Patent Publication Number: US-2023149243-A1

Title: Supporter having bistable spring, and exercise assistance apparatus including same

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of International Application No. PCT/KR2021/001341 designating the United States, filed on Feb. 2, 2021, in the Korean Intellectual Property Receiving Office and claiming priority to Korean Patent Application No. 10-2020-0082241, filed on Jul. 3, 2020, and Korean Patent Application No. 10-2020-0136636, filed on Oct. 21, 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 supported including a bistable spring and/or a wearable exercise assistance apparatus including same. 
     2. Description of Related Art 
     In general, an exercise assistance apparatus may be, for example and without limitation, a mechanism and/or a device that helps a patient, who cannot walk or has trouble walking on their own due to various diseases, accidents, and/or the like, to perform exercises for rehabilitation treatment. With aging societies recently accelerating, more people experience inconvenience in exercise or have difficulty in doing normal exercise due to malfunctioning joint issues, and accordingly, there is increasing interest in an exercise assistance apparatus. An exercise assistance apparatus may be worn on the body of a user to assist a muscular strength necessary for the user&#39;s exercise and to induce the user to walk for normal exercise. Users without disabilities may also be users of such exercise assistance devices/apparatuses. 
     SUMMARY 
     In general, those with or without a physical disability wear an exercise assistance apparatus. Unfortunately, some may find it difficult to undergo the process of wearing the exercise assistance apparatus. Accordingly, there is a need for technology that allows a user, e.g., with limited physical mobility, to put on an exercise assistance apparatus by themselves without the help of another person. 
     A supporter according to an example embodiment may include: a main body; a pair of main frames connected, directly or indirectly, to the main body; a pair of straps connected, directly or indirectly, to the pair of main frames, respectively; and a bistable spring which is provided inside each of the pair of the straps and maintained in one of two stable states by a restoring force. The two stable states may include a first stable state in which the bistable spring has a shape extending straight along the longitudinal direction and a second stable state in which the bistable spring has a shape that is bent once, and the shape of the strap may be determined according to the shape of the bistable spring. 
     Where the bistable spring is in the first stable state, each of the pair of straps may maintain or substantially maintain a shape extending forward from the main frame. 
     Where both of the bistable springs provided inside the pair of straps, respectively, are in the second stable state, each of the straps may overlap the other. 
     The bistable spring may include a protruding shape in a direction perpendicular to the longitudinal direction when the bistable spring is in the first stable state, and a curvature of the protruding shape may decrease during transition from the first stable state to the second stable state. 
     A position of the bistable spring may be fixed, directly or indirectly, based on a longitudinal direction of the strap. 
     The strap may include an accommodation space for accommodating the bistable spring, and a width of the accommodation space may be greater than a width of the strap, based on a direction perpendicular to a longitudinal direction of the strap. 
     A width of the bistable spring in the second stable state may be greater than a width of the bistable spring in the first stable state and may be less than the width of the accommodation space. 
     The supporter may include a pad provided inside the strap and configured to overlap the bistable spring with respect to a direction perpendicular to a longitudinal direction of the strap. 
     The pad may be detachable from the strap. 
     The supporter may include a pair of auxiliary straps connected, directly or indirectly, to any one of the pair of straps and configured to wrap around the other strap. 
     The supporter further include an auxiliary bistable spring provided inside each of the auxiliary straps. 
     The supporter may include an inner frame provided inside the strap and including a material that is relatively stiffer than that of the strap. 
     The inner frame may include a first inner frame extending from the main frame and connected, directly or indirectly, to the bistable spring; and a second inner frame extending from the bistable spring toward an end portion of the strap. 
     The bistable spring may be provided in plurality, and the bistable springs may be apart from each other in a longitudinal direction of the strap. 
     A supporter according to an example embodiment may include: a main frame; a pair of straps connected, directly or indirectly, to both end portions of the main frame, respectively; and a bistable spring provided inside each of the straps and configured to maintain in any one of two stable states through a restoring force. The two stable states may include a first stable state in which the bistable spring has a shape extending straight along the longitudinal direction and a second stable state in which the bistable spring has a shape that is bent once, and the shape of the strap may be determined according to the shape of the bistable spring. 
     A wearable exercise assistance apparatus according to an example embodiment may include: a main body; a pair of main frames connected to the main body; a pair of straps connected to the pair of main frames, respectively; a bistable spring provided inside each of the pair of straps and maintained in any one of two stable states by a restoring force; an actuator disposed in the main frame; and a driving frame configured to be rotatable by receiving power from the actuator. 
     The two stable states may include a first stable state in which the bistable spring has a shape extending straight along the longitudinal direction and a second stable state in which the bistable spring has a shape that is bent once, and the shape of the strap may be determined according to the shape of the bistable spring. 
     Where the bistable spring is in the first stable state, each of the straps may maintain or substantially maintain a shape extending forward from the main frame. 
     The exercise assistance apparatus may include a pad provided inside the strap and configured to overlap the bistable spring with respect to a direction perpendicular to a longitudinal direction of the strap. 
     The exercise assistance apparatus may include an inner frame provided inside the strap and include a material that is relatively stiffer than that of the strap. 
    
    
     
       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 an exercise assistance apparatus according to an example embodiment. 
         FIG.  2    is a side view of an exercise assistance apparatus according to an example embodiment. 
         FIG.  3    is a plan view illustrating a supporter when a bistable spring is in a first stable state, according to an example embodiment. 
         FIG.  4    is a plan view illustrating a supporter when a bistable spring is in a second stable state, according to an example embodiment. 
         FIG.  5    is a perspective view illustrating a bistable spring in a first stable state. 
         FIG.  6    is a perspective view illustrating a bistable spring in a second stable state. 
         FIG.  7    is a graph schematically illustrating potential energy according to a displacement angle of a bistable spring. 
         FIG.  8    is a cross-sectional view taken along the line VIII-VIII of  FIG.  3   . 
         FIG.  9    is a cross-sectional view taken along the line IX-IX of  FIG.  4   . 
         FIG.  10    is a cross-sectional view illustrating a main frame, a strap, and a bistable spring, according to an example embodiment. 
         FIG.  11    is a cross-sectional view illustrating a view in which a second strap approaches a first strap. 
         FIG.  12    is a cross-sectional view illustrating a state in which a pair of straps is fixed by a fastening member. 
         FIGS.  13  and  14    are plan views illustrating a supporter according to an example embodiment. 
         FIG.  15    is a plan view schematically illustrating a supporter according to an example embodiment. 
         FIGS.  16  and  17    are cross-sectional views illustrating a main frame, a strap, a bistable spring, and an inner frame, according to an example embodiment. 
         FIG.  18    is a front view schematically illustrating a view in which a supporter is worn on the body, according to an example embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The following structural or functional descriptions of examples are merely intended for the purpose of describing the examples and the examples may be implemented in various forms. Here, examples 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 also 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, at least 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 groups 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, examples 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 constituent elements and a repeated description related thereto will be omitted. 
       FIG.  1    is a front view illustrating an exercise assistance apparatus according to an example embodiment, and  FIG.  2    is a side view illustrating an exercise assistance apparatus according to an example embodiment. 
     Referring to  FIGS.  1  and  2   , an exercise assistance apparatus  100  may be worn by a user to assist a motion of the user. The user may be a human, an animal, or a robot but may not be limited thereto. In addition, although  FIG.  1    illustrates a case in which the exercise assistance apparatus  100  assists the user&#39;s thigh exercise, the exercise assistance apparatus  100  may assist other parts of the upper body, such as a hand, an upper arm, and a lower arm of the user, or other parts of the lower body, such as a foot and calf of the user (see  FIG.  18   ). That is, the exercise assistance apparatus  100  may assist a motion of a part of the user&#39;s body. Hereinafter, a case in which the exercise assistance apparatus  100  assists a motion of a person&#39;s thigh is described as an example. 
     The exercise assistance apparatus  100  may include a main body  10 , a pair of main frames  20 , a pair of straps  11 , and an auxiliary strap  15  connected, directly or indirectly, to any one of the pair of straps  11 , an actuator  21 , a joint member  22 , and a driving frame  23 . 
     The main body  10  may accommodate, therein, a controller (not shown) for controlling the actuator  21  and a power supply (not shown) for supplying power to the actuator  21 . For example, the main body  10  may be on the user&#39;s back side, based on a state in which the exercise assistance apparatus  100  is worn on the user&#39;s body. The pair of main frames  20  may be connected, directly or indirectly, to the main body  10 . 
     The main frame  20  may be fixed, directly or indirectly, onto the user. The main frame  20  may contact at least a portion of the user&#39;s outer surface. The main frame  20  may have a shape surrounding the user&#39;s outer surface. The main frame  20  may be curved in a shape corresponding to the user&#39;s contacted portion. That is, the main frame  20  may include a curved surface in contact with the user. For example, the main frame  20  may be fixed, directly or indirectly, to one side of the user&#39;s waist. 
     The pair of straps  11  may be, respectively, connected, directly or indirectly, to the pair of main frames  20 . The pair of straps  11  may maintain a shape extending forward (+x direction) before the user wears the exercise assistance apparatus  100  and may not prevent the user from entering the inside of the pair of main frames  20 . On the other hand, where the user enters the inside of the pair of main frames  20 , the pair of straps  11  may transform, as illustrated in the diagram, and wrap around the front portion of the user. The main body  10 , the pair of main frames  20 , and the pair of straps  11  may entirely wrap around the circumference of the user. 
     The pair of auxiliary straps  15  and the pair of straps  11  may be fixed, directly or indirectly, to each other with the pair of straps  11  overlapping each other. For example, one of the pair of straps  11  may wrap around the other strap together with the pair of auxiliary straps  15 . 
     The actuator  21  may provide power that is to be transmitted to the joint member  22 . The actuator  21  may include a motor that generates power by receiving voltage or current from the power supply. For example, the actuator  21  may be in a lateral direction of the joint member  22 . That is, a rotation axis of the actuator  21  and a rotation axis of the joint member  22  may be apart from each other. In this case, compared to the case where the actuator  21  and the joint member  22  share a rotation axis, the case where the rotation axis of the actuator  21  and the rotation axis of the joint member  22  are apart from each other may reduce a height protruding from the user. Moreover, unlike the diagram, the actuator  21  may be apart from the joint member  22 . In this case, a power transmission module for transmitting power from the actuator  21  to the joint member  22  may be provided. The power transmission module may be a rotating body, such as a gear, or a longitudinal direction 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  21  may not be limited. 
     The joint member  22  may receive power from the actuator  21  to assist a motion of the user&#39;s joint. The joint member  22  may be at a position corresponding to the user&#39;s joint. The joint member  22  may be on one side of the main frame  20 . One side of the joint member  22  may be connected, directly or indirectly, to the actuator  21 , and the other side of the joint member  22  may be connected, directly or indirectly, to the driving frame  23 . The joint member  22  may be rotated by power transmitted from the actuator  21 . An encoder for measuring a rotation angle of the joint member  22  may be on one side of the joint member  22 . 
     The driving frame  23  may partially assist the user&#39;s motion. The driving frame  23  may be rotated by the rotational force of the joint member  22 . The driving frame  23  may include a support frame  231 , an action member  232 , and a support member  233 . 
     The support frame  231  may transmit an auxiliary force for assisting a motion of a part of the user&#39;s body. Here, the auxiliary force may be understood as a force acting in the same direction as a motion direction of a part of the user&#39;s body. That is, the auxiliary force may be understood as a force excluding a force in a direction intersecting with the motion direction of the part of the user&#39;s body from among forces acting on the part of the user&#39;s body. One end portion of the support frame  231  may be connected, directly or indirectly, to and meet the joint member  22 . The other end of the support frame  231  may be connected to the support member  233  to transmit the auxiliary force to a part of the user&#39;s body. For example, the support frame  231  may push or pull the user&#39;s thigh. The support frame  231  may extend along the longitudinal direction of the user&#39;s thigh. The support frame  231  may be bent to wrap around at least a portion of the circumference of the user&#39;s thigh. 
     The action member  232  may apply an auxiliary force to a part of the user&#39;s body. The action member  232  may be between the other end portion of the support frame  231  and the support member  233 . For example, the action member  232  may be on one side of the user&#39;s thigh to push or pull the user&#39;s thigh. The action member  232  may be on the front side of the user&#39;s thigh. The action member  232  may be along the circumferential direction of the user&#39;s thigh. The action member  232  may extend to both sides around the other end portion of the support frame  231 . The action member  232  may include a curved surface corresponding to the user&#39;s thigh. 
     The support member  233  may be connected to one side of the action member  232 . For example, the support member  233  may surround at least a portion of the user&#39;s thigh, so that the support member  233  may prevent the user&#39;s thigh from being separated from the support frame  231 . 
       FIG.  3    is a plan view illustrating a supporter when a bistable spring is in a first stable state, according to an example embodiment, and  FIG.  4    is a plan view illustrating a supporter when a bistable spring is in a second stable state, according to an example embodiment. 
     Referring to  FIGS.  3  and  4   , an exercise assistance apparatus  100  may include a supporter A that is worn on a user&#39;s body to supporter a part of the user&#39;s body. Here, the supporter A may include a main body  10 , a pair of main frames  20   a  and  20   b , a pair of straps  111  and  112 , a bistable spring  12 , a pad  14  and a pair of auxiliary straps  151  and  152 . 
     The pair of main frames  20   a  and  20   b  may include the first main frame  20   a  connected to the right side of the main body  10  and the second main frame  20   b  connected to the left side of the main body  10 . The pair of main frames  20   a  and  20   b  may partially surround a part of the user&#39;s body. 
     The pair of straps  111  and  112  may include the first strap  111  connected to the first main frame  20   a  and the second strap  112  connected to the second main frame  20   b.    
     The first strap  111  and the second strap  112  may each have a ‘first shape’ as illustrated in  FIG.  3    or a ‘second shape’ as illustrated in  FIG.  4   . For example, where the first strap  111  or the second strap  112  temporarily fails to maintain the ‘first shape’ or the ‘second shape’ due to an external force, the first strap  111  or the second strap  112  may be restored to the ‘first shape’ or the ‘second shape’ by a restoring force of the bistable spring  12 . 
     Where the user does not enter the inside of the pair of main frames  20   a  and  20   b , each of the straps  111  and  112  may maintain the ‘first shape’ and a shape extending forward from the pair of main frames  20   a  and  20   b . On the other hand, when the user wears the exercise assistance apparatus  100 , that is, when the user enters the inside of the pair of main frames  20   a  and  20   b , each of the straps  111  and  112  may be transformed from the ‘first shape’ to the ‘second shape’ and wrap around the front of the user. For example, the user may apply an external force to the pair of straps  111  and  112  by hand to transform the pair of straps  111  and  112  from the ‘first shape’ to the ‘second shape’. 
     The bistable spring  12  may be provided inside each of the straps  111  and  112  and may be maintained in any one of the two stable states through a restoring force. The two stable states may include a ‘first stable state’ in which the bistable spring  12  has a shape extending straight along the longitudinal direction and a ‘second stable state’ in which the bistable spring  12  has a shape that is bent once. 
     A shape of a strap may be determined according to a shape of the bistable spring  12 . For example, when the bistable spring  12  is in the ‘first stable state’, the strap may maintain the ‘first shape’, and when the bistable spring  12  is in the ‘second stable state’, the strap may maintain the ‘second shape’. 
     Where the bistable spring  12  provided inside the pair of straps  111  and  112  is in the ‘first stable state’, the pair of straps  111  and  112  may maintain shapes extending forward (+x direction) from the pair of main frames  20   a  and  20   b , respectively. 
     Where the bistable spring  12  provided inside the pair of straps  111  and  112  is in the ‘second stable state’, the pair of straps  111  and  112  may overlap each other in the +x direction. 
     The pad  14  may be provided on the inside of a strap and overlap the bistable spring  12  in a direction perpendicular to the longitudinal direction of the strap. For example, the pad  14  provided on the inside (−y direction) of the first strap  111  may overlap the bistable spring  12  provided inside the first strap  111 , based on a direction (y-axis direction) perpendicular to the longitudinal direction (x-axis) of the first strap  111 . 
     The pad  14  may adjust an angle formed by the pair of straps  111  and  112  when the pair of straps  111  and  112  is in the ‘second shape’. The pad  14  may act as a resistance while the pair of straps  111  and  112  is in transition from the ‘first shape’ to the ‘second shape’. As the thickness of the pad  14  increases, the angle formed by the pair of straps  111  and  112  in the ‘second shape’ may increase. The pad  14  may be detachable from the pair of straps  111  and  112 . The exercise assistance apparatus may be adjusted to fit the user&#39;s body size by appropriately utilizing the thickness and material of the pad  14  to adjust an angle of the strap in the ‘second shape’. 
     The pair of straps  111  and  112  may be fixed, directly or indirectly, by surrounding the second strap  112 , in a state in which the pair of auxiliary straps  151  and  152  is connected to the first strap  111  and the first strap  111  overlaps the second strap  112 . For example, an auxiliary bistable spring (not shown) may be provided inside the pair of auxiliary straps  151  and  152 . 
       FIG.  5    is a perspective view illustrating a bistable spring in a first stable state,  FIG.  6    is a perspective view illustrating a bistable spring in a second stable state, and  FIG.  7    is a schematic graph of potential energy according to a displacement angle of a bistable spring. 
     Referring to  FIGS.  5  to  7   , when a bistable spring  12  is in the ‘first stable state’, the bistable spring  12  may have a protruding shape in a direction (x-axis direction) perpendicular to the longitudinal direction (y-axis direction). The bistable spring  12  may transform such that a curvature of the protruding shape decreases during transition from the ‘first stable state’ to the ‘second stable state’. That is, when the bistable spring  12  is in the ‘second stable state’, the bistable spring  12  may have a relatively flat shape except for a curved portion. 
     A state where the bistable spring  12  is 0 degrees and a state where the bistable spring is 90 degrees with respect to the y-axis may correspond to a point with the smallest potential energy and are illustrated as the ‘first stable state’ and the ‘second stable state’, respectively. However, the angles constituting the stable state may not be limited to 0 degrees or 90 degrees and may vary depending on a material or shape of a bistable spring. 
       FIG.  8    is a cross-sectional view taken along the line VIII-VIII of  FIG.  3   ,  FIG.  9    is a cross-sectional view taken along the line IX-IX of  FIG.  4   , and  FIG.  10    is a cross-sectional view illustrating a main frame, a strap, and a bistable spring, according to an example embodiment. 
     Referring to  FIGS.  8  to  10   , a strap  11  may include an accommodation space S for accommodating a bistable spring  12 . A position of the bistable spring  12  may be fixed with respect to a longitudinal direction of the strap  11 . For example, the width of the accommodation space S based on the longitudinal direction of the strap  11  may be the same as the width of the bistable spring  12 . 
     On the other hand, based on a direction perpendicular to the longitudinal direction of the strap  11 , the width of the accommodating space S may be greater than the width of the strap  11 . According to such a shape, a state may be freely transformed between the ‘first stable state’ and the ‘second stable state’ within the bistable spring  12 . 
     In the first stable state, a width W 1  of the bistable spring  12  may be less than a width D 1  of the accommodation space S. In addition, in the second stable state, a width W 2  of the bistable spring  12  may be greater than the width W 1  of the bistable spring  12  and less than the width D 1  of the accommodation space S. According to such a structure, the bistable spring  12  may transform a state without interfering with the inner wall of the strap  11  forming the accommodation space S. 
     A length L of the bistable spring  12  may be equal to a length D of the accommodation space S. The bistable spring  12  may be fixed, directly or indirectly, inside the strap  11 . 
       FIG.  11    is a cross-sectional view illustrating a state in which a second strap approaches a first strap, and  FIG.  12    is a cross-sectional view illustrating a state in which a pair of straps is fixed, directly or indirectly, by a fastening member. 
     Referring to  FIGS.  11  and  12   , each of auxiliary straps  151  and  152  may be provided with an auxiliary bistable spring  16 . The pair of auxiliary straps  151  and  152  may maintain a straight shape in a state in which an external force is not applied to the pair of auxiliary straps  151  and  152  by the auxiliary bistable spring  16 . Since the pair of auxiliary straps  151  and  152  maintains a shape extending straight, a user may bring a second strap  112  closer to a first strap  111  without opening the pair of auxiliary straps  151  and  152 . 
     Each of the auxiliary straps  151  and  152  may be provided with a magnet  17  for fixation. Based on a state in which the auxiliary straps  151  and  152  overlap each other, the magnet  17  provided in the first strap  151  and the magnet  17  provided in the second strap  152  may face each other with opposite polarity. 
       FIGS.  13  and  14    are plan views illustrating a supporter according to an example embodiment. 
     Referring to  FIGS.  13  and  14   , an exercise assistance apparatus  200  may include a main body  10 , a main frame  20 , a strap  11  ( 11 ′), a bistable spring  12 ′, a pad  14 ′, and auxiliary straps  151  and  152 . 
     The bistable springs  12 ′ and the pads  14 ′ may be provided in plurality and apart from each other in the longitudinal direction of the strap  11 / 11 ′. A stable shape implementable by the strap  11 ′ may be adjusted through a plurality of bistable springs  12 ′. For example, in the case of a user with a large torso, the strap  11 ′ may need to be bent multiple times. In this case, the number of times the strap  11 ′ is bent may be set by using the plurality of bistable springs  12 ′. 
       FIG.  15    is a plan view schematically illustrating a supporter according to an example embodiment, and  FIGS.  16  and  17    are cross-sectional views illustrating a main frame, a strap, a bistable spring, and an inner frame, according to an example embodiment. 
     Referring to  FIGS.  15  to  17   , a supporter A may include a main frame  20 ′, a pair of straps  11  connected to both ends of the main frame  20 ′, respectively, a bistable spring  12  provided inside the strap  11 , and an inner frame  18  connected to each of both end portions of the bistable spring  12 . 
     The main frame  20 ′ may not be connected to a main body, unlike the main frame described with reference to  FIGS.  1  to  17   . The main frame  20 ′ may have, for example, a U-shape. The supporter A may wrap around a part of a user&#39;s body. 
     The inner frame  18  may be formed of a material relatively stronger than the strap  11 . The inner frame  18  may assist the strap  11  to maintain a shape. For example, the inner frame  18  may include a first inner frame  181 , which extends from one end of the main frame  20 ′ and is connected, directly or indirectly, to one end of the bistable spring  12 , and a second inner frame  182 , which is connected to the other end of the bistable spring  12  and extends toward one end of the strap  11 . 
     The inner frame  18  may not be exposed to the outside since the inner frame  18  is covered by the strap  11 . The inner frame  18  may fix the position of the bistable spring  12  provided inside an accommodation space S. 
     Each embodiment herein may be used in combination with any other embodiment(s) described herein. 
       FIG.  18    is a front view schematically illustrating a state in which a supporter is worn on the body, according to an example embodiment. 
     Referring to  FIG.  18   , a supporter A may be worn at various positions on the body of a user U. For example, the supporter A may be worn on the user&#39;s upper arm to assist the user&#39;s elbow joint motion together with an actuator, a joint member, and a driving frame (not shown). In another example, the supporter A may be worn on the user&#39;s thigh to assist the user&#39;s knee joint motion. 
     As described above, although the examples have been described with reference to the limited drawings, a person skilled 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 and/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, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure.