Patent Description:
The content described in this section simply provides background information for the present disclosure and does not constitute prior art.

A wearable robot and a wearable suit (hereinafter, collectively referred to as a "wearable suit") refer to a type of robot worn on a human body. A user directly takes charge of posture control, context-awareness, and motion signal generation, which are handled by artificial intelligence of a robot, and the wearable suit supports a muscular strength and mobility of the user in response to various situations.

As a sensor, control, and a software technology develop, a wearable suit is used in various fields such as military, disaster relief, industrial work, rehabilitation treatment, and daily life assistance. The wearable suit can increase a work execution time and a work performance range of a user by assisting physical ability of the user in environments such as disaster sites and mountainous terrain. The wearable suit can be used for work and rehabilitation treatment by assisting the muscular strength and physical defects of the user in daily life.

The wearable suit can be divided into a passive type and an active suit according to the power implementation method. Here, the passive type means a method using a preset force such as a spring or an elastic band, and the active type means a method using a variable force such as a motor or hydraulic pressure.

<CIT> discloses systems comprising an elastic body to assist with human motion during physical activities. In the document it is described that the elastic body may be designed to be shorter than its anchor points to provide tensile forces while the user is standing.

The object of the present invention is to provide a wearable suit that can be more efficiently and comfortably implemented.

Although terms such as "first," "second," and "third", or A, B, (a), (b), and the like may be used herein to describe various members, components, regions, layers, portions, or sections, these members, components, regions, layers, portions, or sections are not to be limited by these terms. Each of these terminologies is not used to define an essence, order, or sequence of corresponding members, components, regions, layers, portions, or sections, for example, but used merely to distinguish the corresponding members, components, regions, layers, portions, or sections from other members, components, regions, layers, portions, or sections. Thus, a first member, component, region, layer, portions, or section referred to in the examples described herein may also be referred to as a second member, component, region, layer, portions, or section without departing from the teachings of the examples.

Throughout the specification, when a component or element is described as being "connected to," "coupled to," or "joined to" another component or element, it may be directly "connected to," "coupled to," or "joined to" the other component or element, or there may reasonably be one or more other components or elements intervening therebetween. When a component or element is described as being "directly connected to," "directly coupled to," or "directly joined to" another component or element, there can be no other elements intervening therebetween. Likewise, expressions, for example, "between" and "immediately between" and "adjacent to" and "immediately adjacent to" may also be construed as described in the foregoing. For example, "A and/or B" may be interpreted as "A," "B," or "A and B.

The terminology used herein is for the purpose of describing particular examples only and is not to be limiting of the examples. The singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

A wearable suit according to one embodiment assists a muscular strength of a user using a muscular strength assistance unit including an elastic body, thereby simplifying the structure, reducing weight, and removing noise caused by driving a motor.

A wearable suit according to one embodiment can provide sufficient assistance force to the user even at the beginning of operation by using a stopper that fixes the elastic body in a contracted or expanded state.

A term "~unit," "module," or the like, described in the specification means a unit of processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software.

Unless otherwise stated, it should be noted that a description of any one embodiment may be applied to other embodiments as well.

The description of the present disclosure to be disclosed below with the accompanying drawings is intended to describe exemplary embodiments of the present disclosure, and is not intended to represent the only embodiments in which the present disclosure may be practiced.

<FIG> is a diagram illustrating the configuration of a wearable suit according to one embodiment of the present disclosure.

<FIG> is a diagram illustrating a user wearing a wearable suit according to one embodiment of the present disclosure.

<FIG> is a diagram illustrating a fixing unit according to another embodiment of the present disclosure.

<FIG> is a block diagram of a wearable suit according to one embodiment of the present disclosure.

Referring to <FIG>, a wearable suit <NUM> according to one embodiment of the present disclosure includes a body unit <NUM>, a fixer <NUM>, which may also be referred to as a fixing unit <NUM>, coupler <NUM>, which may also be referred to as a coupling unit <NUM>, a connector <NUM>, which may also be referred to as a connecting unit <NUM>, a control unit <NUM>, and a power supply unit <NUM>.

The body unit <NUM> may include a housing <NUM> and a muscular strength assistor <NUM>, which may also be referred to as muscular strength assistance unit <NUM>.

The muscular strength assistance unit <NUM> may include an elastic body 112a, a terminal 112b, and a supporting member (supporting member, 112c).

The fixing unit <NUM> may include a shoulder belt <NUM>, a chest belt <NUM>, and a waist belt <NUM>.

The coupling unit <NUM> may include an arm coupling unit <NUM> and a leg coupling unit <NUM>.

The connecting unit <NUM> may include an arm connecting unit <NUM> and a leg connecting unit <NUM>.

The body unit <NUM> is disposed in at least a part of an upper body of a user <NUM>. The body unit <NUM> may be disposed behind the upper body of the user <NUM>. For example, at least a part of the body unit <NUM> may be formed of an elastic material such as a spring. For example, the aforementioned elastic material may be a shape memory alloy. The body unit <NUM> may be connected to at least a part of the fixing unit <NUM>. The body unit <NUM> may be connected to the shoulder belt <NUM> and the waist belt <NUM>. The body unit <NUM> is connected to the connecting unit <NUM>. The body unit <NUM> is connected to the coupling unit <NUM> using a connecting unit <NUM>. The body unit <NUM> may be controlled by the control unit <NUM> to be activated and deactivated.

The housing <NUM> is disposed in at least a part of the upper body of the user <NUM>. The housing <NUM> may include an accommodation space therein. In the accommodation space inside the housing <NUM>, at least some of the muscular strength assistance unit <NUM>, the control unit <NUM>, the power supply unit <NUM>, a guiding unit <NUM> (refer to <FIG>) and the connecting unit <NUM> may be disposed. The housing <NUM> and the shoulder belt <NUM> may be formed in a backpack shape.

The muscular strength assistance unit <NUM> is configured to assist the muscular strength of the user <NUM>. The muscular strength assistance unit <NUM> may be disposed inside the housing <NUM>. At least a part of the muscular strength assistance unit <NUM> may be formed of an elastic material such as a spring. For example, the elastic material described above may be a shape memory alloy. At least a part of the muscular strength assistance unit <NUM> may contract and expand. Power may be applied to the muscular strength assistance unit <NUM> by the power supply unit <NUM>. At least a part of the muscular strength assistance unit <NUM> is connected to the connecting unit <NUM>. The muscular strength assistance unit <NUM> may be connected to the coupling unit <NUM> using the connecting unit <NUM>. The number of muscular strength assistance units <NUM> may be plural. The muscular strength assistance unit <NUM> may be controlled by the control unit <NUM>.

The elastic body 112a may generate an assistance force to assist a movement of the user by using an elastic restoring force. The elastic body 112a may be formed of, for example, a shape memory alloy material. The elastic body 112a is formed to be able to contract and expand. The elastic body 112a may be disposed inside the housing <NUM>. The elastic body 112a may be electrically connected to the terminal 112b. The elastic body 112a may be connected to the supporting member 112c. As the elastic body 112a contracts or expands, the terminal 112b and the supporting member 112c may move.

When the elastic body 112a is formed of a shape memory alloy material, the elastic body 112a may contract and expand using power supplied from the power supply unit <NUM>. Heat is generated by the power applied to the elastic body 112a and electrical resistance of the elastic body 112a. As the temperature of the elastic body 112a increases, the elastic body 112a contracts. As the power supplied to the elastic body 112a is cut off, the elastic body 112a may be cooled.

The number of elastic bodies 112a may be plural. The plurality of elastic bodies 112a may be disposed in series and/or parallel to each other. In this case, the plurality of elastic bodies 112a may be disposed in an appropriate form in consideration of resistance of the elastic body 112a and/or power supplied from the power supply unit <NUM>.

In this way, when the elastic body (112a) is used as a driving source of the wearable suit <NUM>, compared to the case of using a motor as a driving source, it is possible to assist the muscular strength of the user <NUM> with a simple configuration, it is possible to reduce the weight of the wearable suit <NUM>, it is advantageous in terms of cost, and noise caused by the driving of a motor can be reduced.

Specifically, when a motor is used as a driving source, a reducer is additionally required to change the rotation of the motor into linear motion or slow angular motion. When the elastic body 112a is used as the driving source for the wearable suit <NUM>, it is possible to assist the muscular strength of the user <NUM> with a relatively simple configuration since no additional configuration such as the reducer is required.

A motor that produces a general output of about 150W has a weight of about <NUM>, and as described above, a separate reducer is required. Meanwhile, when the elastic body 112a is used as the driving source of the wearable suit <NUM>, it can be configured with a weight of about <NUM> to produce a similar output, and an additional configuration such as a reducer is unnecessary. Accordingly, the weight of the wearable suit <NUM> can be significantly reduced.

In order to produce motors, core processes such as winding, fusing, and inspection are required, which cannot be performed manually, so process development and specialized production lines are required. In addition, when the elastic body 112a is formed of a shape memory alloy, the price of the shape memory alloy is cheaper than that of magnetic materials (for example, neodymium) and copper, which are core parts of the motor. Accordingly, when the elastic body 112a is used as the driving source of the wearable suit <NUM>, the need for process development and specialized production lines is excluded, manufacturing costs are reduced, and economic feasibility can be improved.

An AC motor, a DC motor, and the like require a brush to supply electricity to a rotor, and the lifespan is limited and the size increases due to the configuration of the brush. Even when a brushless motor is considered to compensate for this, it is necessary to develop a dedicated brushless motor for application to a specific field (for example, wearable suit, or the like), and this requires cost and specialized manpower (for example, doctoral level manpower, or the like). In addition, a separate controller is essential for a brushless motor, and even when the development of a dedicated motor is successful, it is a reality that the cost of a 100W to 500W class motor for application to wearable suits <NUM> is minimized only when there is an annual demand of more than <NUM>,<NUM> units. Meanwhile, when the elastic body 112a is used as the driving source of the wearable suit <NUM>, an additional configuration such as the brush is not required, so the lifespan is not limited and the size of the driving source can be reduced. In addition, since there is no need to separately develop a dedicated driving source, costs and manpower are reduced.

Furthermore, in a case where the elastic body 112a is formed of a shape memory alloy material, as it is possible to change the elastic modulus of the elastic body 112a through the supply of power, by controlling power supply according to various situations, it is possible to provide assistance force and/or driving characteristics of various sizes.

The terminal 112b may be formed on the supporting member 112c. The terminal 112b may be electrically connected to the elastic body 112a. The terminal 112b may be electrically connected to the power supply unit <NUM>. The terminal 112b may transmit power supplied from the power supply unit <NUM> to the elastic body 112a. The terminal 112b may be connected to the elastic body 112a and the supporting member 112c. As the elastic body 112a contracts or expands, the terminal 112b may move together with the supporting member 112c. The terminal 112b may be disposed inside the housing <NUM>.

The supporting member 112c is connected to the elastic body 112a and the terminal 112b to support the elastic body 112a and the terminal 112b. The supporting members 112c may be disposed on both sides of the elastic body 112a. The supporting member 112c may be disposed inside the housing <NUM>. The terminal 112b may be formed on the supporting member 112c. The supporting member 112c may be formed of an insulating material. The number of supporting members 112c may be plural. Some of the plurality of supporting members 112c may be connected to the connecting unit <NUM>. The supporting member 112c connected to the connecting unit <NUM> moves as the elastic body 112a contracts or expands to assist the muscular strength of the user <NUM>. Others of the plurality of supporting members 112c may be fixed inside the housing <NUM>. For example, at least some of the plurality of supporting members 112c to be connected to the connecting unit <NUM> are movably installed with respect to the housing <NUM>, and at least some of the supporting members 112c that are not connected to the connecting unit <NUM> may be provided to be fixed to the housing <NUM>.

The fixing unit <NUM> fixes the body unit <NUM> to the upper body of the user <NUM>. At least a part of the fixing unit <NUM> may be connected to the housing <NUM>. The fixing unit <NUM> may include one or more of the shoulder belt <NUM>, the chest belt <NUM>, the waist belt <NUM>, and a leg belt.

The shoulder belt <NUM> fixes the body unit <NUM> to the upper body of the user <NUM>. When the user <NUM> wears the wearable suit <NUM>, the shoulder belt <NUM> may be configured to surround the shoulder of the user <NUM>. Both sides of the shoulder belt <NUM> may be connected to the housing <NUM>. At least a part of the chest belt <NUM> may be connected to the shoulder belt <NUM>.

The chest belt <NUM> fixes the body unit <NUM> to the upper body of the user <NUM>. When the user <NUM> wears the wearable suit <NUM>, the chest belt <NUM> may be configured to cover the chest of the user <NUM>. At least a part of the chest belt <NUM> may be connected to the shoulder belt <NUM>. A middle part of the chest belt <NUM> may be formed into a structure that can be combined and separated.

The waist belt <NUM> fixes the body unit <NUM> to the upper body of the user <NUM>. When the user <NUM> wears the wearable suit <NUM>, the waist belt <NUM> may be configured to surround the waist of the user <NUM>. Both sides of the waist belt <NUM> may be connected to the housing <NUM>. A middle part of the waist belt <NUM> may be formed in a structure capable of being coupled and separated. According to the waist belt <NUM>, a state in which the body unit <NUM> is positioned in the upper body of the user <NUM> can be stably maintained. Meanwhile, even when the waist belt <NUM> is not provided, it should be noted that the body unit <NUM> can be located at the upper body of the user <NUM> by the fixing force of the leg belt, which will be described later, or by the weight of the body unit <NUM> and the shoulder belt <NUM>.

The leg belt may fix the body unit <NUM> to the upper body of the user <NUM>. When the wearable suit <NUM> assists the muscular strength of the arms of the user <NUM>, the leg belt fixes the body unit <NUM> to the upper body of the user <NUM>. In this case, the leg coupling unit <NUM> and the leg connecting unit <NUM> may serve as the leg belt. Meanwhile, when the wearable suit <NUM> assists only the arms of the user <NUM>, it should be noted that the leg belt may be omitted.

As illustrated in <FIG>, the fixing unit <NUM> may be provided in the form of a vest. The vest-shaped fixing unit <NUM> may be understood as integrally formed with two or more of the shoulder belt <NUM>, the chest belt <NUM>, and the waist belt <NUM>. For example, the fixing unit <NUM> may be formed in a shape in which the left and right shoulder belts <NUM> are connected to each other by a fastening means such as a zipper or a button.

The coupling unit <NUM> is coupled to at least a part of the body of the user <NUM>. The coupling unit <NUM> may be coupled to at least some of the arms and/or legs of the user <NUM>. The coupling unit <NUM> may be connected to the body unit <NUM> by the connecting unit <NUM>. The coupling unit <NUM> may be connected to the muscular strength assistance unit <NUM> to assist the muscular strength of the user <NUM>. The number of coupling units <NUM> may be plural. The coupling unit <NUM> may be formed in a band shape.

The arm coupling unit <NUM> couples with at least a part of the arm of the user <NUM>. The arm coupling unit <NUM> is connected to the muscular strength assistance unit <NUM> by the arm connecting unit <NUM>, and may assist the muscular strength of the arm of the user <NUM>.

The leg coupling unit <NUM> is coupled to at least a part of the leg of the user <NUM>. The leg coupling unit <NUM> is connected to the muscular strength assistance unit <NUM> by the leg connecting unit <NUM>, and may assist the muscular strength of the leg and/or waist of the user <NUM>. When the wearable suit <NUM> assists the muscular strength of the arm of the user <NUM>, the leg coupling unit <NUM> may form a part of a leg belt.

The connecting unit <NUM> connects the body unit <NUM> and the coupling unit <NUM>. The connecting unit <NUM> connects the muscular strength assistance unit <NUM> and the coupling unit <NUM>. As the elastic body 112a contracts or expands, at least a part of the connecting unit <NUM> may move. The connecting unit <NUM> may be formed of an inflexible material. For example, at least a part of the connecting unit <NUM> may be formed of a polyester material. The connecting unit <NUM> may have a thickness of <NUM> to <NUM>. By inserting at least a part of the connecting unit <NUM> into the guiding member <NUM> (refer to <FIG>), the position of the connecting unit <NUM> may be guided and/or fixed.

The arm connecting unit <NUM> connects the body unit <NUM> and the arm coupling unit <NUM>. The arm connecting unit (<NUM>) connects the muscular strength assistance unit (<NUM>) and the arm coupling unit (<NUM>). As the elastic body 112a contracts or expands, at least a part of the arm connecting unit <NUM> moves to assist the muscular strength of the arm of the user <NUM>.

Meanwhile, when the wearable suit <NUM> is provided to assist the muscular strength of the leg and/or waist of the user <NUM>, the arm coupling unit <NUM> and the arm connecting unit <NUM> may be omitted.

The leg connecting unit <NUM> connects the body unit <NUM> and the leg coupling unit <NUM>. The leg connecting unit <NUM> connects the muscular strength assistance unit <NUM> and the leg coupling unit <NUM>. As the elastic body 112a contracts or expands, at least a part of the leg connecting unit <NUM> moves to assist the muscular strength of the leg and/or waist of the user <NUM>. When the wearable suit <NUM> assists the muscular strength of the arm of the user <NUM>, the leg connecting unit <NUM> may form a part of a leg belt. The leg connecting unit <NUM> may be formed in a "Y" shape or an "H" shape. The leg connecting unit <NUM> may be integrally formed, but is not necessarily limited thereto, and may be formed in a shape in which a plurality of components are combined depending on the purpose and use.

Meanwhile, when the wearable suit <NUM> is provided to assist the muscular strength of the arm of the user <NUM>, the leg coupling unit <NUM> and the leg connecting unit <NUM> may be omitted.

The control unit <NUM> may control each component of the wearable suit <NUM>. The control unit <NUM> may be disposed inside the housing <NUM>. The control unit <NUM> may control the power supply unit <NUM>. The control unit <NUM> may control the body unit <NUM> using the power supply unit <NUM>. The control unit <NUM> may receive an operation signal of the wearable suit <NUM> from the switch. The control unit <NUM> may operate the wearable suit <NUM> based on the signal transmitted from the switch.

The control unit <NUM> may release the operation of the wearable suit <NUM> based on information on a load acting on the wearable suit <NUM>. The control unit <NUM> may release the operation of the wearable suit <NUM> based on whether or not the load acting on the connecting unit <NUM> decreases.

The power supply unit <NUM> may be electrically connected to at least a part of the muscular strength assistance unit <NUM> to supply power to the muscular strength assistance unit <NUM>. The power supply unit <NUM> may be electrically connected to the terminal 112b. The power supply unit <NUM> may be disposed inside the housing <NUM>. Heat is generated by power supplied from the power supply unit <NUM> and electrical resistance of the elastic body 112a, and the temperature of the elastic body 112a rises. Accordingly, the elastic body 112a contracts and provides tension to the connecting unit <NUM>, thereby assisting the muscular strength of the body part, for example, the arm, waist, and/or leg of the user to which the coupling unit <NUM> is mounted. The power supply unit <NUM> may be controlled by the control unit <NUM> to supply or cut off power to the muscular strength assistance unit <NUM>.

<FIG> is a diagram illustrating a wearable suit in which a guiding member according to one embodiment of the present disclosure is installed.

The wearable suit <NUM> according to the present disclosure may further include the guiding member <NUM> configured to guide the position of the connecting unit <NUM>. According to the guiding member <NUM>, by allowing the connecting unit <NUM> to move along a set path, control accuracy can be further improved.

The guiding member <NUM> may guide and/or fix the position of the leg connecting unit <NUM>. The guiding member <NUM> is configured such that at least a part of the leg connecting unit <NUM> is inserted thereinto. The guiding member <NUM> may be disposed inside the housing <NUM>. The guiding member <NUM> may be fixed inside the housing <NUM>. The guiding member <NUM> may be formed in a pipe or ring shape. The number of guiding members <NUM> may be plural.

<FIG> and <FIG> are diagrams illustrating various embodiments of the leg connecting unit according to the present disclosure.

Referring to <FIG> and <FIG>, the leg connecting unit <NUM> according to one embodiment of the present disclosure may include a first leg connecting unit <NUM>, a second leg connecting unit <NUM>, and a third leg connecting unit <NUM>.

One side of the first leg connecting unit <NUM> is connected to the body unit <NUM>. One side of the first leg connecting unit <NUM> may be connected to the supporting member 112c of the muscular strength assistance unit <NUM>. As the elastic body 112a contracts or expands, at least a part of the first leg connecting unit <NUM> may move together with the supporting member 112c. The other side of the first leg connecting unit <NUM> may be connected to the third leg connecting unit <NUM>. The first leg connecting unit <NUM> may be connected to the second leg connecting unit <NUM> by the third leg connecting unit <NUM>. A cross section of the first leg connecting unit <NUM> may have a circular shape. The first leg connecting unit <NUM> may be formed of a polyester material. The number of the first leg connecting units <NUM> may be plural. Depending on the purpose and use, the first leg connecting unit <NUM> may be formed in various lengths.

One side of the second leg connecting unit <NUM> is connected to the leg coupling unit <NUM>. The other side of the second leg connecting unit <NUM> may be connected to the third leg connecting unit <NUM>. The second leg connecting unit <NUM> may be connected to the first leg connecting unit <NUM> by a third leg connecting unit <NUM>. The second leg connecting unit <NUM> may be formed of a polyester material. The second leg connecting unit <NUM> may have a shape with a width wider than a thickness. According to this shape, by thinning the thickness of the part in contact with the body (for example, waist, buttocks, and/or thighs) of the user of the leg connecting unit <NUM> based on the state in which the user is sitting on a chair for rest, it is possible to sufficiently secure the rigidity of the second leg connecting unit <NUM> while eliminating discomfort during seating. For example, the second leg connecting unit <NUM> may be formed in a thin and flat shape (for example, a webbing belt shape) similar to a seat belt of a vehicle. The number of the second leg connecting units <NUM> may be plural. Depending on the purpose and use, the second leg connecting unit <NUM> may be formed in various lengths.

The third leg connecting unit <NUM> is disposed between the first leg connecting unit <NUM> and the second leg connecting unit <NUM>. The third leg connecting unit <NUM> connects the other side of the first leg connecting unit <NUM> and the other side of the second leg connecting unit <NUM>. The third leg connecting unit <NUM> may support and/or fix the first leg connecting unit <NUM> and the second leg connecting unit <NUM>. The third leg connecting unit <NUM> may be formed in a ring or bar shape.

For example, as illustrated in <FIG>, when the third leg connecting unit <NUM> is formed in a ring shape, according to such a structure, the structure is simple, and a pair of second leg connecting units can improve the left-right balance. For example, the second leg connecting unit <NUM> may be installed in the third leg connecting unit <NUM> to be movable along the circumference of the third leg connecting unit <NUM>.

For example, as illustrated in <FIG>, when the third leg connecting unit <NUM> is formed in a bar shape, by sufficiently spaced the distance between the pair of second leg connecting units <NUM>, it is possible to reduce the portion where the second leg connecting unit <NUM> touches the buttocks of the user. In addition, by reducing the angle formed by the second leg connecting unit <NUM> with respect to the transmission direction of force from the muscular strength assistance unit <NUM> to the leg coupling unit <NUM>, power transmission efficiency can be improved.

<FIG> and <FIG> are diagrams illustrating an operating principle of the wearable suit according to one embodiment of the present disclosure.

<FIG> and <FIG> are diagrams illustrating the operating principle of the muscular strength assistance unit according to one embodiment of the present disclosure.

The operating principle of the wearable suit <NUM> according to one embodiment of the present disclosure will be described with reference to <FIG>.

The user <NUM> wearing the wearable suit <NUM> approaches a heavy object <NUM> in order to move the heavy object <NUM> to a moving place such as a work table <NUM>. The user <NUM> may stretch his/her arms or bend his/her waist to lift the heavy object <NUM>. Accordingly, the elastic body 112a expands. The user <NUM> may transfer the operation signal of the wearable suit <NUM> to the control unit <NUM> using a switch or the like. The control unit <NUM> controls the power supply unit <NUM> so that power is supplied from the power supply unit <NUM> to the muscular strength assistance unit <NUM>. Heat may be generated by power supplied from the power supply unit <NUM> and electrical resistance of the elastic body 112a. The temperature of the elastic body 112a may increase and the elastic body 112a may contract. As the elastic body 112a contracts, the muscular strength of the body of the user connected to the muscular strength assistance unit <NUM> can be assisted. As a result, the user <NUM> can move the heavy object <NUM> to the moving place such as the work table <NUM> with a small force.

<FIG> is a diagram illustrating a structure of an actuator according to one embodiment of the present disclosure.

<FIG> and <FIG> are displacement-assistance force graphs for each of an elastic body in equilibrium and an elastic body with initial displacement.

<FIG> and <FIG> are diagrams illustrating various embodiments of a frame according to one embodiment of the present disclosure.

<FIG> and <FIG> are diagrams illustrating a magnitude of an initial assistance force according to a position of a stopper according to one embodiment of the present disclosure.

<FIG> is a diagram illustrating a structure of an actuator capable of changing the initial displacement of the elastic body according to one embodiment of the present disclosure.

Referring to <FIG>, the muscular strength assistance unit <NUM> of the wearable suit <NUM> according to one embodiment of the present disclosure includes the elastic body 112a, the terminal 112b, the supporting member 112c, a stopper <NUM>, and frame <NUM>. Hereinafter, descriptions overlapping with those described above with respect to <FIG> will be omitted, and the features of the stopper <NUM> and frame <NUM> of the muscular strength assistance unit <NUM> and the elastic body 112a related to them will be described in detail. However, it should be noted that all contents regarding the above-described elastic body 112a, terminal 112b, supporting member 112c, or the like may be equally applied to an extent that they do not conflict with contents to be described below.

Meanwhile, the elastic body 112a, the terminal 112b, the supporting member 112c, the stopper <NUM>, and the frame <NUM> may be collectively referred to as an "actuator". When the actuator is used as a power source of the wearable suit <NUM> to assist the muscular strength of the user (<NUM>, refer to <FIG>, or the like), the actuator may be referred to as a "muscular strength assistance unit (<NUM>, refer to <FIG>, or the like)". Hereinafter, for convenience of explanation, it will be described assuming that the actuator is applied as the muscular strength assistance unit <NUM> to the wearable suit <NUM> configured to assist the muscular strength of the user <NUM>, but it should be noted that the actuator according to the present disclosure can be utilized in any region where it is necessary to provide power.

The muscular strength assistance unit <NUM> (actuator) may include the elastic body 112a formed of an elastic material. In other words, at least a part of the muscular strength assistance unit <NUM> may be made of an elastic body 112a. The elastic body 112a is formed of an elastic material such as a spring or elastic band, and may generate power (for example, an assistance force that assists the muscular strength of the user <NUM> of the wearable suit <NUM>) by a repulsive force. The elastic body 112a is fixed by the stopper <NUM> in a state of contracting or expanding as much as an initial displacement Ds so that the muscular strength assistance unit <NUM> generates an initial assistance force (Fs, refer to <FIG> or the like) equal to or greater than a threshold. Here, the initial assistance force Fs means an assistance force that occurs at the beginning of the operation of the wearable suit <NUM>, and for example, refers to an assistance force generated simultaneously with the movement of the user <NUM> wearing the wearable suit <NUM> in a direction opposite to the direction of action of the assistance force. The elastic body 112a is fixed by the stopper <NUM> in the contracted or expanded state by the initial displacement Ds, and as the user <NUM> wears the wearable suit <NUM> and performs work, the elastic body 112a may further contract or expand by a set motion displacement De. The elastic body 112a may be made of a material whose elastic modulus can be changed, for example, a shape memory alloy. Changes in the elastic modulus of the elastic body 112a will be described later with reference to <FIG>.

For the muscular strength assistance unit <NUM> to generate the initial assistance force Fs, the stopper <NUM> fixes the elastic body 112a in a contracted or expanded state by the initial displacement Ds. For example, as illustrated in <FIG>, the stoppers <NUM> may be disposed on both sides of the elastic body 112a and formed in a direction perpendicular to an expansion/contraction direction of the elastic body 112a. In addition, the stopper <NUM> may be configured to fix the elastic body 112a by directly contacting the elastic body 112a, and as illustrated in <FIG>, may be configured to fix the elastic body 112a by fixing the terminal 112b or the supporting member 112c connected to the elastic body 112a. The stopper <NUM> may not only be fixedly installed at a specific location, but may also be configured such that the location can be adjusted. However, the shape or arrangement of the stopper <NUM> is not limited thereto, and various forms for fixing the elastic body 112a in the contracted or expanded state so that the muscular strength assistance unit <NUM> generates the initial assistance force Fs may be applied.

The muscular strength assistance unit <NUM> may be configured to change the initial displacement Ds of the elastic body 112a for generating the initial assistance force Fs. For example, the initial displacement Ds of the elastic body 112a may be changed by adjusting the position of the stopper <NUM>, adjusting the thickness of the stopper <NUM>, adjusting the position of the terminal 112b and the supporting member 112c disposed on the opposite side of the stopper <NUM>, or the like.

For example, referring to <FIG>, a part of the supporting member 112c disposed on the opposite side of the stopper <NUM> protrudes in a direction toward the frame <NUM>, and a plurality of grooves into which the protruding portion of the supporting member 112c can be inserted are formed in the frame <NUM>. By changing the position of the groove of the frame <NUM> into which the supporting member 112c is inserted according to the required magnitude of the initial assistance force Fs, the initial displacement Ds of the elastic body 112a is changed and the initial assistance force Fs may vary. It goes without saying that the reverse structure may be applied, in which a part of the frame <NUM> protrudes and a groove into which the protruding portion of the frame <NUM> can be inserted is formed in the supporting member 112c. As a result, by changing the initial displacement Ds of the elastic body 112a through a simple structure, it is possible to generate an appropriate initial assistance force Fs as needed.

However, the structure for changing the initial displacement Ds of the elastic body 112a is not limited to this, and the following various method, that is, fixing the entire block using a latch or the like after moving the entire block including the terminal 112b and the supporting member 112c using a dowel pin or the like, moving the terminal 112b and the supporting member 112c or the like using a screw structure, disposing a member such as a block having a predetermined thickness between the stopper <NUM> and the terminals 112b supported by the stopper <NUM>, or the like may be applied.

Referring to <FIG>, <FIG>, <FIG>, <FIG>, <FIG>, and <FIG>, the frame <NUM> supports the stopper <NUM>. One side of the frame <NUM> may be coupled with the stopper <NUM>. In order to support the stopper <NUM>, the other side of the frame <NUM> may be fixed to a fixed supporting member 112c or a wall surface of the housing <NUM> (refer to <FIG>, or the like). The frame <NUM> may be formed along the contraction direction (<FIG>) or expansion direction (<FIG>) of the elastic body 112a. When the frame <NUM> is formed along the contraction direction of the elastic body 112a, one side of the frame <NUM> is coupled to the stopper <NUM>, and the other side thereof may be fixed to the fixed supporting member 112c or the wall surface of the housing <NUM>. When the frame <NUM> is formed along the expansion direction of the elastic body 112a, one side of the frame <NUM> may be coupled to the stopper <NUM> and the other side thereof may be fixed to the wall surface of the housing <NUM>. The length of the frame <NUM>, that is, the position of the stopper <NUM>, may be determined based on the elastic modulus of the elastic body 112a, the number of elastic bodies 112a, and the required magnitude of the initial assistance force Fs. As illustrated in <FIG>, the plurality of grooves into which the protruding portion of the supporting member 112c can be inserted may be formed in the frame <NUM>. However, the shape and structure of the frame <NUM> is not limited thereto, and various shapes and structures for supporting the stopper <NUM> may be applied.

In the wearable suit <NUM> according to the present disclosure, instead of applying the elastic body 112a in a state of equilibrium (in which no force is applied and not contracted or expanded (initial displacement Ds is <NUM>)) (<FIG>), the elastic body 112a contracted or expanded by a predetermined displacement (initial displacement Ds exceeds <NUM>) may be applied (<FIG>).

Referring to <FIG> and <FIG>, the contraction or expansion displacement of the elastic body 112a is proportional to the elastic force. When the elastic body 112a in a state of equilibrium is applied to the wearable suit <NUM> (<FIG>), in the initial operation of the wearable suit <NUM> (initial time point when the user <NUM> moves in the direction opposite to the direction of the assistance force, X ≈ <NUM>), the assistance force generated is close to <NUM>, and an assistance force F1 generated at a displacement X1 is k × (X<NUM>). According to this, when the user <NUM> of the wearable suit <NUM> lifts the heavy object <NUM> (refer to <FIG> and <FIG>), the assistance force is hardly provided at the beginning of work (a posture such as slightly bending the body), the assistance force can be provided only in a state (squatting down, or the like) in which the body is moved a lot to lift the heavy object <NUM>, and thus, work efficiency is reduced.

Meanwhile, when the elastic body 112a contracted or expanded by the initial displacement Ds is applied to the wearable suit <NUM> (<FIG>), even at the initial operation of the wearable suit <NUM>, the initial assistance force Fs equal to k × (Ds) can be provided to the user <NUM>, and a relatively large assistance force equal to Fs + k × (X<NUM>) can be provided to the user <NUM> even at the subsequent displacement X1. As a result, the wearable suit <NUM> according to the present disclosure provides the user <NUM> with the initial assistance force Fs by the initial displacement Ds even at the initial operation, and thereafter, provides a relatively large assistance force to the user <NUM>. Accordingly, it is possible to remarkably improve the work convenience of the user <NUM>.

In addition, when the elastic modulus of the elastic body 112a is increased to increase the assistance force F1 that occurs at the beginning of the operation such as the displacement X1 point, the final assistance force Fe becomes too large or the operable motion displacement De in a state where the user <NUM> wears the wearable suit <NUM> becomes too small in the range (for example, <NUM> to <NUM>) of the motion displacement De actually applicable to the wearable suit <NUM>, and thus, the wearable suit <NUM> practical for the user <NUM> cannot be provided. From this point of view, the wearable suit <NUM> according to the present disclosure can secure practical motion displacement De and final assistance force Fe while providing the user <NUM> with the initial assistance force Fs at the initial operation.

Regarding the final assistance force Fe of the muscular strength assistance unit <NUM>, the final assistance force Fe may be determined based on the weight of the heavy object <NUM> lifted by the user <NUM> using the wearable suit <NUM> and the maximum load that the user <NUM> can withstand. Since the wearable suit <NUM> can be used for the purpose of assisting the user <NUM> in lifting the heavy object <NUM> that is impossible or difficult for the user <NUM> to lift with the bare hands, the user <NUM> may be provided with the final assistance force Fe of more than a weight that is difficult for an ordinary adult to lift with bare hands, for example, <NUM> kgf or more. In addition, when the final assistance force Fe is too large, since the user <NUM> wearing the wearable suit <NUM> should overcome a large force to move in a posture such as bending down or squatting to lift the heavy object <NUM>, the movement of the user <NUM> becomes excessively uncomfortable. Therefore, the user <NUM> may be provided with a final assistance force Fe of less than the maximum load that the user <NUM> can endure and overcome, for example, <NUM> kgf or less.

Regarding the initial assistance force Fs of the muscular strength assistance unit <NUM>, when the initial assistance force Fs is excessively large, since the user <NUM> is excessively restricted in movement from the initial operation (when the body is bent at a small angle of about <NUM> degrees, or the like) of the wearable suit <NUM>, the initial assistance force Fs may be a force within a range that the user <NUM> can easily overcome, for example, <NUM> kgf or less. In addition, the initial assistance force Fs may be determined based on the weight of the upper body of the user <NUM> and the muscular strength of the user <NUM>. For example, since weight of an upper body of an ordinary adult is about <NUM> on average, the initial assistance force Fs is set to be more than <NUM> kgf even within <NUM> (when slightly bent at about <NUM> degrees), which is a relatively small motion displacement De. Accordingly, even when the user <NUM> moves slightly, such as slightly bending over, convenience can be improved with the assistance force.

Equation <NUM> may be derived from <FIG>, and as described above, the final assistance force Fe may be <NUM> kgf or more and <NUM> kgf or less, and the initial assistance force Fs may be <NUM> kgf or more and <NUM> kgf or less. As a result, the value (the value obtained by dividing the initial displacement Ds by the sum of the initial displacement Ds and motion displacement De) obtained by dividing the initial assistance force Fs of the muscular strength assistance unit <NUM> by the final assistance force Fe may be <NUM> or more. According to the invention, considering the slight margin of error and variables (for example, the body size of the user <NUM>, the muscular strength of the user <NUM>, the weight of the heavy object <NUM>, or the like), the value obtained by dividing the initial assistance force Fs by the final assistance force Fe is set to be <NUM> or more. When the value obtained by dividing the initial assistance force Fs by the final assistance force Fe is less than <NUM>, it is difficult to provide a practical wearable suit <NUM> to the user <NUM> as described above.

The motion displacement De of the wearable suit <NUM> may be determined based on the posture of the user according to a purpose of use (for example, courier logistics, agriculture, medical care, or the like) of the wearable suit <NUM>. For example, the motion displacement De may be <NUM> when the user <NUM> bends at an angle of about <NUM> degrees, <NUM> when the user <NUM> bends at an angle of about <NUM> degrees, <NUM> when the user <NUM> bends at an angle of about <NUM> degrees, and <NUM> when the user <NUM> squats. That is, the motion displacement De is determined based on the posture of the user <NUM> according to the purpose of the wearable suit <NUM>, and may be, for example, <NUM> or more and <NUM> or less. Such a posture of bending at an angle of about <NUM> degrees to about <NUM> degrees and a posture of squatting are postures that the user <NUM> may take while performing then operation such as moving the heavy object <NUM>, and since the wearable suit <NUM> according to the present disclosure is designed to have the motion displacement De according to a posture that the user <NUM> performing the work can take, the convenience and work efficiency of the user <NUM> can be improved.

A total displacement Dt, which is the sum of initial displacement Ds and motion displacement De of the wearable suit <NUM>, may be determined based on the body size (for example, upper body length) of the user <NUM>. For example, since the length of the upper body of an adult is <NUM> on average, the total displacement Dt may be <NUM> or less so that the user <NUM> wearing the wearable suit <NUM> can move smoothly, and sufficient assistance force is provided to the user <NUM> to assist with movements and works such as moving the heavy object <NUM>.

In this way, the muscular strength assistance unit <NUM> according to the present disclosure not only generates the initial assistance force Fs, but also is designed based on the posture of the user <NUM>, the body size of the user <NUM>, the maximum load that the user <NUM> can withstand, the weight of the heavy object <NUM>, or the like according to the purpose of the wearable suit <NUM>. Accordingly, an effective assistance force can be provided within the range of the motion displacement De according to a posture that the user <NUM> may take while performing the work.

<FIG> is a displacement-assistance force graph for the elastic body formed of a shape memory alloy and having the initial displacement according to one embodiment of the present disclosure.

The elastic body 112a according to the present disclosure may be made of a material whose elastic modulus can be changed, for example, a shape memory alloy. The shape memory alloy can change its structure from an austenite structure to a martensitic structure or from a martensitic structure to an austenite structure based on a specific temperature, and the elastic modulus can also change along with the structure change. As illustrated in <FIG>, when the elastic body 112a is made of a material whose elastic modulus can be changed, such as shape memory alloy, a plurality of initial assistance forces Fs and final assistance forces Fe by a plurality of elastic modulus values may be provided to the user <NUM>. When a relatively small assistance force is required according to the work situation of the user <NUM> wearing the wearable suit <NUM>, an assistance force (Fs _m, Fe _m) by the martensitic tissue illustrated in <FIG> is provided to the user <NUM>. Moreover, when a relatively large assistance force is required, an assistance force (Fs _a, Fe _a) by the austenite structure illustrated in <FIG> and 1B may be provided to the user <NUM>. As a result, according to the present disclosure, since the elastic body 112a is made of a material whose elastic modulus can be changed, such as shape memory alloy, assistance forces of various sizes are provided to the user <NUM> according to the needs of the user <NUM> and work conditions, and there is an additional effect of increasing the degree of freedom in design.

The wearable suit according to one embodiment assists a muscular strength of a user using the muscular strength assistance unit including the elastic body, thereby simplifying the structure, reducing weight, and removing noise caused by driving a motor.

The wearable suit according to one embodiment can provide sufficient assistance force to the user even at the beginning of operation by using the stopper that fixes the elastic body in the contracted or expanded state.

Claim 1:
A wearable suit (<NUM>) comprising:
an elastic body (112a) configured to generate an assistance force to assist a muscular strength of a user; and
a stopper (<NUM>) configured to fix the elastic body (112a) in a contracted or expanded state by an initial displacement so that an initial assistance force equal to or more than a threshold is generated by the elastic body (112a),
wherein the initial assistance force divided by a final assistance force generated by the elastic body (112a) is set to be greater than or equal to <NUM>.