Actuator and wearable device comprising same

Abstract

According to one embodiment, a wearable device includes an actuator, wherein the actuator includes: a main body; an input shaft connected to be rotatable relative to the main body; a speed reducer connected to the input shaft; an output spindle which is connected to an output end of the speed reducer and which transmits the output of the speed reducer to the outside; and a main bearing provided between the speed reducer and the output spindle, wherein the area of the output spindle is larger than the area of the speed reducer with respect to the direction perpendicular to the longitudinal direction of the input shaft, and the edge portion of the output spindle can cover the main body with respect to the direction parallel to the longitudinal direction of the input shaft.

Description

Actuator and wearable device including the same

[0001] The embodiments relate to actuators and wearable devices.

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

[0003] Wearable devices can output assistive torque to facilitate the user's walking or output resistance torque for the user's muscle strength exercises. These electronic devices can sense information about the user's movements through various sensors.

[0004] According to one embodiment, a wearable device comprises: a base body; a connecting frame connected to the base body; a driving module connected to the connecting frame and including an actuator; a leg frame connected to the actuator and capable of driving by receiving power from the actuator; and a thigh fastening portion connected to the leg frame, wherein the actuator comprises: a main body; an input shaft rotatably connected relative to the main body; a reduction gear connected to the input shaft; an output spindle connecting the output end of the reduction gear and the leg frame and transmitting the output of the reduction gear to the leg frame; and a main bearing provided between the reduction gear and the output spindle, wherein the area of ​​the output spindle may be formed to be larger than the area of ​​the reduction gear based on a direction perpendicular to the longitudinal direction of the input shaft.

[0005] In one embodiment, the edge portion of the output spindle can cover the main body with respect to a direction parallel to the longitudinal direction of the input shaft.

[0006] In one embodiment, the output spindle may include a spindle body that accommodates the input shaft; and a spindle hole formed through the spindle body.

[0007] In one embodiment, with respect to a direction perpendicular to the longitudinal direction of the input shaft, the distance from the input shaft to the spindle hole may be greater than the distance from the input shaft to the edge of the reduction gear.

[0008] In one embodiment, the spindle holes are provided in multiple numbers, and two of the multiple spindle holes may be located on opposite sides of the input shaft.

[0009] In one embodiment, the distance between the two spindle holes may be larger than the diameter of the reduction gear.

[0010] In one embodiment, the output spindle may further include a first groove formed by being recessed in the spindle body and accommodating at least a portion of the reduction gear.

[0011] In one embodiment, the output spindle may further include a second groove formed by being recessed in the spindle body and accommodating the main bearing.

[0012] In one embodiment, the first groove may be located between the input shaft and the second groove.

[0013] In one embodiment, the first groove and the second groove, respectively, may be located between the input shaft and the spindle hole.

[0014] In one embodiment, a connector connected to the reduction gear and supporting the main bearing may be further included.

[0015] In one embodiment, the connector may include: a connector body connected to the reduction gear and supporting one side of the main bearing; a connector head formed protruding from the connector body, inserted into the output spindle, and supporting the other side of the main bearing; and a connector rib formed extending from the connector body and overlapping the output spindle.

[0016] In one embodiment, the reduction gear may include: a first sun gear fixed to the input shaft and rotating together with the input shaft; a plurality of first planetary gears connected to the first sun gear; a first carrier connected to the plurality of first planetary gears; a second sun gear disposed on the first carrier; a plurality of second planetary gears connected to the second sun gear and connected to the output spindle; and a ring gear surrounding the first planetary gear and the second planetary gears and meshing with each of the first planetary gear and the second planetary gear.

[0017] In one embodiment, the diameter of the ring gear may be smaller than the diameter of the output spindle.

[0018] In one embodiment, the output spindle includes a spindle body that accommodates the input shaft; and a spindle hole formed through the spindle body, and the distance from the input shaft to the spindle hole with respect to a direction perpendicular to the longitudinal direction of the input shaft may be greater than the radius of the ring gear.

[0019] An actuator according to one embodiment comprises: a main body; an input shaft rotatably connected relative to the main body; a reduction gear connected to the input shaft; an output spindle connected to the output end of the reduction gear and provided to transmit the output of the reduction gear to the outside; and a main bearing provided between the reduction gear and the output spindle, wherein, with respect to a direction perpendicular to the longitudinal direction of the input shaft, the area of ​​the output spindle is formed to be larger than the area of ​​the reduction gear, and with respect to a direction parallel to the longitudinal direction of the input shaft, the edge portion of the output spindle can cover the main body.

[0020] In one embodiment, the output spindle may include a spindle body that accommodates the input shaft; and a spindle hole formed through the spindle body.

[0021] In one embodiment, with respect to a direction perpendicular to the longitudinal direction of the input shaft, the distance from the input shaft to the spindle hole may be greater than the distance from the input shaft to the edge of the reduction gear.

[0022] In one embodiment, the output spindle may further include a first groove that accommodates at least a portion of the reduction gear; and a second groove that is formed by being recessed in the spindle body and accommodates the main bearing.

[0023] According to one embodiment, the wearable device comprises: a base body; a connecting frame connected to the base body; a driving module connected to the connecting frame and including an actuator; a leg frame connected to the actuator and capable of driving by receiving power from the actuator; and a thigh fastening portion connected to the leg frame, wherein the actuator comprises: a main body; an input shaft rotatably connected relative to the main body; a reduction gear connected to the input shaft; an output spindle connecting the output end of the reduction gear and the leg frame and transmitting the output of the reduction gear to the leg frame; and a main bearing provided between the reduction gear and the output spindle, wherein the output spindle comprises: a spindle body receiving the input shaft; and a plurality of spindle holes formed through the spindle body, and the distance between two spindle holes located opposite each other with respect to the input shaft among the plurality of spindle holes may be greater than the diameter of the reduction gear.

[0024] These and / or other aspects, features, and advantages will become apparent and more easily understood from the following description of exemplary embodiments together with the accompanying drawings.

[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] FIG. 2 is a drawing for illustrating an exercise system including a wearable device and an electronic device according to one embodiment.

[0027] FIG. 3 is a front view showing a wearable device according to one embodiment.

[0028] FIG. 4 is a side view showing a wearable device according to one embodiment.

[0029] FIG. 5 is a perspective view showing an actuator according to one embodiment.

[0030] FIG. 6 is an exploded perspective view showing an actuator according to one embodiment.

[0031] FIG. 7 is a cross-sectional view taken along the cutting line II of FIG. 6 according to one embodiment.

[0032] Figure 8 is a cross-sectional view of Figure 7 with a partial enlargement.

[0033] FIG. 9 is a cross-sectional view taken along the cutting line II-II of FIG. 6 according to one embodiment.

[0034] FIG. 10 is a cross-sectional view that shows a partially enlarged cross-sectional view of FIG. 9.

[0035] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Accordingly, actual implementations are not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or substitutions included in the technical concept described by the embodiments.

[0036] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this specification, terms such as "comprising" or "having" are intended to specify the existence of the described features, numbers, steps, actions, components, parts, or combinations thereof, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0037] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this specification.

[0038] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are given the same reference numeral regardless of the drawing number, and redundant descriptions thereof will be omitted.

[0039] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0040] Referring to FIG. 1, in one embodiment, the wearable device (100) may be a device worn on the body of a user (110) to assist the user (110) in walking, exercising, and / or working. In one embodiment, the wearable device (100) may be used to measure the physical abilities of the user (110) (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking aid', or 'exercise aid'. The user (110) may be a person or an animal, but is not limited thereto. A wearable device (100) is worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) and can apply an external force of assistance force and / or resistance force to the movement of the user's (110) body. Assistance force is a force acting in the same direction as the movement of the user's (110) body and represents a force that assists the movement of the user's (110) body. Resistance force is a force acting in the opposite direction to the movement of the user's (110) body and represents a force that hinders the movement of the user's (110) body. The term 'resistance force' may also be referred to as 'exercise load'.

[0041] In one embodiment, the wearable device (100) may operate in a walking assistance mode that assists 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 assisting force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may enable independent walking of the user (110) or enable walking for a long time by assisting the force required for the 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 pedestrian whose walking habits or walking posture are abnormal.

[0042] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may hinder the movement of the user's (110) body or provide resistance to the movement of the user's (110) body by applying resistance force generated from the drive module (120) to the user's (110) body. If the wearable device (100) is a hip-type wearable device worn on the user's (110) waist (or pelvis) and legs (e.g., thighs), the wearable device (100) may provide an exercise load to the movement of the user's (110) legs while worn on the legs, thereby further enhancing the exercise effect on the user's (110) legs. In one embodiment, the wearable device (100) may apply an assistive force to the user's (110) body to assist the user's (110) exercise. For example, when a person with a disability or an elderly person wants to exercise by wearing a wearable device (100), the wearable device (100) may provide assistive force to assist physical movement during the exercise. In one embodiment, the wearable device (100) may provide assistive force and resistance in combination for exercise segments or time segments, such as providing assistive force in some exercise segments and providing resistance force in other exercise segments.

[0043] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode to measure the physical ability of a user (110). The wearable device (100) may measure the user's movement information using sensors (e.g., angle sensor (125), inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user is walking or exercising, and may evaluate the user's physical ability based on the measured movement information. For example, the user's (110) walking indicators or exercise ability indicators (e.g., muscle strength, endurance, balance, exercise movements) may be measured through the user's movement information measured by the wearable device (100). The physical ability measurement mode may include an exercise movement measurement mode for measuring the user's exercise movements.

[0044] In various embodiments of the present disclosure, a hip-type wearable device (100) as shown in FIG. 1 is described as an example for convenience of explanation, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arm, forearm, hand, calf, foot) other than the waist and legs (particularly the thigh), and the shape and configuration of the wearable device may vary depending on the body part on which it is worn.

[0045] In one embodiment, the wearable device (100) may include a support frame (e.g., leg frame (50, 55) and connecting frame (20) of FIG. 3) for assisting the body movements of the user (110) when the wearable device (100) is worn on the body of the user (110), a sensor module (e.g., sensor module (520) of FIG. 5a) for acquiring sensor data containing movement information regarding the body movements of the user (110) (e.g., leg movements, upper body movements), a driving module (120) (e.g., driving module (35, 45) of FIG. 3) for generating torque applied to the legs of the user (110), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIG. 5a and FIG. 5b).

[0046] In one embodiment, the wearable device (100) may include an angle sensor (125) for measuring the joint angle of the user and an IMU (135) for measuring changes in acceleration and rotational velocity according to the body movement of the user (110). The angle sensor (125) may measure the rotation angle (or angular velocity) of the leg frame of the wearable device (100) corresponding to the hip joint angle value of the user (110). The rotation angle of the leg frame measured by the angle sensor (125) may be measured as the hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder, a resolver, a home sensor, and / or a Hall sensor. In one embodiment, the angle sensor (125) may be located near the left hip joint and near the right hip joint of the user (110), respectively. The IMU (135) may include an acceleration sensor and / or an angular velocity sensor (e.g., a gyroscope) and may measure changes in acceleration and / or angular velocity (or rotational velocity) according to the movement of the user (110). For example, the IMU (135) may measure the upper body movement value of the user (110) corresponding to the movement value of the connection frame (or base body (base body (80) in FIG. 3)) of the wearable device (100). The movement value of the connection frame measured by the IMU (135) may be measured as the upper body movement value of the user (110). In this specification, 'IMU' may also be referred to as an 'inertial sensor'.

[0047] In one embodiment, the control module (130) and the IMU (135) may be placed within the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist area) of the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the connecting frame of the wearable device (100). The base body may be mounted at the lumbar region of the user (110) to provide cushioning to the user's waist and may support the user's waist together with the connecting frame.

[0048] In one embodiment, the wearable device (100) may include a pressure sensor (not shown) for measuring atmospheric pressure or a change in atmospheric pressure.

[0049]

[0050] FIG. 2 is a drawing for explaining an exercise management system including an exercise assistance device and an electronic device according to one embodiment.

[0051] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, at least one of these devices (e.g., another wearable device (220) or the server (230)) may be omitted from the exercise management system (200), or one or more other devices (e.g., a dedicated controller device for the wearable device (100)) may be added.

[0052] In one embodiment, the wearable device (100) can be worn on the user's body in a walking assistance mode to assist the user's movement. For example, the wearable device (100) can be worn on the user's leg to assist the user's walking by generating an assisting force to assist the user's leg movement.

[0053] In one embodiment, the wearable device (100) may generate and apply a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in an exercise assistance mode. In an exercise assistance mode, the user may select an exercise program (e.g., squat, split lunge, dumbbell squat, lunge and knee up, stretching, etc.) and / or an exercise intensity applied to the wearable device (100) using the wearable device (100) through an electronic device (210). The wearable device (100) may control a driving module (e.g., the driving module (120) of FIG. 1) of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including the user's movement information through a sensor module. The wearable device (100) may adjust the strength of the resistance force or assistive force applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the drive module to generate resistance corresponding to the exercise intensity selected by the user.

[0054] In one embodiment, the wearable device (100) may be used to measure the user's physical ability in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movement in the physical ability measurement mode to the electronic device (210). The electronic device (210) may measure the user's physical ability by analyzing the sensor data received from the wearable device (100).

[0055] In one embodiment, the electronic device (210) can communicate with the wearable device (100) and can remotely control the wearable device (100) or provide status information to the user regarding the state of the wearable device (100) (e.g., booting state, charging state, sensing state, error state). The electronic device (210) can receive sensor data acquired by the sensors of the wearable device (100) from the wearable device (100) and can measure the user's physical ability or exercise results based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including user movement information using sensors and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data and evaluate the user's exercise movement based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information regarding the user's exercise motion through a graphical user interface.

[0056] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​of the wearable device (100) through the program (e.g., torque intensity output from a driving module (e.g., driving module (35, 45) of FIG. 3), volume of audio output from a sound output module (e.g., sound output module (550) of FIG. 5a and 5b), brightness of a light unit (e.g., light unit (85) of FIG. 3), etc.). The program executed on the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, a projector device), but is not limited to the aforementioned devices. does not.

[0057] In one embodiment, the electronic device (210) may be connected to a 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 may store and manage the received user profile information. The user profile information may include information on at least one of, for example, name, age, gender, height, weight, or BMI (body mass index). The server (230) may receive exercise history information regarding exercises performed by the user from the electronic device (210) and may store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0058] In one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, a wireless earphone (222), a smartwatch (224), smart glasses (226), or a smart ring (228), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a biosignal including a user's heart rate information and transmit the measured biosignal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may measure the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smartwatch (224) and may provide the measured heart rate information to the user. In one embodiment, the smart ring (228) can measure a biosignal including a user's heart rate information and transmit the measured biosignal to an electronic device (210) and / or a wearable device (100). The electronic device (210) can measure the user's heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) based on the biosignal received from the smart ring (228) and can provide the measured heart rate information to the user.

[0059] In one embodiment, user exercise result information, physical ability information (e.g., gait evaluation information), and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another 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 another 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 via wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0060] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., the light unit (85) of FIG. 3) and may provide auditory feedback through an acoustic output module (e.g., the acoustic output module (550) of FIG. 5a and FIG. 5b). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0061] In one embodiment, the electronic device (210) may present a personalized exercise goal to the user in an exercise assistance mode. The personalized exercise goal may include an exercise volume target value for each type of exercise (e.g., strength training, balance training, aerobic training) that the user intends to perform, determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume target value, the server (230) may transmit information regarding the determined exercise volume target value to the electronic device (210). The electronic device (210) may present the exercise volume target values ​​for the types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program (e.g., squat, split lunge, lunge and knee-up) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen on the display indicating the exercise volume target value for each type of exercise.

[0062] In one embodiment, the electronic device (210) and / or server (230) may include a database storing information on a plurality of exercise programs that can be provided to a user through a wearable device (100). To achieve the user's exercise goals, the electronic device (210) and / or server (230) may recommend an exercise program suitable for the user. The exercise goals may include, for example, at least one of improving muscle strength, improving muscular fitness, improving cardiovascular endurance, improving core stability, improving flexibility, or improving symmetry. The electronic device (210) and / or server (230) may store and manage the exercise programs performed by the user and the results of the exercise programs performed.

[0063] In one embodiment, the electronic device (210) can evaluate the user's walking ability in conjunction with the wearable device (100). For example, the electronic device (210) can measure a gait index, which is an indicator representing the user's walking state, based on sensor data obtained from a sensor module of the wearable device (100) worn by the user. The gait index can serve as a measure to judge the quality of walking performed by the user. The gait index measured by the electronic device (210) may include, for example, at least one of walking speed, step time, step length, stride length, walking distance, gait symmetry index, gait variability index, or walk ratio. The electronic device (210) can calculate the gait index in real time while the user is walking while wearing the wearable device (100).

[0064] In one embodiment, when a user is walking (or exercising) while wearing a wearable device (100), the wearable device (100) may acquire sensor data containing movement information related to the user's walking using sensors and transmit the acquired sensor data to an electronic device (210). The electronic device (210) may measure the user's walking evaluation information based on the sensor data and provide the measured walking evaluation information to the user. The walking evaluation information may include, for example, various walking indicators related to the user's walking (e.g., walking speed, step time, stride length, walking symmetry index, walking variation index, walking ratio) when the user walks while wearing the wearable device (100). The electronic device (210) may provide feedback information to the user to improve the user's walking condition based on the walking evaluation information. For example, if the electronic device (210) determines that the user's measured stride length is smaller than a desired stride length, it may suggest that the user walk with a wider stride length.

[0065] In one embodiment, the wearable device (100) and the electronic device (210) can measure walking indicators, such as walking speed, using the angle sensor (e.g., angle sensor (125)) and IMU (e.g., IMU (135)) of the wearable device (100) without using a GPS (global positioning system) sensor for tracking the user's location, so walking indicators can be measured not only outdoors but also indoors. Additionally, the wearable device (100) and the electronic device (210) can measure walking indicators even when the user walks in a fixed position, such as on a treadmill, and can measure walking indicators by reflecting the individual characteristics of the user. The electronic device (210) can provide evaluation information regarding the user's walking state to the user using the wearable device (100), thereby increasing the user's interest in walking or exercise.

[0066]

[0067] FIG. 3 shows a front schematic view of an exercise assist device according to one embodiment, and FIG. 4 shows a left side view of an exercise assist device according to one embodiment. FIG. 5 is a perspective view showing an actuator according to one embodiment.

[0068] Referring to FIGS. 3 through 5, a wearable device (100) according to one embodiment may include a base body (80), a connecting frame (20), a waist frame (60), a waist belt (15), a driving module (35, 45), a leg frame (50, 55), a thigh fastening part (91, 92), and a control button (18, 19). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components (e.g., a barometric pressure sensor and / or a haptic module) may be added.

[0069] In one embodiment, the base body (80) may be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) may be mounted on the user's lower back to provide cushioning to the user's waist and to support the user's waist. The base body (80) may be placed over the user's buttocks (hip area) so that the wearable device (100) does not fall downward due to gravity while the user is wearing the wearable device (100). The base body (80) may distribute a portion of the weight of the wearable device (100) to the user's waist while the user is wearing the wearable device (100). The base body (80) may be connected to a connecting frame (20). Connecting frame connecting elements (not shown) that can be connected to the connecting frame (20) may be provided at both ends of the base body (80).

[0070] In one embodiment, a lighting unit (85) may be disposed on the outside of a base body (80). The lighting unit (85) may include a light source (e.g., an LED (light emitting diode)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIG. 5a and FIG. 5b). According to an embodiment, the control module may control the lighting unit (85) so that visual feedback corresponding to the state of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0071] In one embodiment, the connecting frame (20) may extend from both ends of the base body (80). A user's body part may be accommodated inside the connecting frame (20). The connecting frame (20) may include at least one rigid body beam. The connecting frame (20) may extend from one end and the other end of the base body (80), respectively. Each beam may have a curved shape having a pre-set curvature to surround the user's body part. A driving module (35, 45) may be connected to the connecting frame (20).

[0072] In one embodiment, a control module, an IMU (not shown) (e.g., the IMU (135) of FIG. 1), a communication module (not shown), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the control module, the IMU, the communication module, and the battery. The control module may generate a control signal to control the operation of the wearable device (100). The control module may include a control circuit comprising a processor and memory for controlling the actuators of the driving modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0073] In one embodiment, the wearable device (100) may include a sensor module (not shown) that acquires sensor data from one or more sensors. The sensor module may acquire sensor data that changes according to the user's movement. In one embodiment, the sensor module may acquire sensor data containing information on the user's movement and / or information on the movement of a component of the wearable device (100). The sensor module may include, for example, an IMU (e.g., IMU (135) of FIG. 1) for measuring the user's upper body movement value or the movement value of the connecting frame (20), and an angle sensor (e.g., angle sensor (125) of FIG. 1) for measuring the user's hip joint angle value or the movement value of the leg frame (50, 55), but is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, a proximity sensor, and a barometric pressure sensor.

[0074] In one embodiment, the waist frame (60) may be connected to the drive module (35, 45). The waist frame (60) may wrap around at least a portion of the user's waist. The waist frame (60) may include a material that is more rigid than the waist belt (15). The waist frame (60) may support the waist belt (15).

[0075] In one embodiment, the waist belt (15) may be positioned in front of the user's waist. For example, the waist belt (15) may include a Velcro structure. One of the two waist belts may have a hook surface, and the other waist belt may have a loop surface.

[0076] In one embodiment, the driving module (35, 45) may generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the driving module (35, 45) may generate an assisting force or a resistance force applied to the user's leg. In one embodiment, the driving module (35, 45) may be located at a position corresponding to the user's hip joint. The driving module may include an actuator and a joint member. The actuator may provide power transmitted to the joint member. The actuator may include a motor that generates power (or torque) by receiving power from a battery. When the motor is powered and driven, it may generate a force (assisting force) to assist the user's body movement or a force (resistance force) to hinder body movement. In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0077] In one embodiment, the joint member receives power from an actuator and can apply external force to the user's body based on the received power. The joint member may be positioned at a location corresponding to the user's joint. One side of the joint member may be connected to the actuator, and the other side may be connected to the leg frame (50, 55). The joint member may be rotated by the power received from the actuator. An encoder, resolver, groove sensor, and / or Hall sensor may be positioned on one side of the joint member to function as an angle sensor for measuring the rotation angle of the joint member (corresponding to the user's joint angle).

[0078] In one embodiment, the actuator may be positioned on the side of the joint member. The rotation axis of the actuator and the rotation axis of the joint member may be positioned so as to be spaced apart from each other. However, this is not limited thereto, and the actuator and the joint member may share a rotation axis. In one embodiment, the actuator may be positioned spaced apart from the joint member. In this case, the driving module (35, 45) 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, cable, string, spring, belt, or 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.

[0079] In one embodiment, the leg frame (50, 55) may be positioned along the user's leg (e.g., thigh) when the wearable device (100) is worn on the user's leg. The leg frame (50, 55) may transmit power (torque) generated, for example, from the drive module (35, 45) to the user's thigh. The power generated from the drive module (35, 45) may act as an external force applied to the user's leg movement. As one end of the leg frame (50, 55) is connected to a joint member and may rotate, and the other end of the leg frame (50, 55) is connected to a thigh fastening member (91, 92), the leg frame (50, 55) may transmit power generated from the drive module (35, 45) to the user's thigh. For example, the leg frame (50, 55) may push or pull the user's thigh. The leg frame (50, 55) may extend along the longitudinal direction of the user's thigh. The leg frame (50, 55) can be folded to wrap around at least a portion of the user's thigh circumference. The upper part of the leg frame (50, 55) can cover the side of the thigh, and the lower part of the leg frame (50, 55) can cover the front of the thigh. The central part of the leg frame (50, 55) can have a twisted shape.

[0080] In one embodiment, the thigh fastening portion (91, 92) is connected to the leg frame (50, 55) and can secure the leg frame (50, 55) to the thigh. In one embodiment, the thigh fastening portion (91) may include a fastening frame (911) and a wearing strap (912).

[0081] In one embodiment, the fastening frame (11) can apply torque generated by the driving module to the user's thigh. The fastening frame (11) is positioned on one side of the user's thigh and can push or pull the user's thigh. The fastening frame (11) may be positioned, for example, on the front of the user's thigh. The fastening frame (11) may be positioned along the circumference of the user's thigh. The fastening frame (11) may extend to both sides centered on the other end of the leg frame and may include a curved surface corresponding to the user's thigh.

[0082] In one embodiment, the wearing strap (12) is connected to the fastening frame (11) and can be placed against the user's thigh. The wearing strap (12) can wrap around the remaining portion that is not covered by the fastening frame (11). The wearing strap (12) may include, for example, an elastic material.

[0083] In one embodiment, control buttons (18, 19) may be formed on driving modules (35, 45). For example, control buttons (18, 19) may be formed on each of a pair of driving modules (35, 45) or on only one of the driving modules (35, 45). Control buttons (18, 19) may be movably connected to the driving modules (35, 45). For example, control buttons (18, 19) may be tilted relative to the driving modules (35, 45) or pressed toward the inside of the driving modules (35, 45) by being pressed by a user. A user can set up an environment necessary for exercise and walking assistance by operating the control buttons (18, 19) while wearing the wearable device (100).

[0084] In one embodiment, the user can select an operating mode of the wearable device (100) by pressing control buttons (18, 19). The operating mode may include, for example, a walking assistance mode, an exercise assistance mode, and a hybrid mode. The walking assistance mode is a mode that provides assistive force to the user's body movements to assist the user's walking. The exercise assistance mode is a mode that provides resistance to the user's body movements to assist the user's exercise. The hybrid mode is a mode that alternately executes the walking assistance mode and the exercise assistance mode for a specific period of time. When the control buttons (18, 19) are pressed, the operating mode may be changed. In one embodiment, different LED colors may be emitted through the wearable device (100) according to each operating mode so that the user can visually confirm the operating mode.

[0085] In one embodiment, the user can adjust the exercise intensity and walking assistance intensity by tilting the control buttons (18, 19). The intensity (or level) can be configured, for example, from level 1, which has the weakest output, to level 5, which has the strongest output. When the control buttons (18, 19) are tilted in one direction, the intensity level increases by one step, and when the control buttons (18, 19) are tilted in the other direction, the intensity level decreases by one step. In walking assistance mode, increasing the intensity increases the assisting force output from the motor, and decreasing the intensity decreases the assisting force. In exercise assistance mode, increasing the intensity increases the resistance force output from the motor, and decreasing the intensity decreases the resistance force. In one embodiment, different notification sounds may be emitted through the wearable device (100) according to each intensity level so that the user can audibly check the intensity.

[0086] In one embodiment, the drive module (35) may accommodate an actuator. At least a portion of the actuator may be accommodated in the drive module (35). A portion of the actuator may be exposed to the outside of the drive module (35) and connected to the leg frame (50). The actuator may transmit power to the leg frame (50). The drive module (35) itself may be an actuator. The actuator may include a main body (11) constituting the exterior of the actuator and an output spindle (13) corresponding to an output terminal.

[0087] In one embodiment, while the wearable device assists the user's walking, a yawing moment can be transmitted from the leg frame (50) to the output spindle (13). In one embodiment, since the size of the output spindle (13) is formed to be relatively large, the magnitude of the torque applied to the reduction gear inside the actuator can be reduced.

[0088]

[0089] FIG. 6 is an exploded perspective view showing an actuator according to one embodiment. FIG. 7 is a cross-sectional view taken along the cutting line II of FIG. 6 according to one embodiment. FIG. 8 is a cross-sectional view taken by partially enlarging the cross-sectional view of FIG. 7.

[0090] FIG. 9 is a cross-sectional view taken along the cutting line II-II of FIG. 6 according to one embodiment. FIG. 10 is a cross-sectional view taken by partially enlarging the cross-sectional view of FIG. 9.

[0091] Referring to FIGS. 6 through 10, the actuator may include a main body (11, see FIG. 5), a reduction gear, an output spindle (13), a main bearing (14), a connector (15), a support member (16), a sub-bearing (18), and an input shaft (19).

[0092] The main body (11) may include a lower body (111), an upper body (112), and a fastening member (119). The lower body (111) and the upper body (112) may be detachably connected to each other. The fastening member (119) may connect the lower body (111) and the upper body (112) to each other. The fastening member (119) may be, for example, a screw. The fastening member (119) may be provided in multiple numbers. The main body (11) may have an internal receiving space. The main body (11) may include a rotor (not shown) and a stator (not shown). The upper body (112) may include an upper body groove (129) formed by a recess on the upper surface. The upper body (112) may receive an O-ring (O). The O-ring (O) can prevent moisture and / or foreign matter from entering between the connector (15) and the main body (11).

[0093] The stator may be provided in a ring shape within the inner space of the main body (11). The rotor may rotate by receiving magnetic force from the stator. The rotor may support the input shaft (19). When the rotor rotates, the input shaft (19) may rotate together with the rotor.

[0094] The reduction gear can be housed inside the main body (11). The reduction gear can increase the strength of the input torque from the input shaft (19). The reduction gear may include a first sun gear (121), a first planetary gear (122), a first carrier (123), a second sun gear (124), a second planetary gear (125), and a ring gear (126).

[0095] The first sun gear (121) is fixed to the input shaft (19) and can rotate together with the input shaft (19). The first sun gear (121) may include a plate-shaped first sun gear base (1211) and a first sun gear head (1212) disposed on the first sun gear base (1211) and having a gear shape.

[0096] The first planetary gear (122) can be connected to the first sun gear (121). The first planetary gear (122) may be provided in multiple numbers. The first planetary gear (122) can rotate and revolve while engaged with the first sun gear (121). The first planetary gear (122) may include a first planetary gear body (1221) having a gear shape and engaged with the first sun gear (121), and a first planetary gear shaft (1222) connected to the first planetary gear body (1221) and fixed to the first carrier (123).

[0097] The first carrier (123) can be connected to the first planetary gear (122). The first carrier (123) can rotate at the same orbital speed as the plurality of first planetary gears (122).

[0098] The second sun gear (124) can be placed on the first carrier (123).

[0099] The second planetary gear (125) may be connected to the second sun gear (124). The second planetary gear (125) may be provided in multiple numbers. The second planetary gear (125) may rotate and revolve while engaged with the second sun gear (124). The second planetary gear (125) may correspond to the output end of the reduction gear. The second planetary gear (125) may include a second planetary gear body (1251) having a gear shape and engaged with the second sun gear (124), and a second planetary gear shaft (1252) connected to the second planetary gear body (1251) and fixed to the output spindle (13). The second planetary gear shaft (1252) may rotate around the input shaft (19).

[0100] The ring gear (126) surrounds the first planetary gear (122) and the second planetary gear (125) and can mesh with each of the first planetary gear (122) and the second planetary gear (125). The ring gear (126) can be connected to the connector (15). The ring gear (126) can be provided on the inside of the connector (15). The diameter of the ring gear (126) may be smaller than the diameter of the output spindle (130).

[0101] The output spindle (13) can be connected to a second planetary gear (125), which is the output end of the reduction gear. The output spindle (13) can rotate at the same speed as the orbital speed of a plurality of second planetary gears (125). The output spindle (13) can be connected to a leg frame (50, see FIG. 3). The output spindle (13) can have a roughly plate shape. The output spindle (13) can transmit the output of the reduction gear to the leg frame. The output spindle (13) can be fixed to a second planetary gear shaft (1252). The output spindle (13) can rotate around an input shaft (19).

[0102] The area of ​​the output spindle (13) can be formed to be larger than the area of ​​the reduction gear based on the direction perpendicular to the longitudinal direction of the input shaft (19). The edge portion of the output spindle (13) can cover the upper body (112) of the main body based on the direction parallel to the longitudinal direction of the input shaft (19). Here, the longitudinal direction of the input shaft (19) is the z-axis direction, and the direction perpendicular to the longitudinal direction of the input shaft (19) means the x-axis direction or the y-axis direction.

[0103] The output spindle (13) may include a spindle body (131), a spindle head (132), and a spindle hole (133). The spindle body (131) may accommodate an input shaft (19). The spindle head (132) may be formed to protrude from the spindle body (131). The spindle head (132) may be provided in the center of the spindle body (131). The spindle head (132) may cover the input shaft (19) so that the input shaft (19) is not exposed to the outside. The spindle hole (133) may be formed through the spindle body (131). Multiple spindle holes (133) may be provided.

[0104] With respect to the direction perpendicular to the longitudinal direction of the input shaft (19), the distance from the input shaft (19) to the spindle hole (133) may be greater than the distance from the input shaft (19) to the edge of the reduction gear.

[0105] It should be noted that although the plurality of spindle holes (133) are depicted as eight, the number is not limited thereto. Two spindle holes (133) may be located opposite each other with respect to the input shaft (19). The distance (D1) between the two spindle holes (133) may be larger than the diameter (D2) of the reduction gear. According to this structure, even if a yawing moment is applied to the output spindle (13), the amount of torque transmitted to the reduction gear may be relatively small. A yawing moment refers to a moment that causes the output spindle (13) to tilt with respect to the x-axis or with respect to the y-axis.

[0106] The output spindle (13) may further include a first groove (134) and a second groove (135) formed by being recessed in the spindle body (131). The first groove (134) may accommodate at least a part of the reduction gear. The first groove (134) may accommodate the shaft of the second planetary gear (125). The second groove (135) may accommodate the main bearing (14). The first groove (134) may be located between the input shaft (19) and the second groove (135). Each of the first groove (134) and the second groove (135) may be located between the input shaft (19) and the spindle hole (133).

[0107] The first groove (134) and the second groove (135) may be separated from each other. The first groove (134) and the second groove (135) may be positioned apart from each other. Each of the first groove (134) and the second groove (135) may be formed by being recessed in the z-axis direction from the lower surface of the spindle body (131).

[0108] A main bearing (14) may be provided between the reduction gear and the output spindle (13). The main bearing (14) may have a ring shape. The main bearing (14) may assist the output spindle (13) to rotate smoothly relative to the connector (15).

[0109] The connector (15) is connected to a reduction gear and can support a main bearing (14). The connector (15) may include a connector body (151), a connector head (152), and a connector rib (153).

[0110] The connector body (151) can support the ring gear (126). The connector body (151) may have a columnar shape. The connector body (151) can accommodate a reduction gear inside. The connector body (151) is connected to the reduction gear and can support one side of the main bearing (14).

[0111] The connector head (152) is formed to protrude from the connector body (151) and can be inserted into the output spindle (13). The connector head (152) can support the other side of the main bearing (14).

[0112] The connector rib (153) is formed to extend outward from the connector body (151) and may overlap the output spindle (13). The connector rib (153) may be fixed to the upper body (112).

[0113] The support member (16) can support the reduction gear. The support member (16) may further include a support base (161) that supports a plurality of first planetary gears (122), ring gears (126), and connectors (15), and a support head (162) that extends from the support base (161) and surrounds the outer surface of the connector (15).

[0114] The sub-bearing (18) may include a first sub-bearing (181) provided between the input shaft (19) and the main body (11), and a second sub-bearing (181) provided between the input shaft (19) and the first sun gear (121).

[0115] The input shaft (19) may include a first shaft part (191) fixed to a rotor (not shown) and rotating together with the rotor, and a second shaft part (192) that rotatably supports a second sun gear (124). The second sun gear (124) may be rotatably arranged around the second shaft part (192).

[0116]

[0117] The various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, and should be understood to include various modifications, equivalents, or substitutions of said 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 said items unless the relevant context clearly indicates otherwise. In the present disclosure, each of phrases such as “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” may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as “first,” “second,” or “first” or “second” may be used simply to distinguish a component from another component and do not limit the components in any other aspect (e.g., importance or order). Where any (e.g., first) component is referred to as “coupled” or “connected” to another (e.g., second) component, with or without the terms “functionally” or “communicationally,” it means that said component may be connected to said other component directly (e.g., wired), wirelessly, or through at least third component(s).

[0118] The term “module” as used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be a component formed integrally, or a minimum unit of said component or a part thereof 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.

[0119] According to various embodiments, each component (e.g., module or program) of the components described above may include a singular or multiple entities, and some of the multiple entities may be separated and placed in other components. According to various embodiments, one or more of the components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Generally or additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the multiple components in the same or similar manner as those performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by the module, program, or other components 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.

[0120] Although the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are for illustrative purposes only and are not limiting. It will be further understood by those skilled in the art that various modifications of form and detail may be made without departing from the true spirit and full scope of the present disclosure, including the appended claims and their equivalents. Additionally, it will be understood that any embodiment(s) described herein may be used in combination with any other embodiment(s) described herein.

Claims

1. Base body; A connecting frame connected to the above base body; A driving module connected to the above-mentioned connecting frame and including an actuator; A leg frame connected to the above actuator and capable of being driven by receiving power from the above actuator; and It includes a thigh fastening part connected to the above leg frame, and The above actuator is, Main body; An input shaft rotatably connected relative to the main body; A reduction gear connected to the above input shaft; An output spindle connecting the output terminal of the reduction gear and the leg frame, and transmitting the output of the reduction gear to the leg frame; and It includes a main bearing provided between the above-mentioned reduction gear and output spindle, and A wearable device in which, based on a direction perpendicular to the longitudinal direction of the input shaft, the area of ​​the output spindle is formed to be larger than the area of ​​the reduction gear.

2. In Paragraph 1, A wearable device in which the rim of the output spindle covers the main body, based on a direction parallel to the longitudinal direction of the input shaft.

3. In Paragraph 1, The above output spindles are, A spindle body that accommodates the above input shaft; and A wearable device comprising a spindle hole formed through the spindle body.

4. In Paragraph 3, A wearable device in which, with respect to a direction perpendicular to the longitudinal direction of the input shaft, the distance from the input shaft to the spindle hole is greater than the distance from the input shaft to the edge of the reduction gear.

5. In Paragraph 3, The above spindle holes are provided in multiple numbers, and A wearable device in which two of the plurality of spindle holes are located on opposite sides of the input shaft.

6. In Paragraph 5, A wearable device in which the distance between the two spindle holes is larger than the diameter of the reduction gear.

7. In Paragraph 3, The above output spindles are, A wearable device further comprising a first groove formed by a recess in the spindle body and accommodating at least a portion of the reduction gear.

8. In Paragraph 7, The above output spindles are, A wearable device further comprising a second groove formed by a recess in the spindle body and accommodating the main bearing.

9. In Paragraph 8, The first groove is a wearable device located between the input shaft and the second groove.

10. In Paragraph 8, A wearable device in which each of the first groove and the second groove is located between the input shaft and the spindle hole.

11. In Paragraph 1, A wearable device further comprising a connector connected to the reduction gear and supporting the main bearing.

12. In Paragraph 11, The above connector is, A connector body connected to the above-mentioned reduction gear and supporting one side of the above-mentioned main bearing; A connector head formed to protrude from the connector body, inserted into the output spindle, and supporting the other side of the main bearing; and A wearable device comprising a connector rib extending from the connector body and overlapping the output spindle.

13. In Paragraph 1, The above reduction gear is, A first sun gear fixed to the input shaft and rotating together with the input shaft; A plurality of first planetary gears connected to the first sun gear; A first carrier connected to the plurality of first planetary gears above; A second sun gear disposed on the first carrier above; A plurality of second planetary gears connected to the second sun gear and connected to the output spindle; and A wearable device comprising a ring gear surrounding the first planetary gear and the second planetary gear, and meshing with each of the first planetary gear and the second planetary gear.

14. In Paragraph 13, A wearable device in which the diameter of the above ring gear is smaller than the diameter of the above output spindle.

15. In Paragraph 13, The above output spindles are, A spindle body that accommodates the above input shaft; and It includes a spindle hole formed through the spindle body, and A wearable device in which, with respect to a direction perpendicular to the longitudinal direction of the input shaft, the distance from the input shaft to the spindle hole is greater than the radius of the ring gear.

Images