Joint device

Abstract

The present joint device comprises: an upper fixing stand and a lower fixing stand mounted on the adjacent body part around the joint, the upper fixing stand and the lower fixing stand being spaced apart from each other; and a joint assembly which has a plurality of joint frames arranged in a line and connects the upper fixing stand and the lower fixing stand, wherein each of the joint frames includes: a connection unit configured to be able to perform rolling movement; and a support unit connected, inside the connection unit, to the connection unit by a connection string member, the support unit being connected to a support unit of an adjacent joint frame by a support string member.

Description

joint device

[0001] The present invention relates to a joint device, and more particularly, to a joint device that can assist in the movement of a user's joints.

[0002] Unlike industrial robots, service robots and rehabilitation robots involve contact with people during their operation, so the impact that may occur to the robot and people due to such contact must be taken into consideration.

[0003] Most existing robotic or mechanical joints are rigidly fixed between rigid bodies (links). When an external impact occurs, the impact is fully transmitted to the joint mechanism and the impactor. Furthermore, while rotational flexibility can sometimes be applied through control, control techniques alone cannot achieve rotational flexibility. Furthermore, existing mechanical joints experience friction-induced wear due to the repulsive force between rigid bodies (links), which hinders their long-term use.

[0004] Additionally, existing powered prosthetic arms are heavy and have limited flexibility, which can cause strain on the shoulders when patients wear them for long periods of time.

[0005] In addition, human joint movement is performed by both rotational and sliding motions, so the center of rotation continuously changes during joint movement. However, existing robot joints are configured to rotate around a single axis, which has the problem of not reflecting this.

[0006] One aspect of the present invention provides a joint device having an improved structure.

[0007] One aspect of the present invention provides a joint device that can be made lightweight.

[0008] One aspect of the present invention provides a joint device that implements a motion similar to human joint motion.

[0009] A joint device according to the idea of ​​the present invention comprises an upper fixation member and a lower fixation member mounted on adjacent body parts centered on a joint, the upper fixation member and the lower fixation member being spaced apart from each other; a joint assembly having a plurality of joint frames arranged in a row and connecting the upper fixation member and the lower fixation member; wherein the joint frame comprises a connection unit configured to enable a rolling motion; a support unit connected to the connection unit by a connection string member inside the connection unit, the support unit being connected to the support unit of an adjacent joint frame by the support string member;

[0010] The above plurality of joint frames can be configured to rotate independently of each other.

[0011] The above plurality of joint frames can be configured to be rotatable in the yaw direction with respect to the arrangement direction.

[0012] The above plurality of frames can be configured to have flexibility in the roll direction and the pitch direction along with the yaw direction.

[0013] The above connecting unit includes a connecting body; a hollow portion formed in the connecting body, which forms a hollow space in which the supporting unit is arranged; and the supporting unit may be configured to be supported by the connecting string member while being arranged in the hollow space and spaced apart from the connecting unit.

[0014] The above connecting unit may include a cloud portion arranged along the periphery of the connecting body, and configured to be cloud-operable with respect to an adjacent connecting unit.

[0015] The above cloud portion may include a cloud projection formed along at least a portion of one side circumference of the connecting body; a cloud groove formed along at least a portion of the other side circumference of the connecting body, the cloud groove having an insertion groove into which the cloud projection of an adjacent connecting unit is inserted, and configured to perform a rolling motion with the cloud projection.

[0016] The above-mentioned cloud protrusion and cloud groove may include a cloud section formed as a curved surface so that a cloud motion occurs between adjacent connecting units; and a normal section formed as a flat surface so that a cloud motion does not occur below a certain torque and is connected to the cloud section.

[0017] The above cloud groove portion may be configured such that the width of the insertion groove is greater than the thickness of the cloud projection, in order to allow rotation in the pitch direction and roll direction other than the rotation in the yaw direction between the joint frames.

[0018] The above support unit includes first and second support units arranged on a pair of adjacent joint frames, and the support string member may include first and second support string members that connect the first and second support units and are arranged in a direction that intersects each other.

[0019] The first and second support units include a support body connected to the connection unit by the connection string member; a pair of support wings respectively arranged on both sides of the support body; and the first and second support string members can be configured to connect the corresponding pair of support wings in the first and second support units, respectively.

[0020] The above pair of support wings may be configured to protrude outward from the connecting unit.

[0021] According to one aspect of the present invention, by improving the structure, the rotation axis of the joint device can be self-aligned.

[0022] According to one aspect of the present invention, by using a tensegrity structure, a lightweight joint device can be realized.

[0023] According to one aspect of the present invention, by minimizing friction between rigid bodies, it is possible to flexibly cope with external impact and improve durability.

[0024] FIG. 1 is a perspective view of a joint device according to one embodiment of the present invention.

[0025] Figure 2 is a front view of a joint device according to one embodiment of the present invention.

[0026] Figure 3 is an exploded perspective view of a joint device according to one embodiment of the present invention.

[0027] FIG. 4 is an enlarged view of a portion of a joint device according to one embodiment of the present invention.

[0028] FIG. 5 is a drawing showing the relationship between a joint device and a string member according to one embodiment of the present invention.

[0029] Figures 6 and 7 are drawings regarding the operation of a joint device according to one embodiment of the present invention.

[0030] FIG. 8 is a drawing regarding the operation of a joint device according to one embodiment of the present invention.

[0031] Figure 9 is a perspective view of a joint device according to another embodiment of the present invention.

[0032] FIG. 10 is a drawing illustrating a joint device according to another embodiment of the present invention.

[0033] Figures 11 and 12 are drawings of the operation of a joint device according to another embodiment of the present invention.

[0034] The embodiments described in this specification and the configurations illustrated in the drawings are merely preferred examples of the disclosed invention, and there may be various modified examples that can replace the embodiments and drawings of this specification at the time of filing of this application.

[0035] Additionally, the same reference numbers or symbols presented in each drawing of this specification represent parts or components that perform substantially the same function.

[0036] In addition, the terminology used in this specification is used to describe embodiments and is not intended to limit and / or restrict the disclosed invention. The singular expression includes plural expressions unless the context clearly indicates otherwise. In this specification, the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] Additionally, terms including ordinal numbers such as “first,” “second,” etc. used herein may be used to describe various components, but the components are not limited by the terms, and the terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. The term “and / or” includes any combination of a plurality of related listed items or any item among a plurality of related listed items.

[0038] Additionally, terms such as "~part", "~device", "~block", "~absence", and "~module" may refer to a unit that processes at least one function or operation. For example, the terms may refer to at least one hardware such as an FPGA (field-programmable gate array) / ASIC (application specific integrated circuit), at least one software stored in a memory, or at least one process processed by a processor.

[0039] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. However, the following drawings attached to this specification illustrate preferred embodiments of the present invention and, together with the contents of the invention described above, serve to further understand the technical concept of the present invention. Therefore, the present invention should not be interpreted as being limited to matters described in such drawings.

[0040] FIG. 1 is a perspective view of a joint device according to one embodiment of the present invention, and FIG. 2 is a front view of a joint device according to one embodiment of the present invention.

[0041] The joint device (1) can be mounted on a user's joint to assist joint movement. The joint device (1) can be used for rehabilitation exercises by assisting the user's joint movement, and can also be used to enhance joint movement to enhance daily life functions and for military purposes. The application fields of the joint device (1) are not limited.

[0042] In this embodiment, for the convenience of explanation, the body part to which the joint device (1) is applied is illustrated and described as the knee (K) of the leg (L), but is not limited thereto. The joint device (1) can be applied to various joints of the body, such as the arm joint, shoulder joint, and ankle joint.

[0043] The joint device (1) may include a joint assembly (20). The joint assembly (20) may include a plurality of joint frames (30). The plurality of joint frames (30) are configured to be connected to each other and may be configured to be independently rotatable. Although the joint is perceived as rotating with a single axis of rotation, in reality, the joint movement is performed by both the rotational movement and the slip movement. In addition, various factors such as the state of the knee (K), the protrusion height of the knee (K), and the thickness of the leg (L) are different for each person. For this reason, even when the leg (L) is rotated at the same angle, the movement of the knee (K) is different for each person, and the rotation center of the leg (L) is different. In the present invention, the joint assembly (20) is configured such that the plurality of joint frames (30) are independently rotatable, so that the joint device (1) does not rotate with a single axis of rotation, but can operate so as to have a bending state (1b) suitable for the user's knee (K). That is, the joint device (1) can self-align the rotation axis of the bending motion depending on the user.

[0044] A plurality of joint frames (30) may be arranged in a row to form a group of joint frames (30), and the joint device (1) may include at least one such frame group. Through this, the joint device (1) may operate in a normal state (1a) and a bending state (1b, see (b) of FIG. 8). The normal state (1a) may mean a case where the joint assembly (20) is erected in one direction, that is, a case where a user wearing the joint device (1) is standing. The bending state (1b) may mean a case where the joint frames (30) of the joint assembly (20) are rotated and bent, that is, a case where a user wearing the joint device (1) bends the knee (K). The bending angle in the bending state (1b) is not limited. The joint device (1) may include a first frame group and a second frame group. The first frame group may be arranged on the outer side of the knee (K), and the second frame group may be arranged on the inner side of the knee (K). In the present embodiment, the frame group is arranged on the outer side of the knee (K) as an example, but is not limited thereto. The specific configuration and connection relationship of the joint frame (30) will be described in detail later.

[0045] The joint device (1) may include a fixing member (10). The fixing member (10) may be configured to support and restrain the joint device (1) to the user's body. The fixing member (10) may be mounted on an adjacent body part centered on the joint. The fixing member (10) may include an upper fixing member (10a) and a lower fixing member (10b). The upper fixing member (10a) may be mounted on an upper portion of the target joint, and the lower fixing member (10b) may be mounted on a lower portion of the target joint. That is, in the present embodiment, the upper fixing member (10a) may be mounted on a leg (L) above the knee (K), and the lower fixing member (10b) may be mounted on a leg (L) below the knee (K). The upper fixing member (10a) and the lower fixing member (10b) may be connected by a plurality of joint frames (30).

[0046] The fixed member (10) may include a restraining member (12) forming a receiving space. The receiving space may accommodate a body part adjacent to a joint. In the present embodiment, the receiving space may accommodate a leg (L). The restraining member (12) may be provided in a band shape and configured to restrain a body part. However, the configuration of the fixed member (10) is not limited thereto, and any configuration that is fixed or supported to the body so that the joint assembly (20) can operate in a normal state (1a) and a bending state (1b) is satisfactory.

[0047] FIG. 3 is an exploded perspective view of a joint device according to an embodiment of the present invention, FIG. 4 is an enlarged view of a portion of a joint device according to an embodiment of the present invention, FIG. 5 is a view showing a relationship with a string member of a joint device according to an embodiment of the present invention, and FIGS. 6 and 7 are views relating to the operation of a joint device according to an embodiment of the present invention. The description will be made with reference to the above drawings.

[0048] The joint assembly (20) may be configured to connect the upper fixing member (10a) and the lower fixing member (10b). The joint assembly (20) may be arranged between the upper fixing member (10a) and the lower fixing member (10b) and configured to be bendable.

[0049] As described above, a plurality of joint frames (30) of the joint assembly (20) can be sequentially arranged in a row. The plurality of joint frames (30) can be configured to be rotatable with respect to each adjacent joint frame (30). Specifically, the plurality of joint frames (30) can be configured to be rotatable in the yaw direction (Yr) between adjacent joint frames (30). That is, the plurality of joint frames (30) can have a degree of freedom for rotation in the yaw direction (Yr) between adjacent joint frames (30). When the angle at which one joint frame (30) can rotate with respect to another joint frame (30) is X degrees, the angle Y at which the plurality (N) of joint frames (30) rotate can rotate by (N-1)*X degrees (N=number of joint frames). That is, the bending state (1b) can be configured to be 0 degrees or more and Y degrees or less. The angle at which the plurality of joint frames (30) can rotate is not limited, and may be applied differently depending on the application type, application field, purpose of use, etc.

[0050] The joint frame (30) may include a string member (40, see FIG. 5). The string member (40) may include a connecting string member (42) and a supporting string member (44). The connecting string member (42) is configured to connect a connecting unit (50) and a supporting unit (60) described below, and the supporting string member (44) may be configured to connect between the supporting units (60).

[0051] The joint frames (30) can form a tensegrity structure by the string members (40). The string members (40) can be configured to achieve a state of force equilibrium of the joint frames (30), and the tensegrity structure can be maintained by the joint frames (30) being supported by each other.

[0052] The string member (40) may be formed of an elastic material and configured to have flexibility in the longitudinal direction. The elasticity of the string member (40) may be adjusted. Through this configuration, the string member (40) may be configured to connect a plurality of joint frames (30) while allowing independent rotation therebetween. Furthermore, through the string member (40), the joint frames (30) may be configured to have flexibility in the yaw direction (Yr), the roll direction (Rr), and the pitch direction (Pr), as shown in FIG. 7. In addition, a joint assembly (20) having flexibility or enhanced flexibility and a joint device (1) having the same may be provided. Through this, the joint device (1) enables not only a motion of folding and extending the leg (L) according to the rotation in the yaw direction (Yr), but also a motion of pronation and supination.

[0053] In addition, since the components are supported through string members (40) instead of being connected and supported as a whole, the overall weight of the joint device (1) can be reduced, and durability can be improved by minimizing direct contact between the components of the joint device (1).

[0054] The joint frame (30) may include a connecting unit (50) and a support unit (60).

[0055] The connecting unit (50) may be configured to perform a rolling motion with the connecting unit (50) of the adjacent joint frame (30). The connecting unit (50) may include a connecting body (52). The connecting body (52) may form the body of the connecting unit (50). The connecting body (52) may include a hollow portion (54) forming a hollow space (54a) therein. A supporting unit (60) described later may be inserted into the hollow space (54a).

[0056] The connecting unit (50) may include a cloud portion (55). The cloud portion (55) may be arranged along the periphery of the connecting body (52). The cloud portion (55) may be configured to enable a cloud movement with respect to an adjacent connecting unit (50). The connecting unit (50) may be configured to be in direct contact with an adjacent connecting unit (50) through the cloud portion (55).

[0057] The cloud portion (55) may include a cloud protrusion (56) and a cloud groove (57).

[0058] The cloud projection (56) may be formed along at least a portion of one side of the periphery of the connecting body (52). The cloud projection (56) may be formed in a direction extending from the connecting body (52). The cloud projection (56) may be configured in a plate shape.

[0059] The cloud groove (57) may be formed along at least a portion of the other side circumference of the connecting body (52). The cloud groove (57) may form an insertion groove (57a) into which a cloud projection (56) of an adjacent connecting unit (50) is inserted. The insertion groove (57a) may be configured to correspond to the outer shape of the cloud projection (56) and may be formed to be long in the direction in which the cloud projection (56) moves.

[0060] The cloud projection (56) may include a first cloud portion (56a). In addition, the cloud groove portion (57) may include a second cloud portion (56b). The first cloud portion (56a) of the cloud projection (56) is located at an outer end of the cloud projection (56) and may be configured to contact the second cloud portion (56b) of the cloud groove portion (57). The second cloud portion (56b) of the cloud groove portion (57) may refer to the most concave inner side of the insertion groove (57a). The first cloud portion (56a) may be in direct contact with the second cloud portion (56b) so that a rolling motion between the connection units (50) may be performed. The first and second cloud portions (56a, 56b) may be formed in the shape of a surface or may be formed in the shape of a line. In this embodiment, since it is formed in the shape of a surface, it can also be defined as the first and second cloud surfaces.

[0061] The first and second cloud sections (55) of the cloud protrusion (56) and the cloud groove (57) may include a cloud section (I1) and a normal section (I2). The cloud section (I1) may be formed as a curved surface so that a rolling motion is performed between adjacent connection units (50). The normal section (I2) is connected to the cloud section (I1) and may be formed as a plane so that a rolling motion is not performed below a certain torque. When the first and second cloud sections (55) are formed in the shape of a line, the cloud section (I1) and the normal section (I2) may be formed as a curved and a straight line, respectively.

[0062] When the joint device (1) is positioned in a normal state (1a), the cloud projection (56) and the cloud groove (57) can be positioned to contact each other in the normal section (I2), and when the joint device (1) is positioned in a bending state (1b), the cloud projections (56) and the cloud grooves (57) of at least two joint frames (30) can be positioned to contact each other in the cloud section (I1).

[0063] The cloud projection (56) and the cloud groove (57) may include a stopper section (IC). One side of the normal section (I2) may be connected to the cloud section (I1), and the other side of the normal section (I2) may be connected to the stopper section (IC). The stopper section (IC) may be formed at a certain angle with respect to the normal section (I2). In the present embodiment, the stopper section (IC) is exemplified as being perpendicular to the normal section (I2), but is not limited thereto. The stopper section (IC) is formed at an angle with respect to the normal section (I2), so that even if torque is applied from the normal section (I2) toward the stopper section (IC), the cloud projection (56) and the cloud groove (57) can be restored to the normal section (I2) below a certain torque at the contact point (CP) formed between the stopper section (IC) and the normal section (I2).

[0064] The thickness of the cloud portion (55) can be configured to be smaller than the width of the cloud groove portion (57). Through this configuration, the cloud portion (55) can rotate in the yaw (Yr) direction between the joint frames (30), which is the direction of cloud movement, as well as in the pitch (Pr) direction and the roll (Rr) direction with respect to the cloud groove portion (57). Specifically, the width formed by the insertion groove (57a) can be configured to be larger than the thickness of the cloud projection (56).

[0065] The support unit (60) can be positioned in the connection unit (50). Specifically, the support unit (60) can be positioned in the hollow space (54a) of the connection unit (50) and can be supported by the connection string member (42) so as to be spaced apart from the connection unit (50).

[0066] The support unit (60) may include a support body (62) and a support wing (64).

[0067] The support body (62) may be positioned inside the connection unit (50) and may be connected to the connection unit (50) by a connection string member (42). The connection string member (42) may be configured such that one end is connected to the inner surface of the connection unit (50) as in FIGS. 5 and 6, and the other end is connected to the support body (62), so that the support body (62) is positioned in a floating state in the hollow space (54a) of the connection unit (50). One end of the connection string member (42) may also be connected to the outer surface of the connection unit (50). A plurality of connection string members (42) may be provided, and each connection string member (42) may be configured to connect the connection body (52) and the support body (62).

[0068] The connecting body (52) of the connecting unit (50) may include a plurality of connecting nodes (52a). One end of the plurality of connecting string members (42) may be connected to each of the plurality of connecting nodes (52a). The plurality of connecting nodes (52a) may be configured to correspond to one end and the other end of the supporting body (62), respectively. The plurality of connecting nodes (52a) may be formed to be spaced apart from each other on the inner surface of the connecting body (52).

[0069] The support body (62) of the support unit (60) may include at least one support node (63). The other ends of the plurality of connecting string members (42) may be respectively connected to at least one support node (63). At least one support node (63) may be provided at each of one end and the other end of the support body (62). One support node (63) may be provided at each of one end and the other end of the support body (62), and a plurality of support nodes (63) may be provided so that at least one connecting string member (42) is connected.

[0070] The area formed by the plurality of connecting nodes (52a) being spaced apart may be configured to be larger than the area formed by at least one support node (63). That is, the plurality of connecting nodes (52a) may be configured such that the distance between them is larger than the distance between the support nodes (63), even if one or more support nodes (63) are formed. Through this configuration, the support unit (60) may be configured so as not to contact the connecting body (52) by the connecting string member (42) inside the connecting body (52) of the connecting unit (50), but may be configured to have a rotational degree of freedom with respect to the connecting body (52).

[0071] The support wing (64) may be configured to extend from the support body (62). The support wing (64) may be configured to be connected to the support body (62) and positioned on the outside of the connecting body (52). That is, when the support unit (60) is connected to the connecting unit (50) by the connecting string member (42), the support wing (64) of the support unit (60) may be configured to protrude outward from the connecting unit (50). The support wings (64) may be provided on one side and the other side of the connecting body (52), respectively, and a pair may be provided for this purpose.

[0072] The support unit (60) may include first and second support units (60a, 60b) arranged on a pair of adjacent joint frames (30). For convenience of explanation, the first and second support units (60a, 60b) may refer to support units (60) arranged adjacent to each other. The support wings (64) of the first and second support units (60a, 60b) may be connected by a support string member (44). Since the support wings (64) are configured to protrude outward from the connection unit (50), the support string member (44) may be configured so as not to interfere with the connection unit (50). In addition, the support wing (64) on one side of the first support unit (60a) can be configured to be connected to the support wing (64) on one side of the second support unit (60b), and the support wing (64) on the other side of the first support unit (60a) can be configured to be connected to the support wing (64) on the other side of the second support unit (60b) by the support string member (44). Through this, the support units (60) can be stably supported with respect to each other.

[0073] The support string member (44) may include first and second support string members (44a, 44b) arranged in a mutually intersecting direction. The first and second support string members (44a, 44b) may be arranged in a mutually intersecting direction, but may be configured to be spaced apart from each other as in FIG. 7. This can prevent wear due to contact between the first and second support string members (44a, 44b).

[0074] The first support unit (60a) may include 1a, 1b nodes (63aa, 63ab). The second support unit (60b) may include 2a, 2b nodes (63ba, 63bb). The first support string member (44a) may connect the 1a node (63aa) and the 2a node (63ba), and the second support string member (44b) may include the 1b node (63ab) and the 2b node (63bb). The 1b node (63ab) and the 2b node (63bb) may be configured to be positioned further outward from the support body (62) than the 1a node (63aa) and the 2a node (63ba) on the support wing (64).

[0075] The connection unit (50) may include a unit cover (58).

[0076] The unit cover (58) can be configured to be coupled to the connecting body (52) but not interfere with the supporting unit (60) on the outside of the supporting unit (60). Through this, the unit cover (58) can prevent the supporting unit (60) from being exposed to the outside, and can protect the connecting portion of the supporting unit (60) and the connecting unit (50) located inside thereof, the connecting portion between the supporting units (60), and the supporting unit (60).

[0077] The connecting unit (50) may include a connecting pulley (53).

[0078] The connecting pulley (53) may be configured to guide the movement of the adjustment wire (74) described later. The connecting pulley (53) may be arranged at the end of the connecting body (52) of the connecting unit (50) and may be configured to be rotatable with respect to the connecting body (52). Through this, the connecting pulley (53) may guide the movement of the adjustment wire (74).

[0079] The joint device (1) may include a control device (70). The control device (70) may be configured to control the rotation angle of the joint assembly (20) through manipulation. The joint device (1) may be operated by the control device (70) or may be operated manually in response to the user's movements.

[0080] The control device (70) may include a driving unit (72) and a control wire (74).

[0081] The driving unit (72) may be configured to adjust the tension of the control wire (74). The driving unit (72) may be configured in a pulley shape as shown in the drawings, and may be electronically controlled using a motor or the like, although not separately illustrated. In addition, a separate grippable handle may be configured on the control pulley (62a) to enable manual control.

[0082] The control wire (74) can be configured to change the tension by the control device (70) as shown in Fig. 6, so that the joint assembly (20) can operate as shown in Figs. 6 and 8. As the control wire (74) is wound by the control device (70), the joint frames (30) of the joint assembly (20) can be induced to rotate in the yaw direction (Yr). Through this, the joint device (1) can operate from the normal state (1a) to the bending state (1b). Since the plurality of joint frames (30) of the joint device (1) are configured to be independently rotatable in the yaw direction (Yr), the joint frames (30) in the bending state (1b) can have different rotation angles. Through this, even when bending at the same angle, the position of the rotation axis of the joint device (1) can be changed, and self-alignment of the rotation axis becomes possible.

[0083] One end of the control wire (74) can be bound to the driving unit (72) as shown in FIGS. 1 and 2. In addition, the control wire (74) can be configured to pass through the joint assemblies (20) and have its other end bound to the joint frame (30) that is positioned furthest from the driving unit (72). However, the arrangement and fixing form of the control wire (74) are not limited, and any configuration that allows the joint assembly (20) to rotate through the tension of the control wire (74) is satisfactory.

[0084] The following describes the operation of the joint device according to the above configuration.

[0085] FIG. 8 is a drawing regarding the operation of a joint device according to one embodiment of the present invention.

[0086] When the joint device (1) is in a normal state (1a) where the joint assembly (20) is not bent, the user can maintain the knee (K) in a straightened state.

[0087] Thereafter, when the control wire (74) is pulled by the operation of the driving unit (72), the plurality of frames of the joint assembly (20) can be rotated in the W1 direction among the yaw directions (Yr). Through such operation, the joint device (1) can be operated in a bending state (1b).

[0088] Afterwards, when the operation of the driving unit (72) is released or the control wire (74) is operated to be released, the plurality of frames of the joint assembly (20) can rotate in the W2 direction among the yaw directions (Yr) and return to the original position.

[0089] The following describes a joint device according to another embodiment of the present invention. In the description, duplicate descriptions of identical components are omitted.

[0090] FIG. 9 is a perspective view of a joint device according to another embodiment of the present invention, FIG. 10 is a drawing illustrating a joint device according to another embodiment of the present invention, and FIGS. 11 and 12 are drawings regarding the operation of a joint device according to another embodiment of the present invention.

[0091] In the previous embodiment, the body part to which the joint device (1) is applied is illustrated and described as the knee (K) of the leg (L), but in the present embodiment, the joint device (100) can be applied to the ankle joint.

[0092] The joint device (100) may include joint assemblies (120, 220). The joint assemblies (120, 220) may include a first joint assembly (120) for rotation in a first direction and a second joint assembly (220) for rotation in a second direction. The first direction may be a direction for a motion of bending (Flexion) or extending (Extension) the ankle, and the second direction may be a direction for pronation or supination of the ankle in the left and right directions. That is, the first direction may be a yaw (Yr) direction, and the second direction may be a pitch (Pr) direction.

[0093] The first joint frame (130) of the first joint assembly (120) may be located on the outer side of the ankle. Additionally, the second joint frame (230) of the second joint assembly (220) may be located on the front side of the ankle. That is, the second joint assembly (20) may be located on the upper part of the foot, adjacent to the ankle.

[0094] Since the first joint frame (130) of the first joint assembly (120) is rotatable in the yaw direction, an ankle bending (flexion) or extending (extension) motion can be performed by the first joint frame (130) of the first joint assembly (120).

[0095] In addition, since the second joint frame (230) of the second joint assembly (220) is rotatable in the pitch direction, pronation and supination of the ankle can be performed in the left and right directions by the second joint frame (230) of the second joint assembly (220).

[0096] The first and second joint assemblies (120, 220) may each include first and second control devices (170, 270) for operating the first and second joint frames (130, 230). The first and second control devices (170, 270) may be configured to control the rotation angle of the joint assemblies (120, 220) through manipulation. The control devices (170, 270) may each include a driving unit (172, 272) and a control wire (174, 274).

[0097] The above illustrates and describes specific embodiments. However, the invention is not limited to the above-described embodiments, and those skilled in the art will readily appreciate that various modifications and implementations can be made without departing from the spirit and scope of the invention as set forth in the claims below.

[0098] 1: Joint device 20: Joint assembly

[0099] 30: Joint frame 40: String member

[0100] 42: Connecting string member 44: Supporting string member

[0101] 50: connecting unit 52: connecting body

[0102] 55: Cloud 60: Support unit

[0103] 62: Support body 64: Support wing

[0104] 70: Control device 72: Drive unit

[0105] 74: Control wire

Claims

1. Upper and lower fixation brackets mounted on adjacent body parts centered on the joints, with the upper and lower fixation brackets spaced apart from each other; A joint assembly having a plurality of joint frames arranged in a row and connecting the upper fixing member and the lower fixing member; The above joint frame, A connection unit configured to enable cloud operation; A joint device comprising a support unit connected to the connection unit by a connection string member on the inside of the connection unit, and a support unit connected to the support unit of an adjacent joint frame by a support string member; 2. In paragraph 1, The above multiple joint frames are, A joint device configured to rotate independently of one another.

3. In paragraph 1, The above multiple joint frames are, A joint device configured to be rotatable in the yaw direction with respect to the array direction.

4. In paragraph 3, The above multiple frames are, A joint device configured to have flexibility in the roll direction and the pitch direction along with the above yaw direction.

5. In paragraph 1, The above connecting unit is, connecting body; A hollow portion formed in the above connecting body, which forms a hollow space in which the support unit is placed; The above support unit is, A joint device configured to be supported by the connecting string member while being placed in the above hollow space and spaced apart from the connecting unit.

6. In paragraph 5, The above connecting unit is, A joint device including a cloud portion arranged along the circumference of the above-mentioned connecting body, the cloud portion being configured to be capable of cloud movement with respect to an adjacent connecting unit.

7. In paragraph 6, The above cloud part, A cloud projection formed along at least a portion of one side of the connecting body; A joint device comprising a cloud groove formed along at least a portion of the other side circumference of the connecting body, the cloud groove having an insertion groove into which the cloud projection of an adjacent connecting unit is inserted, and configured to perform a cloud movement with the cloud projection.

8. In paragraph 7, The above cloud protrusions and cloud grooves are, A cloud section formed into a curved surface so that cloud movement occurs between adjacent connecting units; A joint device including a stopper section connected to the above cloud section and formed in a plane so that cloud movement is not performed below a certain torque.

9. In paragraph 7, The above cloud home part is, A joint device configured such that the width of the insertion groove is greater than the thickness of the cloud projection, for rotation in the pitch direction and roll direction other than the rotation in the yaw direction between the above joint frames.

10. In paragraph 1, The above support unit is, comprising first and second support units arranged on adjacent pairs of joint frames; The above support string member is, A joint device comprising first and second support string members connecting the first and second support units, wherein the first and second support string members are arranged in a direction intersecting each other.

11. In paragraph 10, The above first and second support units, A support body connected by the above connecting unit and the above connecting string member; A pair of support wings each arranged on both sides of the support body; The above first and second support string members, A joint device configured to connect the corresponding pair of support wings in the first and second support units.

12. In paragraph 11, The above pair of support wings, A joint device configured to protrude outward from the above connecting unit.

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