upper and lower sliders.

5. In paragraph 3, The above locking means A first gear connected to at least one side of the upper and lower sliders; A horizontal spacer member having a second tooth portion formed on one side in a direction opposite to the first tooth portion and movably connected to the support body in the left-right width direction so that the second tooth portion can be engaged with the first tooth portion; and A wearable assistive device comprising: a vertically movable member that is vertically movably coupled to the support body so that the support body can be moved vertically by a user's operation; wherein the horizontal spacing member is horizontally spaced in conjunction with the vertical movement of the vertically movable member, and the first gear portion and the second gear portion are mutually engaged or disengaged according to the horizontal movement of the horizontal spacing member.

6. In paragraph 5, A wearable auxiliary device characterized in that a pressing protrusion is formed on at least one side of the vertically movable member to press the horizontally spaced member toward the first toothed portion so that the second toothed portion engages with the first toothed portion when the vertically movable member moves downward.

7. In paragraph 6, The above-mentioned pressurized protrusion is formed with a first inclined surface whose width expands from left to right as it goes upward, A wearable assistive device characterized in that an insertion groove is formed on the other side of the horizontal spacing member so that the pressing protrusion is inserted and positioned, and a second inclined surface having a shape corresponding to the first inclined surface is formed on the inner side of the insertion groove so as to come into contact with the first inclined surface.

8. In paragraph 6, A wearable auxiliary device characterized in that the horizontal spacing member is elastically supported in a direction in which the second tooth portion is spaced apart from the first tooth portion.

9. In paragraph 5, The above locking means A wearable auxiliary device further comprising an operating lever coupled to the vertically movable member so as to be formed operable by a user and to move up and down integrally with the vertically movable member, wherein the operating lever is formed to be fixed in position on the support body in a state where the second gear portion is moved to engage with the first gear portion.

Images