Patent Publication Number: US-2023146202-A1

Title: Wearing module and motion assistance device comprising same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of International Application PCT/KR2021/001344 designating the United States, filed on Feb. 2, 2021, in the Korean Intellectual Property Receiving Office and claiming priority to Korean Patent Application No. 10-2020-0080154, filed on Jun. 30, 2020, and Korean Patent Application No. 10-2020-0158956, filed on Nov. 24, 2020, in the Korean Intellectual Property Office, the disclosures of which are all hereby incorporated by reference herein in their entireties. 
    
    
     BACKGROUND 
     1. Field 
     Certain example embodiments relate to a wearable module and/or a motion assistance device including the wearable module. 
     2. Description of Related Art 
     A motion assistance device may be a mechanism or a device that helps a user (e.g., a patient, who cannot walk on his/her own due to various diseases, accidents, and the like) perform activity such as exercise for rehabilitation treatment or any other reason. With the recent intensifying aging societies, a growing number of people experience inconvenience in exercising or have difficulty in normal exercising due to malfunctioning joint issues, and there is increasing interest in motion assistance devices. A motion assistance device may be worn on a body of a user to assist the user to exercise by providing a necessary muscular strength and induce the user to walk so that the user may exercise normally. 
     In general, users wearing a motion assistance device may be, for example and without limitation, people with physical disabilities. For these people, a process of wearing a motion assistance device itself may be difficult. There is a demand for a technology of allowing a user with physical disabilities to wear a motion assistance device alone, without the help of other people. Users without disabilities may also be users of such exercise assistance devices. 
     SUMMARY 
     According to an example embodiment, a wearable module may include: a cover including a cover body and a cover hole formed through the cover body; a support part including a support body formed of a material that is more flexible than a material of the cover, a support head that is connected to the support body and detachable from the cover body, and an attachment part that is connected to the support body, that is positioned on an opposite side of the support head with respect to the support body and that passes through the cover hole to be attached to an outer surface of the support body; and an elastic layer that is partially fixed to the support part and that is movable relative to the cover. 
     A portion of the elastic layer may be fixed, directly or indirectly, to an inner surface of the support body, and another portion of the elastic layer may be slidable along an inner surface of the cover body. 
     The wearable module may include a main guide connected to the cover and configured to guide sliding of the elastic layer. 
     The elastic layer may move toward the support head while the attachment part is moving toward the support head by passing through the cover, based on a state in which the support head is mounted on the cover. 
     The wearable module may include a cushion part connected to the main guide and positioned on an opposite side of the support body with respect to the main guide. 
     When a distance between the support head and the cover increases, a potential energy of the elastic layer may increase. 
     The elastic layer may have a minimum potential energy in a state in which the support head is mounted on the cover. 
     The support head may be formed of a material more rigid than that of the support body. 
     The wearable module may include an auxiliary guide connected to the support part and configured to guide a movement of the elastic layer. 
     The wearable module may include a belt having one end fixed to the cover and another end fixed to the support part or the auxiliary guide. 
     The wearable module may include a belt guide connected to the support part and configured to support the belt. 
     The support part may be detachable from the cover by a magnetic force. 
     According to an example embodiment, a wearable motion assistance device may include: a main frame; an actuator disposed on the main frame; a driving frame rotatable by receiving power from the actuator; a cover connected to the driving frame; a support part including a support body formed of a material that is more flexible than a material of the cover, a support head that is connected to the support body and detachable from the cover, and an attachment part that is formed in an end portion of the support body and attached to the support body by passing through the cover; and an elastic layer that is partially fixed to the support part and that is movable relative to the cover. 
     A portion of the elastic layer may be fixed, directly or indirectly, to an inner surface of the support body, and another portion of the elastic layer may be slidable along an inner surface of the cover. 
     The motion assistance device may further include a main guide connected, directly or indirectly, to the cover and configured to guide sliding of the elastic layer. 
     When a distance between the support head and the cover increases, a potential energy of the elastic layer may increase. 
     The main frame may be configured to support a waist of a user, and the cover and the support part may be configured to wrap around a thigh of the user. 
    
    
     
       BRIEF DESCRIPTION OF DRAWINGS 
       The above and other aspects, features, and advantages of certain embodiments of the present disclosure will be more apparent from the following detailed description, taken in conjunction with the accompanying drawings, in which: 
         FIG.  1    is a front view of a motion assistance device according to an example embodiment. 
         FIG.  2    is a side view of a motion assistance device according to an example embodiment. 
         FIG.  3    is a plan view schematically illustrating an example of a wearable module of a wearable motion assistance device according to an example embodiment. 
         FIG.  4    is a plan view illustrating an example in which a size of a wearable module is adjusted according to an example embodiment. 
         FIG.  5    is a cross-sectional view of the wearable module, taken along line V-V of  FIG.  3   . 
         FIG.  6    is a side view schematically illustrating an example in which a user wearing a motion assistance device moves forward according to an example embodiment. 
         FIG.  7    is a plan view schematically illustrating a state of a wearable module in the example of  FIG.  6   . 
         FIGS.  8  and  9    are plan views schematically illustrating another example of a wearable module according to an example embodiment. 
         FIG.  10    is a plan view schematically illustrating another example of a wearable module of a motion assistance device according to an example embodiment. 
         FIG.  11    is a view illustrating an example in which a wearable module of a motion assistance device is worn on an upper arm of a user, according to an example embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The following detailed structural or functional description is provided as an example only and various alterations and modifications may be made to example embodiments. Accordingly, the example embodiments are not construed as limited to the disclosure and should be understood to include all changes, equivalents, and replacements within the idea and the technical scope of the disclosure. 
     Terms, such as first, second, and the like, may be used herein to describe various components. Each of these terminologies is not used to define an essence, order or sequence of a corresponding component but used merely to distinguish the corresponding component from other component(s). For example, a “first” component may be referred to as a “second” component, and similarly, the “second” component may be referred to as the “first” component. 
     It should be noted that if it is described that one component is “connected”, “coupled”, or “joined” to another component, a third component may be “connected”, “coupled”, and “joined” between the first and second components, although the first component may be directly connected, coupled, or joined to the second component. 
     The singular forms “a”, “an”, and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises/comprising” and/or “includes/including” when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and/or populations thereof. 
     The same name may be used to describe an element included in the example embodiments described above and an element having a common function. Unless otherwise mentioned, the descriptions on the example embodiments may be applicable to the following example embodiments and thus, duplicated descriptions will be omitted for conciseness. 
     Unless otherwise defined, all terms, including technical and scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms, such as those defined in commonly used dictionaries, are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art, and are not to be interpreted in an idealized or overly formal sense unless expressly so defined herein. 
     Hereinafter, the example embodiments will be described in detail with reference to the accompanying drawings. When describing the example embodiments with reference to the accompanying drawings, like reference numerals refer to like elements and any repeated description related thereto will be omitted. 
       FIG.  1    is a front view of a motion assistance device according to an example embodiment, and  FIG.  2    is a side view of the motion assistance device according to an example embodiment. 
     Referring to  FIGS.  1 , and  2   , a motion assistance device  1  may be worn by a user and assist a motion of the user (e.g., to help a user walk, and/or to assist a user with exercise and/or rehabilitation). The user may be, for example, a human, an animal, or a robot, but is not limited thereto. In addition, although  FIG.  1    illustrates an example in which the motion assistance device  1  assists a motion of a thigh of the user, the motion assistance device  1  may assist a motion of another part of an upper body, for example, a hand, an upper arm, and a lower arm of the user, or a motion of another part of a lower body, for example, a foot, and a calf of the user. In other words, the motion assistance device  1  may assist a motion of a portion of the user. Hereinafter, an example in which the motion assistance device  1  assists the motion of the thigh of the user will be described. 
     The motion assistance device  1  may include a main body  80 , a pair of main frames  20 , a pair of straps  60 , an auxiliary strap  70  connected to one of the pair of straps  60 , an actuator  30 , a joint member  40 , a driving frame  50 , a cover  11 , and a support part  12 . Strap(s)  60  may be wearable around at least part of the waist of a user, each driving frame may be provided proximate a respective thigh of the user, each main frame  20  may be configured to be worn proximate a respective hip of the user, and each support part  12  may be attached to a respective thigh of the user. 
     The motion assistance device  1  may individually support a proximal part and a distal part of the user, to assist in a relative movement between the proximal part and the distal part. Components of the motion assistance device  1  to be worn on the proximal part of the user may be referred to as “proximal wearing units,” and components worn on the distal part may be referred to as “wearable modules or wearing modules” (or distal wearing units). For example, the main body  80 , the pair of main frames  20 , the pair of straps  60 , and the auxiliary strap  70  among the components of the motion assistance device  1  may correspond to a proximal wearing unit(s), and the cover  11  and the support part  12  may correspond to a wearable module. For example, the proximal wearing unit may be worn on a waist or pelvis of the user, and the wearable module may be worn on a thigh or calf of the user. It should be noted that positions in which the proximal wearing unit and the wearable module are worn are not limited thereto. For example, the proximal wearing unit may be worn on a torso or shoulder of the user, and the wearable module may be worn on an upper arm or lower arm of the user. 
     The main body  80  may accommodate a controller (not shown) configured to control the actuator  30 , and a power supply (not shown) configured to supply power to the actuator  30 . For example, the main body  80  may be disposed on a back side of the user, based on a state in which the motion assistance device  1  is worn on a body of the user. 
     The pair of main frames  20  may be connected to the main body  80 . The main frames  20  may each support a portion of the body of the user. The main frame  20  may contact at least a portion of an external surface of the user. Each main frame  20  may have a shape to wrap around the exterior of the user along the exterior of the user. Each main frame  20  may be formed to be curved in a shape corresponding to a contact portion of the user. In other words, Each main frame  20  may include a curved surface in contact with the user. For example, each main frame  20  may support the waist of the user and/or may be configured to be worn proximate a respective hip of the user. 
     The pair of straps  60  may be connected to the pair of main frames  20 . The pair of straps  60  may be maintained in a state of extending forward (in a +x direction), before the user wears the motion assistance device  1 , and may not hinder the user from wearing the pair of main frames  20 . In a state in which the user wears the pair of main frames  20 , the pair of straps  60  may be transformed and wrap around a front portion of the user as shown in the drawing. The main body  80 , the pair of main frames  20 , and the pair of straps  60  may entirely wrap around the circumference of the waist of the user. 
     The pair of auxiliary straps  70  may fix the pair of straps  60  to each other in a state in which the straps  60  overlap each other. For example, one of the pair of straps  60  may wrap the other strap together with the pair of auxiliary straps  70 . 
     The actuator  30  may provide power to be transmitted to the joint member  40 . The actuator  30  may include a motor configured to generate power by receiving voltage or current from a power supply. For example, the actuator  30  may be disposed in a lateral direction of the joint member  40 . In other words, a rotation axis of the actuator  30  and a rotation axis of the joint member  40  may be spaced apart from each other. In this example, a height of a portion protruding from the user may decrease, in comparison to a case in which the actuator  30  and the joint member  40  share a rotation axis. In another example, unlike the drawings, the actuator  30  may be disposed to be spaced apart from the joint member  40 . In this example, a power transmission module to transmit power from the actuator  30  to the joint member  40  may be provided. The power transmission module may be a rotary body, such as a gear, or a longitudinal member, such as a wire, a cable, a string, a rubber band, a spring, a belt, or a chain. However, in an example embodiment, a position and a power transmission structure of the actuator  30  are not limited. 
     Each joint member  40  may receive power from the corresponding actuator  30  to assist a motion of a joint portion (e.g., hip) of the user. Each joint member  40  may be disposed at a position corresponding to the joint portion of the user. Each joint member  40  may be disposed on one side of the corresponding main frame  20 . One side of the joint member  40  may be connected to the actuator  30 , and another side thereof may be connected to the driving frame  50 , the cover  11 , and the support part  12 . The joint member  40  may be rotated by the power received from the actuator  30 . An encoder to measure a rotation angle of the joint member  40  may be disposed on one side of the joint member  40 . 
     The driving frame  50  may transmit an assistance force to assist a motion of a portion of the user. Here, the assistance force may be understood as a force acting in the same direction as a direction of a motion of a portion of the user. In other words, the assistance force may be understood as a force obtained by excluding a force applied in a direction intersecting the direction of the motion of the portion of the user from among forces applied to the portion of the user. One end portion of the driving frame  50  may be connected to the joint member  40  and may be rotated. Another end portion of the driving frame  50  may be connected to the support part  12  and may transmit an assistance force to a portion of the user. For example, the driving frame  50  may push or pull the thigh of the user. The driving frame  50  may extend in a longitudinal direction of the thigh of the user. The driving frame  50  may be bent to wrap around at least a portion of a circumference of the thigh of the user. For example, an upper portion of the driving frame  50  may cover a portion of the body of the user facing a side (+y direction or −y direction), and a lower portion of the driving frame  50  may cover a portion of the body of the user facing the front portion (+x direction). 
     The cover  11  may apply an assistance force to a portion of the user. The cover  11  may be disposed between the other end portion of the driving frame  50  and the support part  12 . For example, the cover  11  may be disposed on one side of the thigh of the user to push or pull the thigh of the user. The cover  11  may be disposed on a front surface of the thigh of the user. The cover  11  may be disposed in a circumferential direction of the thigh of the user. The cover  11  may extend toward both sides around the other end portion of the driving frame  50 . The cover  11  may include a curved surface corresponding to the thigh of the user. 
     The support part  12  may be connected to one side of the cover  11 . For example, the support part  12  may be disposed to cover at least a portion of the circumference of the thigh of the user to prevent or reduce the chances of the thigh of the user from being separated from the driving frame  50 . 
       FIG.  3    is a plan view schematically illustrating a wearable module of a motion assistance device according to an example embodiment,  FIG.  4    is a plan view illustrating an example in which a size of a wearable module is adjusted according to an example embodiment, and  FIG.  5    is a cross-sectional view of a wearable module, taken along line V-V of  FIG.  3   . 
     Referring to  FIGS.  3  through  5   , the motion assistance device may be easily worn on a body of a user through an elastic force. The motion assistance device may include a driving frame  50 , a cover  11  connected to the driving frame  50 , a support part  12  detachably connected to the cover  11 , an elastic layer  10  provided in a longitudinal direction of the cover  11  and the support part  12 , a main guide  13  configured to guide the elastic layer  10 , an auxiliary guide  14 , and a cushion part  19 . 
     The cover  11  may transmit power of the driving frame  50  to the support part  12 . The power of the driving frame  50  may be transmitted to the support part  12  through the cover  11  and may finally assist a motion of a joint (e.g., hip) of the user. The cover  11  may cover a portion of the body of the user. For example, the cover  11  may be disposed on a front portion of a thigh of the user and may be curved to wrap around a partial area of the front portion of the thigh. The cover  11  may include a cover body  111 , a cover head  112  connected to the cover body  111 , and a cover hole  113  formed through the cover body  111 . 
     The support part  12  may support a distal portion of the user. The support part  12  may support the distal portion of the user together with the cover  11  by enclosing the distal portion. For example, the support part  12  and the cover  11  may wrap around the thigh of the user. The support part  12  may include a support body  121  that is formed of a material more flexible than that of the cover  11 , a support head  122  that is connected to the support body  121  and detachable from a cover head  112 , and an attachment part  123  that is connected to the support body  121 , that is positioned on an opposite side of the support head  122  with respect to the support body  121  and that passes through the cover hole  113  to be attached to an outer surface of the support body  121 . 
     The cover  11  and the support part  12  may have a shape that completely warps around the distal portion of the user based on a state in which the cover  11  and the support part  12  are coupled to each other. A first attachment area A 1  and a second attachment area A 2  to be attached to each other may be provided on a surface of the support body  121  and a surface of the attachment part  123 , respectively. For example, the first attachment area A 1  may be formed on the outer surface of the support body  121 , and the second attachment area A 2  may be formed on a surface of the attachment part  123  facing the support body  121 . In an example, the first attachment area A 1  and the second attachment area A 2  may be Velcro areas. In another example, the first attachment area A 1  and the second attachment area A 2  may each include a plurality of buttons formed in a longitudinal direction. 
     Since the attachment part  123  has a shape of penetrating the cover  11 , a size of an inner area of each of the cover  11  and the support part  12  may be adjusted using a scheme of moving the attachment part  123  through the cover hole  113 , for example, a scheme of pulling the attachment part  123 . Accordingly, the user may easily adjust a size of the wearable module. 
     The elastic layer  10  may be partially fixed to the support part  12  and may move relative to the cover  11 . The elastic layer  10  may be movable in a circumferential direction of the cover  11  along the cover  11 . Here, the circumferential direction may refer to a direction in which the cover  11  and the support part  12  cover the distal portion of the user. The elastic layer  10  may provide an elastic force to the support part  12  before the support part  12  and the cover  11  are coupled to each other, to assist the support part  12  to be coupled to the cover. 
     If a distance between the support head  122  and the cover  11  increases, potential energy of the elastic layer  10  may increase. In order for the user to wear the wearable module, a process of spreading the support part  12  is required first. Here, the spreading of the support part  12  may refer to an operation of providing a space into which the thigh of the user is to be put, by sufficiently spacing the support head  122  apart from the cover  11  by separating the support head  122  from the cover  11 . In a state in which the thigh of the user is put into the cover  11  and the support part  12 , the elastic layer  10  may provide a restoration force to the support part  12 , and the support head  122  may be disposed adjacent to the cover  11 . The user may easily attach the support part  12  to the cover  11  by easily holding the support head  122  disposed adjacent to the cover  11 . 
     The cover head  112  and the support head  122  may each accommodate a magnet, and the cover  11  and the support part  12  may be detachably attached to each other by a magnetic force. 
     A partial area of the elastic layer  10  may be fixed to the support part  12 , and another area thereof may be movable relative to the support part  12  and the cover  11 . For example, in an area between a first point P 1  and a second point P 2  shown in  FIG.  3   , the elastic layer  10  may be fixed to the support part  12 . For example, at least a portion of the elastic layer  10  may be fixed to an inner surface of the support body  121 . Another portion of the elastic layer  10  may be movable relative to the cover  11 . For example, the elastic layer  10  may be slidable along an inner surface of the cover body  111 . When a point at which the first attachment area A 1  of the support body  121  and the second attachment area A 2  of the attachment part  123  are attached to each other is referred to as a third point P 3 , the elastic layer  10  may be slidable along the inner surface of the cover body  111  during a change in a distance by which the third point P 3  is spaced apart from the cover hole  113 . 
     The elastic layer  10  may have a minimum potential energy in a state in which the support head  122  is mounted on the cover  11 . Due to such a feature, a durability of a portion of the elastic layer  10  fixed to the support part  12  may be enhanced. 
     The elastic layer  10  may include a first end  10   a  disposed in the support part  12 , and a second end  10   b  disposed in the cover  11 , based on the state in which the cover  11  and the support part  12  are coupled to each other. A distance by which the first end  10   a  is spaced apart from the support head  122  may remain unchanged. Meanwhile, a distance by which the second end  10   b  is spaced apart from the cover head  112  may vary according to a movement of the elastic layer  10 . 
     The main guide  13  may be connected, directly or indirectly, to the cover  11  and guide the movement of the elastic layer  10 . The main guide  13  may prevent or reduce the chance of the elastic layer  10  from being separated from the cover  11 . The main guide  13  and the cover  11  may surround the elastic layer  10 . The main guide  13  may be formed of a material more rigid than that of the support body  121 . For example, the main guide  13  may be formed of a material that is relatively rigid and that is not easily transformed by an external force, in comparison to the support body  121 . In addition, the main guide  13  may include an accommodation space for accommodating the elastic layer  10  therein. A width W 1  of the accommodation space may be greater than a width W 2  of the elastic layer  10 . Based on such a structure, a phenomenon in which the main guide  13  is pressed by the body of the user may be reduced or prevented. As a result, sliding of the elastic layer  10  may be smoothly performed even in a state in which the wearable module is worn on the body of the user. 
     The cushion part  19  may be connected, directly or indirectly, to the main guide  13  and may be disposed on the opposite side of the support body  121  with respect to the main guide  13 . The cushion part  19  may enhance the comfort that the user experiences when wearing the motion assistance device. 
     The auxiliary guide  14  may be connected to the support part  12  and may guide the movement of the elastic layer  10 . The auxiliary guide  14  may prevent of reduce the chance of the elastic layer  10  from being separated from the support part  12 . The auxiliary guide  14  and the support part  12  may surround the elastic layer  10 . 
     In a process in which the user pulls the attachment part  123 , the elastic layer  10  may move toward the support head  122  along the cover  11  while the attachment part  123  is moving toward the support head  122  by passing through the cover  11 , based on the state in which the support head  122  is mounted on the cover  11 . In the above process, the distance by which the first end  10   a  of the elastic layer  10  is spaced apart from the support head  122  may be maintained, and the second end  10   b  of the elastic layer  10  may approach the support head  122 . 
       FIG.  6    is a side view schematically illustrating an example in which a user wearing a motion assistance device moves forward according to an example embodiment, and  FIG.  7    is a plan view schematically illustrating a state of a wearable module in the example of  FIG.  6   . 
     Referring to  FIGS.  6  and  7   , the motion assistance device may be placed on a cradle  9 . The cradle  9  may include a cradle body  90 , a cradle head  91  that is connected to an upper side of the cradle body  90  and that is capable of supporting the main body  80  of the motion assistance device, and a cradle arm  92  that is connected to the cradle body  90  and that is disposed inside the wearable module of the motion assistance device. 
     The user may first wear a proximal wearing unit of the motion assistance device. For example, the user may wear the proximal wear unit by a scheme in which the main body  80 , the main frame  20 , and the strap  60  wrap around his or her waist or pelvis and in which the strap  60  is fixed with the auxiliary strap  70 . 
     Next, the user may move forward by putting a thigh of the user into the corresponding wearable module (e.g., right thigh first into one module, then left thigh into the other module, or vice versa). While the user is moving forward, the support part  12  and the elastic layer  10  caught on the cradle arm  92  may be stretched out relatively flat, and the potential energy of the elastic layer  10  may increase. The second end  10   b  of the elastic layer  10  may move away from the cover head  112 , while the user is moving forward. Since the support part  12  is provided in a state in which the attachment part  123  is attached to the support body  121  by passing through the cover hole  113 , the support part  12  may be hung on the cover  11 . Even in a state in which a thigh T of the user is not completely worn on the wearable module, the elastic layer  10  may be guided by the main guide  13  and the auxiliary guide  14 , and accordingly the thigh T may not be separated from the cover  11  or the support part  12 . 
       FIG.  7    shows a state in which the cradle arm  92  is hung on the support head  122 . If the user moves slightly further forward, the cradle arm  92  may be further separated from the support head  122 . Here, the support head  122  may be moved toward the cover head  112  by the restoration force of the elastic layer  10 . As a result, the support head  122  may be disposed adjacent to the cover head  112 . The user may easily mount the support head  122  to the cover head  112  by holding the support head  122  adjacent to the cover head  112  with a hand. The user may easily hold the support head  122 , without excessively turning the waist or correcting a posture. 
       FIGS.  8  and  9    are plan views schematically illustrating another example of a wearable module according to an example embodiment. 
     Referring to  FIGS.  8  and  9   , a motion assistance device may include a driving frame  50 , a cover  11  connected, directly or indirectly, to the driving frame  50 , a support part  12  detachably connected to a cover head  112 , an elastic layer  10  provided in a longitudinal direction of the cover  11  and the support part  12 , a main guide  13  and an auxiliary guide  14  that are configured to guide the elastic layer  10 , a belt  15  configured to set a shape of each of the cover  11  and the support part  12  in a state in which an external force is not applied, and a belt guide  16  configured to support the belt  15 . 
     The belt  15  may have a first end  15   a  fixed to the cover  11 , and a second end  15   b  fixed to the support part  12  or the auxiliary guide  14 . When the thigh T of the user is put into the cover  11  and the support part  12 , the belt  15  may contact the thigh T before the cover  11  and the support part  12  contact the thigh T. The belt  15  may be pressed by the thigh T. As the belt  15  is pressed, a support head  122  of the support part  12  may approach the cover head  112 . The second end  15   b  of the belt  15  is fixed to the auxiliary guide  14  as shown in the drawings, however, it should be noted that the example embodiments are not limited thereto. For example, the second end  15   b  of the belt  15  may be fixed to an area of the support part  12  in which the elastic layer  10  is not provided. The belt  15  may not interfere with the elastic layer  10 . 
     The belt guide  16  may support the belt  15 , to adjust a maximum distance by which the belt  15  is spaced apart from the cover  11  or the support part  12 . For example, the belt guide  16  may support a central area of the belt  15  so that the central area of the belt  15  may be disposed close to an inner surface of the support part  12 . 
       FIG.  10    is a plan view schematically illustrating another example of a wearable module of a motion assistance device according to an example embodiment. 
     Referring to  FIG.  10   , a wearable module connected to a driving frame  50  may support a portion of a body of a user. The wearable module may include a cover  11 , a support part  12 , an elastic layer  10 , a main guide  13 , an auxiliary guide  14 , and a cushion part  19 . The cover  11  may include a cover hole  113  through which the support part  12  passes. The support part  12  may include a support body  121  that is formed of a material more flexible than that of the cover  11 , a support head  122  that is connected, directly or indirectly, to the support body  121  and detachable from a cover head  112 , and an attachment part  123  that is connected, directly or indirectly, to the support body  121 , that is positioned on an opposite side of the support head  122  with respect to the support body  121  and that passes through the cover hole  113  to be attached to an outer surface of the support body  121 . 
     The support body  121  may include a plurality of coupling grooves  121   a  formed on the outer surface in a longitudinal direction. The attachment part  123  may include a coupling protrusion  123   a  that may be inserted into one of the plurality of coupling grooves  121   a . Since the plurality of coupling grooves  121   a  is recessed from the outer surface of the support body  121 , a portion of the support body  121  may not interfere with the cover  11  while passing through the cover hole  113 . 
       FIG.  11    is a view illustrating an example in which a wearable module of a motion assistance device is worn on an upper arm of a user (see “U” in  FIG.  11   ), according to an example embodiment. 
     Referring to  FIG.  11   , the wearable module of the motion assistance device may be mounted on the upper arm of the user. For example, a joint member  940  of the motion assistance device may be provided near a shoulder of the user, and a driving frame  950  may be connected to the joint member  940  and arranged along the upper arm of the user. A cover  911  may be connected, directly or indirectly, to an end portion of the driving frame  950  to support a portion of the upper arm of the user. A support part  912  may be connected, directly or indirectly, to the cover  911  to support the other portions of the upper arm. An elastic layer (not shown) may be provided inside the cover  911  and the support part  912 . The joint member  940  may rotate the driving frame  950  by receiving power from an actuator (not shown). 
     Although the example embodiments have been described with reference to the limited drawings, one of ordinary skill in the art may apply various technical modifications and variations based thereon. For example, suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, or replaced or supplemented by other components or their equivalents. 
     While the disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are intended to be illustrative, not limiting. It will further be understood by those skilled in the art that various changes in form and detail may be made without departing from the true spirit and full scope of the disclosure, including the appended claims and their equivalents. It will also be understood that any of the embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein. 
     Therefore, other implementations, other example embodiments, and/or equivalents of the claims are within the scope of the following claims.