Patent Description:
In general, an exercise assistance apparatus refers to a mechanism or a device that helps a patient, who cannot walk on their own due to various diseases, accidents, and 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 is worn on the body of a user to assist a muscular strength necessary for the user's exercise and to induce the user to walk for normal exercise.

In general, those with a physical disability wear an exercise assistance apparatus. Unfortunately, they 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 with limited physical mobility to put on an exercise assistance apparatus by themselves without the help of another person.

The above description is information the inventor(s) acquired during the course of conceiving the present disclosure, or already possessed at the time, and is not necessarily art publicly known before the present application was filed.

<CIT> discloses a walking assistance device including: a pelvis support member adapted to be worn around a hip of a wearer; and at least one actuator having a base end mounted on the pelvis support member and a free end engaging a thigh of the wearer, wherein the pelvis support member comprises a substantially U-shaped base portion having a relatively high rigidity and adapted to be worn around the hip of the wearer and a pair of flaps having a relatively high resilient flexibility and extending from either end of the base portion toward each other.

According to an embodiment, a supporter according is provided as defined in the appended claims.

Where the bistable spring is in the first stable state, each of the pair of straps may 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 have 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 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 further 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 further include a pair of auxiliary straps connected to any one of the pair of straps and configured to wrap around the other strap.

The supporter may further include an auxiliary bistable spring provided inside each of the auxiliary straps.

The supporter may further 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 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.

According to an embodiment, an exercise assistance apparatus is provided as defined in the appended claims.

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 a shape extending forward from the main frame.

The exercise assistance apparatus may further 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 further include an inner frame provided inside the strap and include a material that is relatively stiffer than that of the strap.

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, and replacements within the technical scope of the disclosure.

Terms, such as first, second, and the like, may be used herein to describe various components.

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 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> is a front view illustrating an exercise assistance apparatus according to an example embodiment, and <FIG> is a side view illustrating an exercise assistance apparatus according to an example embodiment.

Referring to <FIG> and <FIG>, an exercise assistance apparatus <NUM> 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> illustrates a case in which the exercise assistance apparatus <NUM> assists the user's thigh exercise, the exercise assistance apparatus <NUM> 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>). That is, the exercise assistance apparatus <NUM> may assist a motion of a part of the user's body. Hereinafter, a case in which the exercise assistance apparatus <NUM> assists a motion of a person's thigh is described as an example.

The exercise assistance apparatus <NUM> may include a main body <NUM>, a pair of main frames <NUM>, a pair of straps <NUM>, and an auxiliary strap <NUM> connected to any one of the pair of straps <NUM>, an actuator <NUM>, a joint member <NUM>, and a driving frame <NUM>.

The main body <NUM> may accommodate, therein, a controller (not shown) for controlling the actuator <NUM> and a power supply (not shown) for supplying power to the actuator <NUM>. For example, the main body <NUM> may be on the user's back side, based on a state in which the exercise assistance apparatus <NUM> is worn on the user's body.

The pair of main frames <NUM> may be connected to the main body <NUM>. The main frame <NUM> may be fixed onto the user. The main frame <NUM> may contact at least a portion of the user's outer surface. The main frame <NUM> may have a shape surrounding the user's outer surface. The main frame <NUM> may be curved in a shape corresponding to the user's contacted portion. That is, the main frame <NUM> may include a curved surface in contact with the user. For example, the main frame <NUM> may be fixed to one side of the user's waist.

The pair of straps <NUM> may be, respectively, connected to the pair of main frames <NUM>.

The pair of straps <NUM> may maintain a shape extending forward (+x direction) before the user wears the exercise assistance apparatus <NUM> and may not prevent the user from entering the inside of the pair of main frames <NUM>. On the other hand, where the user enters the inside of the pair of main frames <NUM>, the pair of straps <NUM> may transform, as illustrated in the diagram, and wrap around the front portion of the user. The main body <NUM>, the pair of main frames <NUM>, and the pair of straps <NUM> may entirely wrap around the circumference of the user.

The pair of auxiliary straps <NUM> and the pair of straps <NUM> may be fixed to each other with the pair of straps <NUM> overlapping each other. For example, one of the pair of straps <NUM> may wrap around the other strap together with the pair of auxiliary straps <NUM>.

The actuator <NUM> may provide power that is to be transmitted to the joint member <NUM>. The actuator <NUM> may include a motor that generates power by receiving voltage or current from the power supply. For example, the actuator <NUM> may be in a lateral direction of the joint member <NUM>. That is, a rotation axis of the actuator <NUM> and a rotation axis of the joint member <NUM> may be apart from each other. In this case, compared to the case where the actuator <NUM> and the joint member <NUM> share a rotation axis, the case where the rotation axis of the actuator <NUM> and the rotation axis of the joint member <NUM> are apart from each other may reduce a height protruding from the user. Moreover, unlike the diagram, the actuator <NUM> may be apart from the joint member <NUM>. In this case, a power transmission module for transmitting power from the actuator <NUM> to the joint member <NUM> 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 <NUM> may not be limited.

The joint member <NUM> may receive power from the actuator <NUM> to assist a motion of the user's joint. The joint member <NUM> may be at a position corresponding to the user's joint. The joint member <NUM> may be on one side of the main frame <NUM>. One side of the joint member <NUM> may be connected to the actuator <NUM>, and the other side of the joint member <NUM> may be connected to the driving frame <NUM>. The joint member <NUM> may be rotated by power transmitted from the actuator <NUM>. An encoder for measuring a rotation angle of the joint member <NUM> may be on one side of the joint member <NUM>.

The driving frame <NUM> may partially assist the user's motion. The driving frame <NUM> may be rotated by the rotational force of the joint member <NUM>. The driving frame <NUM> may include a support frame <NUM>, an action member <NUM>, and a support member <NUM>.

The support frame <NUM> may transmit an auxiliary force for assisting a motion of a part of the user'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'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's body from among forces acting on the part of the user's body. One end portion of the support frame <NUM> may be connected to and meet the joint member <NUM>. The other end of the support frame <NUM> may be connected to the support member <NUM> to transmit the auxiliary force to a part of the user's body. For example, the support frame <NUM> may push or pull the user's thigh. The support frame <NUM> may extend along the longitudinal direction of the user's thigh. The support frame <NUM> may be bent to wrap around at least a portion of the circumference of the user's thigh.

The action member <NUM> may apply an auxiliary force to a part of the user's body. The action member <NUM> may be between the other end portion of the support frame <NUM> and the support member <NUM>. For example, the action member <NUM> may be on one side of the user's thigh to push or pull the user's thigh. The action member <NUM> may be on the front side of the user's thigh. The action member <NUM> may be along the circumferential direction of the user's thigh. The action member <NUM> may extend to both sides around the other end portion of the support frame <NUM>. The action member <NUM> may include a curved surface corresponding to the user's thigh.

The support member <NUM> may be connected to one side of the action member <NUM>. For example, the support member <NUM> may surround at least a portion of the user's thigh, so that the support member <NUM> may prevent the user's thigh from being separated from the support frame <NUM>.

<FIG> is a plan view illustrating a supporter when a bistable spring is in a first stable state, according to an example embodiment, and <FIG> is a plan view illustrating a supporter when a bistable spring is in a second stable state, according to an example embodiment.

Referring to <FIG> and <FIG>, an exercise assistance apparatus <NUM> may include a supporter A that is worn on a user's body to supporter a part of the user's body. Here, the supporter A may include a main body <NUM>, a pair of main frames 20a and 20b, a pair of straps <NUM> and <NUM>, a bistable spring <NUM>, a pad <NUM> and a pair of auxiliary straps <NUM> and <NUM>.

The pair of main frames 20a and 20b may include the first main frame 20a connected to the right side of the main body <NUM> and the second main frame 20b connected to the left side of the main body <NUM>. The pair of main frames 20a and 20b may partially surround a part of the user's body.

The pair of straps <NUM> and <NUM> may include the first strap <NUM> connected to the first main frame 20a and the second strap <NUM> connected to the second main frame 20b.

The first strap <NUM> and the second strap <NUM> may each have a 'first shape' as illustrated in <FIG> or a 'second shape' as illustrated in <FIG>. For example, where the first strap <NUM> or the second strap <NUM> temporarily fails to maintain the 'first shape' or the 'second shape' due to an external force, the first strap <NUM> or the second strap <NUM> may be restored to the 'first shape' or the 'second shape' by a restoring force of the bistable spring <NUM>.

Where the user does not enter the inside of the pair of main frames 20a and 20b, each of the straps <NUM> and <NUM> may maintain the 'first shape' and a shape extending forward from the pair of main frames 20a and 20b. On the other hand, when the user wears the exercise assistance apparatus <NUM>, that is, when the user enters the inside of the pair of main frames 20a and 20b, each of the straps <NUM> and <NUM> 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 <NUM> and <NUM> by hand to transform the pair of straps <NUM> and <NUM> from the 'first shape' to the 'second shape'.

The bistable spring <NUM> may be provided inside each of the straps <NUM> and <NUM> 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 <NUM> has a shape extending straight along the longitudinal direction and a 'second stable state' in which the bistable spring <NUM> has a shape that is bent once.

A shape of a strap may be determined according to a shape of the bistable spring <NUM>. For example, when the bistable spring <NUM> is in the 'first stable state', the strap may maintain the 'first shape', and when the bistable spring <NUM> is in the 'second stable state', the strap may maintain the 'second shape'.

Where the bistable spring <NUM> provided inside the pair of straps <NUM> and <NUM> is in the 'first stable state', the pair of straps <NUM> and <NUM> may maintain shapes extending forward (+x direction) from the pair of main frames 20a and 20b, respectively.

Where the bistable spring <NUM> provided inside the pair of straps <NUM> and <NUM> is in the 'second stable state', the pair of straps <NUM> and <NUM> may overlap each other in the +x direction.

The pad <NUM> may be provided on the inside of a strap and overlap the bistable spring <NUM> in a direction perpendicular to the longitudinal direction of the strap. For example, the pad <NUM> provided on the inside (-y direction) of the first strap <NUM> may overlap the bistable spring <NUM> provided inside the first strap <NUM>, based on a direction (y-axis direction) perpendicular to the longitudinal direction (x-axis) of the strap <NUM>.

The pad <NUM> may adjust an angle formed by the pair of straps <NUM> and <NUM> when the pair of straps <NUM> and <NUM> is in the 'second shape'. The pad <NUM> may act as a resistance while the pair of straps <NUM> and <NUM> is in transition from the 'first shape' to the 'second shape'. As the thickness of the pad <NUM> increases, the angle formed by the pair of straps <NUM> and <NUM> in the 'second shape' may increase. The pad <NUM> may be detachable from the pair of straps <NUM> and <NUM>. The exercise assistance apparatus may be adjusted to fit the user's body size by appropriately utilizing the thickness and material of the pad <NUM> to adjust an angle of the strap in the 'second shape'.

The pair of straps <NUM> and <NUM> may be fixed by surrounding the second strap <NUM>, in a state in which the pair of auxiliary straps <NUM> and <NUM> is connected to the first strap <NUM> and the first strap <NUM> overlaps the second strap <NUM>. For example, an auxiliary bistable spring (not shown) may be provided inside the pair of auxiliary straps <NUM> and <NUM>.

<FIG> is a perspective view illustrating a bistable spring in a first stable state, <FIG> is a perspective view illustrating a bistable spring in a second stable state, and <FIG> is a schematic graph of potential energy according to a displacement angle of a bistable spring.

Referring to <FIG>, when a bistable spring <NUM> is in the 'first stable state', the bistable spring <NUM> may have a protruding shape in a direction (x-axis direction) perpendicular to the longitudinal direction (y-axis direction). The bistable spring <NUM> 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 <NUM> is in the 'second stable state', the bistable spring <NUM> may have a relatively flat shape except for a curved portion.

A state where the bistable spring <NUM> is <NUM> degrees and a state where the bistable spring is <NUM> 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 <NUM> degrees or <NUM> degrees and may vary depending on a material or shape of a bistable spring.

<FIG> is a cross-sectional view taken along the line VIII-VIII of <FIG>, <FIG> is a cross-sectional view taken along the line IX-IX of <FIG>, and <FIG> is a cross-sectional view illustrating a main frame, a strap, and a bistable spring, according to an example embodiment.

Referring to <FIG>, a strap <NUM> may include an accommodation space s for accommodating a bistable spring <NUM>. A position of the bistable spring <NUM> may be fixed with respect to a longitudinal direction of the strap <NUM>. For example, the width of the accommodation space s based on the longitudinal direction of the strap <NUM> may be the same as the width of the bistable spring <NUM>.

On the other hand, based on a direction perpendicular to the longitudinal direction of the strap <NUM>, the width of the accommodating space s may be greater than the width of the strap <NUM>. 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 <NUM>.

In the first stable state, a width W1 of the bistable spring <NUM> may be less than a width D1 of the accommodation space s. In addition, in the second stable state, a width W2 of the bistable spring <NUM> may be greater than the width W1 of the bistable spring <NUM> and less than the width D1 of the accommodation space s. According to such a structure, the bistable spring <NUM> may transform a state without interfering with the inner wall of the strap <NUM> forming the accommodation space s.

A length L of the bistable spring <NUM> may be equal to a length D of the accommodation space s. The bistable spring <NUM> may be fixed inside the strap <NUM>.

<FIG> is a cross-sectional view illustrating a state in which a second strap approaches a first strap, and <FIG> is a cross-sectional view illustrating a state in which a pair of straps is fixed by a fastening member.

Referring to <FIG> and <FIG>, each of auxiliary straps <NUM> and <NUM> may be provided with an auxiliary bistable spring <NUM>. The pair of auxiliary straps <NUM> and <NUM> may maintain a straight shape in a state in which an external force is not applied to the pair of auxiliary straps <NUM> and <NUM> by the auxiliary bistable spring <NUM>. Since the pair of auxiliary straps <NUM> and <NUM> maintains a shape extending straight, a user may bring a second strap <NUM> closer to a first strap <NUM> without opening the pair of auxiliary straps <NUM> and <NUM>.

Each of the auxiliary straps <NUM> and <NUM> may be provided with a magnet <NUM> for fixation. Based on a state in which the auxiliary straps <NUM> and <NUM> overlap each other, the magnet <NUM> provided in the first strap <NUM> and the magnet <NUM> provided in the second strap <NUM> may face each other with opposite polarity.

<FIG> and <FIG> are plan views illustrating a supporter according to an example embodiment.

Referring to <FIG> and <FIG>, an exercise assistance apparatus <NUM> may include a main body <NUM>, a main frame <NUM>, a strap <NUM>, a bistable spring <NUM>', a pad <NUM>', and auxiliary straps <NUM> and <NUM>.

The bistable springs <NUM> ' and the pads <NUM> 'may be provided in plurality and apart from each other in the longitudinal direction of the strap <NUM>. A stable shape implementable by the strap <NUM>' may be adjusted through a plurality of bistable springs <NUM>'. For example, in the case of a user with a large torso, the strap <NUM>' may need to be bent multiple times. In this case, the number of times the strap <NUM>' is bent may be set by using the plurality of bistable springs <NUM>'.

<FIG> is a plan view schematically illustrating a supporter according to an example embodiment, and <FIG> and <FIG> are cross-sectional views illustrating a main frame, a strap, a bistable spring, and an inner frame, according to an example embodiment.

Referring to <FIG>, a supporter A may include a main frame <NUM>', a pair of straps <NUM> connected to both ends of the main frame <NUM> ', respectively, a bistable spring <NUM> provided inside the strap <NUM>, and an inner frame <NUM> connected to each of both end portions of the bistable spring <NUM>.

The main frame <NUM> ' may not be connected to a main body, unlike the main frame described with reference to <FIG>. The main frame <NUM>' may have, for example, a U-shape. The supporter A may wrap around a part of a user's body.

The inner frame <NUM> may be formed of a material relatively stronger than the strap <NUM>. The inner frame <NUM> may assist the strap <NUM> to maintain a shape. For example, the inner frame <NUM> may include a first inner frame <NUM>, which extends from one end of the main frame <NUM> ' and is connected to one end of the bistable spring <NUM>, and a second inner frame <NUM>, which is connected to the other end of the bistable spring <NUM> and extends toward one end of the strap <NUM>.

The inner frame <NUM> may not be exposed to the outside since the inner frame <NUM> is covered by the strap <NUM>. The inner frame <NUM> may fix the position of the bistable spring <NUM> provided inside an accommodation space s.

<FIG> 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>, 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's upper arm to assist the user'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's thigh to assist the user'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.

Claim 1:
A supporter comprising:
a main body (<NUM>);
a pair of main frames (20a, 20b) connected to the main body (<NUM>);
a pair of straps (<NUM>, <NUM>', <NUM>, <NUM>) connected to the pair of main frames (20a, 20b), respectively; and
a bistable spring (<NUM>, <NUM>') which is provided inside each of the pair of the straps (<NUM>, <NUM>', <NUM>, <NUM>) and maintained in one of two stable states by a restoring force,
wherein the two stable states correspond to different displacements of the bistable spring (<NUM>, <NUM>') resulting in a smallest potential energy, wherein the bistable spring (<NUM>, <NUM>') has a shape extending straight along the longitudinal direction in a first stable state and has a shape that is bent once in a second stable state, and
the shape of the strap (<NUM>, <NUM>', <NUM>, <NUM>) is determined according to the shape of the bistable spring (<NUM>, <NUM>').