Thigh frame and wearable device comprising same

Abstract

A wearable device, according to one embodiment, comprises: a base body; a waist frame connected to the base body; a driving module connected to the waist frame; a thigh fastening part surrounding a portion of a user's thigh; and a thigh frame provided to be rotatable by receiving power from the driving module, the thigh frame connecting the driving module and the thigh fastening part, wherein the thigh frame may include: a first frame connected to the driving module; a second frame connected to the thigh fastening part; a shaft connected to the first frame and passing through the second frame; and a shaft cover detachably provided on the first frame and covering the shaft.

Description

Thigh frame and wearable device including same

[0001] Embodiments relate to a thigh frame and a wearable device including the same.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who are unable to walk independently due to various diseases or accidents to perform walking exercises for rehabilitation and / or to assist people in exercising. Recently, as the aging society deepens, the number of people who have difficulty walking normally or complain of discomfort when walking due to leg joint problems is increasing, and interest in walking assistance devices is also increasing. Walking assistance devices can be worn on the user's body to assist the necessary muscle strength and / or guide the user's walking so that the user can walk with a normal walking pattern, thereby assisting exercise and / or walking. These walking assistance devices can also perform functions that assist the user with various leg exercises (e.g., power walking, jogging, stair climbing, lunges, stretching).

[0003] The solution to this problem is provided to introduce, in a simplified form, some concepts that are further explained in the detailed description below. It is not intended to identify key or essential features of the claimed composition, nor is it intended to assist in determining the scope of the claimed composition.

[0004] According to one embodiment, a wearable device is to be worn on a user's body and includes: a base body; a waist frame connected to the base body and surrounding a portion of the user's waist; a drive module connected to the waist frame; a thigh fastening portion surrounding a portion of the user's thigh; and a thigh frame that is rotatable by receiving power from the drive module and connects the drive module and the thigh fastening portion, wherein the thigh frame may include: a first frame connected to the drive module; a second frame connected to the thigh fastening portion; a shaft connected to the first frame and passing through the second frame; and a shaft cover detachably provided on the first frame and covering the shaft.

[0005] According to one embodiment, the thigh frame may include: an upper frame; a lower frame; a shaft connected to the upper frame and passing through the lower frame; and a shaft cover detachably provided on the upper frame and covering the shaft.

[0006] According to one embodiment, a wearable device may include: a base body; a waist frame connected to the base body and surrounding a portion of a user's waist; a driving module connected to the waist frame; a thigh fastening portion surrounding a portion of a user's thigh; and a thigh frame that is rotatable by receiving power from the driving module and connects the driving module and the thigh fastening portion, wherein the thigh frame may include: an upper frame connected to the driving module; a lower frame connected to the thigh fastening portion and having a curved shape; a shaft connected to the upper frame and passing through the lower frame; and a shaft cover detachably provided to the upper frame and covering the shaft.

[0007] 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.

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

[0009] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0010] FIG. 3 is a side view illustrating a wearable device worn on a user's body according to one embodiment.

[0011] FIG. 4 is a perspective view illustrating a thigh frame according to one embodiment.

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

[0013] FIG. 6 is an exploded perspective view illustrating a thigh frame according to one embodiment.

[0014] FIG. 7 is a cross-sectional view illustrating a thigh frame according to one embodiment.

[0015] FIG. 8 is a cross-sectional view illustrating a thigh frame according to one embodiment.

[0016] FIG. 9 is a perspective view illustrating a pin cover according to one embodiment.

[0017] FIG. 10 is a side view of a pin cover according to one embodiment.

[0018] FIG. 11 is a side view of a pin cover according to one embodiment.

[0019] Fig. 12 is a cross-sectional view illustrating a thigh frame according to one embodiment.

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

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0025] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0026] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercising, and / or working. The wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In a specific embodiment, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a person who wears the wearable device (100) and walks, exercises, or works.

[0027] A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.) and / or upper body (torso, arms, wrists, etc.)) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0028] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from a driving module (including a motor) of the wearable device (100) to the body of the user (110). The wearable device (100) may enable the user (110) to walk independently or to walk for a long time by assisting the force required for walking of the user (110), thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a user with abnormal walking habits or walking posture.

[0029] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide various exercise experiences to the user (110). The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode refers to a mode that impedes the body movement of the user (110) or provides resistance to the body movement of the user (110) by applying a resistance force generated from a driving module to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs in the resistance mode, thereby further enhancing the exercise effect on the legs of the user (110). The assist mode of the exercise assistance mode refers to a mode in which an assistive force is applied to the body of the user (110) to assist the body movement of the user (110). In the assist mode, an assistive force, which is a force in the same direction as the body movement, is provided to the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) and exercises, the wearable device (100) may provide an assistive force to assist the body movement. In the assistive mode, the wearable device (100) may provide a force in the same direction as the leg movement direction of the user (110), and the user (110) may perform an exercise with less force through the force provided from the wearable device (100). In an exercise program performed using the wearable device (100), the resistance mode and the assistive mode may be operated in combination. For example, the wearable device (100) may provide an assistive force and a resistance force in combination for each exercise section or time section, such as providing an assistive force in some exercise sections and a resistance force in other exercise sections.

[0030] In the exercise assistance mode, various exercise programs can be operated according to the exercise purpose and / or the physical ability of the user (110). The exercise program is exercise content performed by the user (110) using the wearable device (100), and may include, for example, aerobic exercise, strength training, postural balancing exercise, or any combination thereof. The type of exercise program is not limited thereto and may vary. Depending on the exercise program performed by the wearable device (100), the resistance mode and the assistance mode may be appropriately operated in an alternating manner, and a target exercise speed suitable for the physical condition (e.g., heart rate) of the user (110) while performing the exercise may be guided to the user.

[0031] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using a sensor (e.g., an angle sensor, an inertial measurement unit (IMU)) provided in the wearable device (100) while the user (110) walks and / or exercises, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index (e.g., number of steps, total walking distance, stride) or the exercise ability index (e.g., muscle strength, exercise endurance, postural balance) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100).

[0032] In a specific embodiment, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is used as an example, but the scope of the embodiment is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts (e.g., upper arms, lower arms, hands, calves, or feet) other than the waist and thighs. The shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0033] The wearable device (100) may include a support frame for supporting the body of a user (110) when the wearable device (100) is worn on the body of the user (110), a driving module for generating a torque applied to the legs of the user (110), a thigh frame for transmitting the torque generated by the driving module to the legs of the user (110), a sensor circuit including one or more sensors for obtaining sensor data including movement information about the body movement of the user (110) (e.g., leg movement, upper body movement), a control circuit for controlling the operation of the wearable device (100), and a battery for supplying power to each component of the wearable device (100).

[0034] In one embodiment, the wearable device (100) may include an angle sensor and an inertial sensor. The angle sensor may measure a rotation angle of the thigh frame of the wearable device (100) corresponding to the hip joint angle of the user (110). The angle sensor may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensor may be positioned near a motor included in a driving module that is directly or indirectly connected to the thigh frame. The inertial sensor may include an acceleration sensor and / or an angular velocity sensor, and may measure changes in acceleration and / or angular velocity according to the movement of the user (110). The inertial sensor may measure, for example, a movement value of a waist frame (e.g., waist frame (20) of FIG. 3) or a base body (e.g., base body (80) of FIG. 3) of the wearable device (100). The movement value of the waist frame or base body measured by the inertial sensor may correspond to the waist movement value (or upper body movement value) of the user (110).

[0035] In one embodiment, an inertial sensor, a control circuit, peripheral circuits (e.g., an audio output circuit, a communication circuit, a haptic circuit), and a battery may be disposed within a base body of a wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the waist area of ​​a user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of a waist frame of the wearable device (100). The base body may support the lumbar region of the user (110).

[0036] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0037] Referring to FIG. 2, the exercise assistance system (200) may include a wearable device (100), an electronic device (210), another wearable device (220), and a server (230). In the exercise assistance system (200), at least one of the devices other than the wearable device (100) (e.g., the electronic device (210), another wearable device (220), or the server (230)) may be omitted, or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0038] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0039] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement and / or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., aerobic exercise such as power walking and outdoor walking, strength training such as squats, split lunges, dumbbell squats, and lunge and knee ups, stretching, postural balancing exercise, or any combination thereof) and / or an exercise intensity to be applied to the exercise program via the electronic device (210). The wearable device (100) may control a driving module of the wearable device (100) according to the exercise program and / or exercise intensity selected by the user. For example, the wearable device (100) can adjust the strength of the resistance and / or assist force generated by the drive module according to the exercise intensity selected by the user. The wearable device (100) can control the drive module to generate a resistance force corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance force applied to the user can also increase.

[0040] The wearable device (100) can transmit sensor data measured through an angle sensor and / or an inertial sensor and device information (e.g., charging status information, operation mode information, setting information) of the wearable device (100) to an electronic device (210) and / or a server (230), and can receive a control signal for controlling the operation of the wearable device (100) from the electronic device (210) and / or the server (230).

[0041] The electronic device (210) can communicate with the wearable device (100) via wireless communication (e.g., Bluetooth communication) or wired communication, and can remotely control the wearable device (100) or provide the user with status information regarding the status of the wearable device (100) (e.g., booting status, charging status, exercise program operation status, error status). The electronic device (210) can recommend an exercise program using the wearable device (100) to the user and analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and can estimate the user's current exercise status, exercise result, exercise posture, and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the estimated current exercise status, exercise result, exercise posture, and / or physical ability of the user through a graphical user interface (GUI).

[0042] In one embodiment, a user may execute a program (e.g., an application) on an electronic device (210) to control a wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the motor of the drive module, the volume of audio output from the audio output circuit, the brightness of the lighting module (e.g., the lighting module (85) of FIG. 3)) of the wearable device (100) through the program. The program executed on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0043] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210), and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, medical history, or body mass index (BMI). The server (230) may receive exercise history information regarding exercise performed by the user from the electronic device (210), and store and manage the received exercise history information. The server (230) may provide the electronic device (210) with various exercise programs or physical ability measurement programs that may be provided to the user. In one embodiment, the server (230) may be connected to the wearable device (100). The server (230) can receive sensor data measured by the wearable device (100) from the wearable device (100) and transmit control signals and / or exercise program-related data for controlling the operation of the wearable device (100) to the wearable device (100). In one embodiment, the server (230) can be a cloud server.

[0044] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be directly or indirectly connected to another wearable device (220). The user's exercise result information, physical ability information, and / or exercise motion evaluation information determined by the electronic device (210) may be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication). Other wearable devices (220) may be, for example, wireless earphones (222), a smartwatch (or a wearable device in the form of a watch) (224), or smartglasses (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices.

[0045] In one embodiment, the wireless earphones (222) may be wirelessly connected to the electronic device (210) and / or the wearable device (100) to output guide voices, music, and / or sound effects related to an exercise program. The wireless earphones (222) may provide the user with information related to the exercise program (e.g., an introduction to the exercise program, remaining exercise time) or may inquire about the user's selection through the guide voices. The wireless earphones (222) may include a microphone, and the microphone may receive a user's voice input. The voice input received through the microphone may be transmitted to the electronic device (210), and voice recognition may be performed on the voice input in the electronic device (210).

[0046] In one embodiment, the smartwatch (224) may include a biosensor (e.g., a heart rate sensor, an electromyography sensor) that measures a biosignal including heart rate information of the user, and may transmit the biosignal measured through the biosensor to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyography information based on the biosignal received from the smartwatch (224), and may provide the estimated heart rate information and / or electromyography information to the user.

[0047] In one embodiment, the smartwatch (224) may include an inertial sensor for measuring user movement information and / or a position sensor for measuring user location information, and may transmit the user movement information and / or location information to the electronic device (210) and / or the wearable device (100). The smartwatch (224) may include a communication circuit (e.g., a short-range communication circuit) for communicating with another device (e.g., the electronic device (210), the wearable device (100)). In one embodiment, the smartwatch (224) may provide an exercise program related interface through a display. The exercise program related interface may be implemented through a separate application installed on the smartwatch (224). The user may also control the wearable device (100) through the smartwatch (224).

[0048] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise volume achieved, exercise time, and / or biometric information through the display in exercise mode. Additionally, the smart glasses (226) can output a screen to guide the user on an exercise route.

[0049] FIG. 3 illustrates a left side view of a wearable device worn on a user's body according to one embodiment.

[0050] Referring to FIG. 3, a wearable device (100) according to one embodiment may include a base body (80), a waist frame (20), a driving module (91), a thigh frame (1), a thigh fastening part (92), and a waist belt (60). In one embodiment, at least one of these components may be omitted, or one or more other components may be added to the wearable device (100).

[0051] The base body (80) can be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) while the user is wearing the wearable device (100) to prevent the wearable device (100) from falling downward due to gravity or to reduce the possibility of the wearable device (100) falling off. The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's lower back while the user is wearing the wearable device (100). The base body (80) can be directly or indirectly connected to the waist frame (20). Waist frame connection elements (not shown) that can be directly or indirectly connected to the waist frame (20) can be provided at both ends of the base body (80).

[0052] In one embodiment, at least one of a processor, a battery, a power management integrated circuit (PMIC), an electrical energy consumption circuit, a memory, an inertial sensor, a communication circuit, an audio output circuit, or a haptic circuit may be located inside the base body (80). The base body (80) may protect the components located inside.

[0053] In one embodiment, a display (not shown) may be provided on the outer surface of the base body (80). The display may provide a screen for various visual information related to the wearable device (100) (e.g., status information of the wearable device (100)) and a user interface.

[0054] The waist frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The waist frame (20) can extend from both ends of the base body (80). The user's waist can be accommodated on the inside of the waist frame (20). The waist frame (20) can include at least one rigid body beam. Each beam can have a curved shape with a preset curvature so as to surround the user's waist. A waist belt (60) can be directly or indirectly connected to an end of the waist frame (20). A driving module (91) can be directly or indirectly connected to the waist frame (20).

[0055] In one embodiment, the wearable device (100) may include a sensor circuit including one or more sensors. The sensor circuit may include one or more sensors that acquire sensor data including movement information of the user and / or movement information of components of the wearable device (100). For example, the one or more sensors may include, but are not limited to, an inertial sensor for measuring a movement value of the user's upper body or a movement value of the waist frame (20) and / or an angle sensor for measuring a hip joint angle or a thigh frame angle of the user. The angular velocity of the hip joint or the thigh frame of the user may be determined by differentiating the hip joint angle or the thigh frame angle of the user measured by the angle sensor.

[0056] In one embodiment, the one or more sensors may further include at least one of a position sensor, a torque sensor, a pressure sensor, a temperature sensor, a biosignal sensor (e.g., a heart rate sensor, an electrocardiogram sensor), a distance sensor, or a proximity sensor.

[0057] The waist belt (60) can be directly or indirectly connected to the waist frame (20) and can secure the waist frame (20) to the user's waist.

[0058] The driving module (91) can generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the driving module (91) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the driving modules (91) can be provided as a pair. One of the driving modules (91) in the pair can be positioned corresponding to the position of the user's left hip joint, and the other driving module can be positioned corresponding to the position of the user's right hip joint. The driving module (91) can generate a torque to move (or rotate) the thigh frame (1) in the forward or backward direction of the wearable device (100). The forward direction can be a direction corresponding to the user's front direction or a flexion motion of the leg, and the backward direction can be a direction corresponding to the user's back direction or an extension motion of the leg.

[0059] The drive module (91) may include an actuator and a joint member. The actuator may provide power transmitted to the joint member. The actuator may each include a motor that receives power from a battery and generates power (or torque), and a gear assembly for controlling the magnitude of the output torque of the motor. When the motor is powered and driven, the motor may generate a force (assisting force) to assist the user's body movement or a force (resisting force) to hinder the body movement. In one embodiment, the processor may control the strength and direction of the force generated by the motor by controlling the voltage and / or current supplied to the motor.

[0060] In one embodiment, each of the joint members can receive power from an actuator and apply an external force to the user's body based on the received power. In one embodiment, each of the joint members can be positioned at a position corresponding to a joint of the user. One side of the joint member can be directly or indirectly connected to the actuator, and the other side can be directly or indirectly connected to the thigh frame (1). The joint member can be rotated by the power received from the actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the joint member or the thigh frame (1) (corresponding to the joint angle of the user) can be positioned at one side of the joint member.

[0061] In one embodiment, the actuator may be disposed laterally of the joint member. The rotational axis of the actuator and the rotational axis of the joint member may be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed spaced apart from the joint member. In this case, the drive module (91) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0062] In one embodiment, the thigh frame (1) can transmit torque generated by the driving module (91) to the user's body (e.g., leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the movement of the user's leg. One end of the thigh frame (1) can be directly or indirectly connected to a joint member and rotated. The other end of the thigh frame (1) can be directly or indirectly connected to a thigh fastening portion (92), thereby transmitting the torque generated by the driving module (91) to the user's thigh. For example, the thigh frame (1) can push or pull the user's thigh. The thigh frame (1) can extend along the longitudinal direction of the user's thigh and can be bent to wrap at least a portion of the circumference of the user's thigh. The thigh frames (1) can be provided as a pair. One of the pair of thigh frames may be a thigh frame for transmitting torque to the user's right leg, and the other thigh frame may be a thigh frame for transmitting torque to the user's left leg.

[0063] The thigh frame (1) may include a first frame (11) and a second frame (12). While the user performs an abduction or adduction movement of the leg, the second frame (12) may rotate with respect to the first frame (11). For example, the first frame (11) may be arranged to overlap the driving module (91), and the second frame (12) may be arranged not to overlap the driving module.

[0064] The thigh fastening parts (92) are each directly or indirectly connected to the thigh frame (1) and can fasten the wearable device (100) to the user's leg (particularly, the thigh). The thigh fastening parts (92) may be provided as a pair. One thigh fastening part of the pair may be a thigh fastening part for fastening the wearable device (100) to the user's right thigh, and the other thigh fastening part may be a thigh fastening part for fastening the wearable device (100) to the user's left thigh.

[0065] In one embodiment, the thigh fastening member (92) may include a cover, a fastening frame, and a strap. The cover may apply torque generated by the driving module (91) to the user's thigh. The covers may be positioned on one side of the user's thigh, respectively, to push or pull the user's thigh. The covers may be positioned along the circumference of the user's thigh. The covers may extend in both directions from the other end of the thigh frame (1) and may include a curved surface corresponding to the user's thigh. One end of the cover may be directly or indirectly connected to the fastening frame. The other end of the cover may be directly or indirectly connected to the strap.

[0066] The fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being detached from the wearable device (100) or reducing the likelihood of such detachment. The fastening frame may have a fastening structure connecting the cover and the strap.

[0067] The strap may encircle the user's thigh, covering the remaining portion not covered by the cover and fastening frame. The strap may comprise, for example, an elastic material (e.g., a band).

[0068] FIG. 4 is a perspective view illustrating a thigh frame according to one embodiment. FIG. 5 is a perspective view illustrating a thigh frame according to one embodiment. FIG. 6 is an exploded perspective view illustrating a thigh frame according to one embodiment. FIG. 7 is a cross-sectional view illustrating a thigh frame according to one embodiment.

[0069] Referring to FIGS. 4 to 7, a thigh frame (1) according to one embodiment may include a first frame (11) and a second frame (12) that are arranged to be rotatable about a rotation axis (A). While a user performs abduction or adduction movement of the leg, the second frame (12) may rotate with respect to the first frame (11). For example, the first frame (11) may be arranged to overlap a driving module (e.g., the driving module (91) of FIG. 3), and the second frame (12) may be arranged not to overlap the driving module.

[0070] The thigh frame (1) may have a curved shape. The upper portion of the thigh frame (1) may cover the side surface of the upper thigh, and the lower portion of the thigh frame (1) may cover the front surface of the lower thigh. The thigh frame (1) is detachable from each of the drive module and the thigh fastening portion. The thigh frame (1) may include a first frame (11), a second frame (12), a first bushing (13), a shaft (14), a shaft cover (15), and a second bushing (17).

[0071] The first frame (11) may be connected to a driving module. The first frame (11) may cover the side of the upper thigh of the user. The first frame (11) may include a first frame body (111), a first frame cover (112), a first frame head (113), a shaft hole (118), and a cover hole (119). It should be noted that the first frame (11) may also be referred to as an upper frame in this specification.

[0072] The first frame body (111) can be connected to the second frame (12). The first frame body (111) can have a plate shape. The first frame body (111) can have a groove shape for accommodating a portion of the second frame (12). The groove of the first frame body (111) can accommodate a portion of the second frame head (122) described later. At least a portion of the shaft (14) can be positioned on the groove of the first frame body (111).

[0073] The first frame cover (112) may be provided to be detachable from the first frame body (111). The first frame cover (112) may cover the shaft cover (15). The first frame cover (112) may assist in preventing the shaft cover (15) from being unintentionally detached. The first frame cover (112) may be provided in contact with the shaft cover (15). The first frame cover (112) may include a frame base (1121), a frame rib (1122), and a frame groove (1123).

[0074] The frame base (1121) may have a shape corresponding to the shape of the first frame body (111). The frame base (1121) may cover the first frame body (111). The frame base (1121) may cover the second frame head (122). The frame rib (1122) may be formed to protrude from the frame base (1121) and be fixed to the first frame body (111). The frame groove (1123) may be formed to be recessed into the frame rib (1122). The frame groove (1123) may set a movable area of ​​the second frame head (122).

[0075] The first frame head (113) can be formed on the first frame body (111). The first frame head (113) can be formed to protrude from the first frame body (111) and be connected to the driving module.

[0076] A shaft hole (118) may be formed penetrating the first frame body (111). The shaft hole (118) may accommodate a shaft (14). A portion of the side surface of the shaft (14) accommodated in the shaft hole (118) may be covered by the first frame body (111). A central portion of the side surface of the shaft (14) may be covered by the second frame (12). The upper and lower surfaces of the shaft (14) may be covered by a shaft cover (15) and a tip bushing (16), respectively. A portion of the side surface of the shaft (14) located in a gap between the first frame (11) and the second frame (12) may be covered by the first bushing (13). The shaft (14) may not be exposed to the outside.

[0077] A cover hole (119) may be formed through the first frame body (111). The cover hole (119) may accommodate a shaft cover (15). The shaft cover (15) may cover the upper surface of the shaft (14) to prevent the shaft (14) from moving in its longitudinal direction, thereby preventing movement of the shaft (14). The cover hole (119) may be connected to the shaft hole (118).

[0078] The second frame (12) can be rotatably connected to the first frame (11). The second frame (12) can include a second frame body (121), a second frame head (122), a second frame cover (123), a second frame fixing member (124), and a second frame block (125). It should be noted that the second frame (12) may also be referred to as a lower frame in the present specification.

[0079] The second frame body (121) may be provided at a location spaced apart from the first frame (11). The upper portion of the second frame body (121) may cover the side surface of the upper thigh. The lower portion of the second frame body (121) may cover the front surface of the lower thigh.

[0080] The second frame head (122) may be formed to extend from the second frame body (121). A portion of the second frame head (122) may be provided in a state of being inserted into the first frame (11). A portion of the second frame head (122) may overlap the first frame (11).

[0081] The second frame cover (123) can be detachably provided on the second frame body (121). The second frame fixing member (124) can fix the second frame cover (123) and the second frame body (121).

[0082] The second frame block (125) can be formed on the second frame body (121). The second frame block (125) can be formed to protrude from the second frame body (121). The second frame block (125) can be fixed to the thigh fastening portion (92).

[0083] The first bushing (13) may be provided between the first frame (11) and the second frame (12). The first bushing (13) may reduce friction between the first frame (11) and the second frame (12). The first bushing (13) may be provided as a pair. The first bushing (13) may be provided with a portion inserted into the first frame (11). A portion of the first bushing (13) may be provided in a state of being in close contact with one surface of the first frame (11), and the other portion may be provided in a state of being in close contact with the other surface of the first frame (11).

[0084] A shaft (14) is connected to a first frame (11) and can pass through a second frame (12). The second frame (12) can rotate around the shaft (14). The shaft (14) can be supported by a plurality of bushes. The shaft (14) can be inserted along a shaft hole (118). The shaft (14) can move in a first direction (D1).

[0085] The shaft cover (15) can cover the shaft (14) to prevent the shaft (14) from being unintentionally detached. The shaft cover (15) can be inserted along the cover hole (119). The shaft cover (15) can move in the second direction (D2). The second direction (D2) can intersect the first direction (D1). The shaft cover (15) can close the shaft hole (118) when mounted on the first frame (11). According to this structure, the shaft (14) can not be exposed to the outside by the shaft cover (15).

[0086] The second bushing (17) may be provided in a state inserted into the second frame (12). The second bushing (17) may support the shaft (14). The second bushing (17) may assist in preventing the shaft (14) from contacting the second frame (12). The second bushings (17) may be provided in a pair. One of the second bushes (17) of the pair may be provided at one end of the second frame (12), and the other second bushing may be provided at the other end of the second frame (12). The second bushing (17) may be provided in a state in contact with the first bushing (13).

[0087] In one embodiment, the thigh frame (1) can improve the structural stability of the shaft (14) by supporting the shaft (14) with a plurality of bushes without physically fixing the shaft (14). Since a separate structure for fixing the shaft (14) is not required, the wearable device can have a compact shape. In one embodiment, the shaft (14) may not be exposed to the outside. In one embodiment, the shaft (14) is covered by a shaft cover (15), and the shaft cover (15) is fixed by another structure, so that the phenomenon of the shaft (14) being unintentionally detached from the wearable device (100) can be prevented.

[0088] In one embodiment, the wearable device can be easily assembled by simply inserting the shaft cover (15) into the first frame (11) while the shaft (14) is inserted into the first frame (11). In addition, the wearable device can be easily disassembled by pulling the shaft (14) after separating the shaft cover (15) from the first frame (11). For example, the shaft (14) can be separated from the first frame (11) by a separate jig.

[0089] Fig. 8 is a cross-sectional view illustrating a thigh frame according to one embodiment. Fig. 9 is a perspective view illustrating a pin cover according to one embodiment.

[0090] Referring to FIGS. 8 and 9, the user can easily separate the shaft (14) while separating the shaft cover (15) from the upper frame body (111). For example, the user can separate the shaft (14) from the first frame body (111) by pulling the jig (89) after attaching the jig (89) to the shaft (14). For example, the shaft (14) may be provided with a groove for accommodating the jig (89).

[0091] The shaft cover (15) can move along the cover hole (119). The shaft (14) can move along the shaft hole (118). The first bush (13) can be mounted on the first frame body (111). The first bush (13) can include a bush body (131) that is in close contact with a first surface of the first frame body (111), and a bush base (132) that is formed to extend from the bush body (131) and is in close contact with a second surface of the first frame body (111). The bush base (132) can be in contact with the second bush (17).

[0092] The shaft cover (15) may include a cover bush (151), a cover body (152), and a coating layer (153). The cover body (152) may be attached to one surface of the cover bush (151), and the coating layer (153) may be attached to the other surface of the cover bush (151). The cover body (152) and the coating layer (153) may be positioned on opposite sides with respect to the cover bush (151).

[0093] The cover bush (151) may have a lower coefficient of friction than the cover body (152). As the cover bush (151) comes into contact with the shaft (14), dust and / or noise generation may be reduced. The coating layer (153) may have a darker color than the cover body (152). The coating layer (153) may assist in preventing the shaft (14) from being exposed to the outside through the shaft hole (118).

[0094] The shaft cover (15) may have an asymmetrical shape. For example, one side of the shaft cover (15) may be formed to have a first length (L1), and the other side may be formed to have a second length (L2) longer than the first length (L1). With this structure, a user can properly insert the shaft cover (15) into the first frame so that the cover bush (151) faces the shaft (14).

[0095] FIG. 10 is a side view of a pin cover according to one embodiment.

[0096] Referring to Fig. 10, the shaft cover (25) may include a cover bush (251) and a cover body (252). The cover body (252) may be attached to the cover bush (251). The cover bush (251) may have a lower coefficient of friction than the cover body (252). As the cover bush (251) comes into contact with the shaft, dust and / or noise generation may be reduced. By not providing the entire shaft cover (25) with a cover bush (251) but only employing a portion of the cover bush (251) that comes into contact with the shaft (14), costs may be reduced.

[0097] FIG. 11 is a side view of a pin cover according to one embodiment.

[0098] Referring to Fig. 11, the shaft cover (35) can be formed of a bushing having a low coefficient of friction.

[0099] Fig. 12 is a cross-sectional view illustrating a thigh frame according to one embodiment.

[0100] Referring to FIG. 12, the thigh frame (2) may include a first frame (e.g., the first frame (11) of FIG. 5), a second frame (12), a first bush (13), a shaft (14), a second bush (17), and a shaft cover (45). The first frame may include a first frame body (111) and a first frame cover (112). The shaft cover (45) may be formed integrally with the first frame cover (112). According to this structure, the work of mounting the first frame cover (112) to the first frame body (111) and the work of mounting the shaft cover (45) to the first frame can be performed simultaneously.

[0101] FIG. 13 is a cross-sectional view illustrating a thigh frame according to one embodiment.

[0102] Referring to FIG. 13, the thigh frame (3) may include a first frame (e.g., the first frame (11) of FIG. 5), a second frame (12), a first bush (13), a shaft (14), a second bush (17), a shaft cover (55), and a cover fixing member (56). The first frame may include a first frame body (111) and a first frame cover (112). The shaft cover (55) may include a cover body (551) that is provided to be inserted into the first frame, and a cover head (552) that extends from the cover body (551). The cover head (552) may cover the first frame. The cover fixing member (56) may fix the cover head (552) to the first frame.

[0103] According to one embodiment, a wearable device is to be worn on a user's body and includes: a base body; a waist frame connected to the base body and surrounding a portion of the user's waist; a drive module connected to the waist frame; a thigh fastening portion surrounding a portion of the user's thigh; and a thigh frame that is rotatable by receiving power from the drive module and connects the drive module and the thigh fastening portion, wherein the thigh frame may include: a first frame connected to the drive module; a second frame connected to the thigh fastening portion; a shaft connected to the first frame and passing through the second frame; and a shaft cover detachably provided on the first frame and covering the shaft.

[0104] In one embodiment, the first frame may include a first frame body that accommodates the shaft and the shaft cover; and a first frame cover that is detachably provided on the first frame body and covers the shaft cover.

[0105] In one embodiment, the first frame may include a shaft hole formed through the first frame body; and a cover hole formed through the first frame body and communicating with the shaft hole.

[0106] In one embodiment, the shaft can be inserted into the shaft hole in a first direction, and the cover can be inserted into the cover hole in a second direction intersecting the first direction.

[0107] In one embodiment, the shaft cover can close the shaft hole while mounted on the first frame.

[0108] In one embodiment, the shaft cover may be provided such that at least a portion thereof protrudes outside the first frame when mounted on the first frame.

[0109] In one embodiment, the shaft cover may be provided in contact with the shaft cover.

[0110] In one embodiment, the shaft cover may include a cover body; and a cover bushing attached to the cover body and provided in contact with the shaft, the cover bushing having a lower coefficient of friction than the cover body.

[0111] In one embodiment, the shaft cover may further include a coating layer attached to the cover body, positioned opposite the cover bush with respect to the cover body, and having a darker color than the cover body.

[0112] In one embodiment, the first frame cover and the shaft cover may be formed integrally.

[0113] In one embodiment, the shaft cover may include a cover body configured to be inserted into the first frame; and a cover head extending from the cover body and covering the first frame.

[0114] In one embodiment, the first bushing may be provided between the first frame and the second frame.

[0115] In one embodiment, the first bushes are provided in a pair, and the pair of first bushes can be positioned opposite each other with respect to the second frame.

[0116] In one embodiment, the first bushing may include a bush body inserted into the first frame and in close contact with a first surface of the first frame; and a bush base extending from the bush body, in close contact with a second surface of the first frame, and in contact with the second frame.

[0117] In one embodiment, the wearable device may further include a second bushing provided on the inner side of the second frame and supporting the shaft.

[0118] According to one embodiment, the thigh frame may include: an upper frame; a lower frame; a shaft connected to the upper frame and passing through the lower frame; and a shaft cover detachably provided on the upper frame and covering the shaft.

[0119] In one embodiment, the upper frame may include an upper frame body that accommodates the shaft and the shaft cover; and an upper frame cover that is detachably provided on the upper frame body and covers the shaft cover.

[0120] In one embodiment, the upper frame may include a shaft hole formed through the upper frame body; and a cover hole formed through the upper frame body and communicating with the shaft hole.

[0121] In one embodiment, the shaft cover may include a cover body; and a cover bushing attached to the cover body and provided in contact with the shaft, the cover bushing having a lower coefficient of friction than the cover body.

[0122] According to one embodiment, a wearable device may include: a base body; a waist frame connected to the base body and surrounding a portion of a user's waist; a driving module connected to the waist frame; a thigh fastening portion surrounding a portion of a user's thigh; and a thigh frame that is rotatable by receiving power from the driving module and connects the driving module and the thigh fastening portion, wherein the thigh frame may include: an upper frame connected to the driving module; a lower frame connected to the thigh fastening portion and having a curved shape; a shaft connected to the upper frame and passing through the lower frame; and a shaft cover detachably provided to the upper frame and covering the shaft.

[0123] It should be understood that the embodiments of the present disclosure and the terminology used herein are not intended to limit the technical features described in the present disclosure to specific embodiments, but 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).

[0124] The term "module" used in one embodiment of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integral component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0125] According to one embodiment, the method according to the embodiments may be provided as a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smart phones). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily generated in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0126] According to one embodiment, 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 one embodiment, 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 one embodiment, 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.

[0127] While this disclosure has been illustrated and described with reference to specific embodiments, it will be understood that the specific 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 of the embodiments described herein may be used in conjunction with any other embodiments described herein.

Claims

1. In a wearable device worn on a user's body, base body; A waist frame connected to the base body and surrounding a portion of the user's waist; A drive module connected to the above waist frame; a thigh fastening portion surrounding a portion of the user's thigh; and It includes a thigh frame that is configured to be rotatable by receiving power from the above driving module and connects the driving module and the thigh fastening part, The above thigh frame is, A first frame connected to the above driving module; A second frame connected to the thigh joint; a shaft connected to the first frame and passing through the second frame; and A wearable device comprising a shaft cover detachably provided on the first frame and covering the shaft.

2. In paragraph 1, The above first frame is, a first frame body accommodating the shaft and the shaft cover; and A wearable device comprising a first frame cover detachably provided on the first frame body and covering the shaft cover.

3. In paragraph 2, The above first frame is, A shaft hole formed through the first frame body; and A wearable device comprising a cover hole formed through the first frame body and communicating with the shaft hole.

4. In paragraph 3, A wearable device, wherein the shaft is inserted into the shaft hole in a first direction, and the cover is inserted into the cover hole in a second direction intersecting the first direction.

5. In paragraph 3, A wearable device in which the shaft cover closes the shaft hole while being mounted on the first frame.

6. In paragraph 3, A wearable device wherein the shaft cover is provided in a state in which at least a portion thereof protrudes outside the first frame when mounted on the first frame.

7. In paragraph 2, A wearable device wherein the shaft cover is provided in contact with the shaft cover.

8. In paragraph 1, The above shaft cover, cover body; and A wearable device comprising a cover bushing attached to the cover body and in contact with the shaft, the cover bushing having a lower coefficient of friction than the cover body.

9. In paragraph 8, The above shaft cover, A wearable device further comprising a coating layer attached to the cover body, positioned on the opposite side of the cover bush with the cover body as the center, and having a darker color than the cover body.

10. In paragraph 2, A wearable device wherein the first frame cover and the shaft cover are formed integrally.

11. In paragraph 1, The above shaft cover, A cover body provided to be inserted into the first frame; and A wearable device comprising a cover head formed to extend from the cover body and cover the first frame.

12. In paragraph 1, A wearable device comprising a first bushing provided between the first frame and the second frame.

13. In paragraph 12, A wearable device wherein the first bushings are provided in pairs, and the pair of first bushings are positioned opposite to each other with respect to the second frame.

14. In paragraph 13, The above first bushing, A bushing body inserted into the first frame and in close contact with the first surface of the first frame; and A wearable device comprising a bush base formed to extend from the bush body, to be in close contact with the second surface of the first frame, and to be in contact with the second frame.

15. In paragraph 14, A wearable device further comprising a second bushing provided on the inner side of the second frame and supporting the shaft.

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