Patent Description:
With the onset of an aging society, an increased number of people may experience inconvenience and/or pain from joint problems. Therefore, there is increased interest in motion assistance apparatuses that may enable the elderly or patients with joint problems to walk with less effort. The motion assistance apparatuses may include active joint structures including hydraulic systems and/or driving motors to drive each joint portion to improve muscular strength of legs of users. However, conventionally a motion assistance apparatus may come in various fixed sizes according to a waist of the user. Further, conventionally, a motion assistance apparatus may shake due to torsional forces applied thereto while assisting the user with walking.

<CIT> discloses a walking assistance device having an abdominal belt system that secures a pelvic frame on the pelvic part of a user. The abdominal belt includes a pair of side belt parts extending forward along an inner side of the pelvic frame from a rear part thereof and a front belt part connecting front ends of the side belt parts.

<CIT> discloses an orthosis including a belt assembly, an energy storage apparatus, and an articulable leg frame. The belt assembly is configured to be secured to a user's body. The energy storage apparatus is coupled to the belt assembly and includes a pretension adjustment device and an exotendon. The articulable leg frame is coupleable to the belt assembly. The energy storage apparatus helps move the user's leg which is coupled to the leg frame.

According to one aspect of the present invention, a fixing device as defined in any of the claims <NUM>-<NUM>. is provided. According to another aspect of the present invention, a motion assistance apparatus as defined in any of the claims <NUM>-<NUM> is provided.

These and/or other aspects will become apparent and more readily appreciated from the following description of some of the example embodiments, taken in conjunction with the accompanying drawings of which:.

Some example embodiments will now be described more fully with reference to the accompanying drawings. Embodiments, however, may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope to those skilled in the art. In the drawings, the thicknesses of layers and regions may be exaggerated for clarity.

It will be understood that when an element is referred to as being "on," "connected to," "electrically connected to," or "coupled to" to another component, it may be directly on, connected to, electrically connected to, or coupled to the other component or intervening components may be present. In contrast, when a component is referred to as being "directly on," "directly connected to," "directly electrically connected to," or "directly coupled to" another component, there are no intervening components present.

It will be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and/or sections, these elements, components, regions, layers, and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, and/or section from another element, component, region, layer, and/or section. For example, a first element, component, region, layer, and/or section could be termed a second element, component, region, layer, and/or section without departing from the teachings of example embodiments.

Spatially relative terms, such as "beneath," "below," "lower," "above," "upper," and the like may be used herein for ease of description to describe the relationship of one component and/or feature to another component and/or feature, or other component(s) and/or feature(s), as illustrated in the drawings.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of example embodiments. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used in this specification, 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.

It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Reference will now be made to example embodiments, some which are illustrated in the accompanying drawings, wherein like reference numerals may refer to like components throughout.

<FIG> is a front view illustrating a motion assistance apparatus according to some example embodiments, and <FIG> is a side view illustrating the motion assistance apparatus according to some example embodiments.

Referring to <FIG> and <FIG>, a motion assistance apparatus <NUM> may be worn by a user to assist a motion of the user.

The user may correspond to a human, an animal, or a robot. However, the user is not limited thereto. In addition, although <FIG> illustrates a case in which the motion assistance apparatus <NUM> assists motions of thighs of the user, the motion assistance apparatus <NUM> may also assist a motion of an upper body, for example, a hand, an upper arm, and a lower arm of the user. Further, the motion assistance apparatus <NUM> may assist a motion of another part of a lower body, for example, a foot, and a calf of the user. The motion assistance apparatus <NUM> may assist a motion of a part of the user.

Hereinafter, a case in which the motion assistance apparatus <NUM> assists motions of thighs of a human will be described. However, example embodiments are not limited thereto.

The motion assistance apparatus <NUM> may include a fixing module <NUM>, a driving module <NUM>, a joint assembly <NUM>, and a supporting module <NUM>.

The fixing module <NUM> may be fixed to the user. The fixing module <NUM> may be provided in a form of covering an outer surface of the user. For example, the fixing module <NUM> may be fixed to the sides of a waist of the user, and include a curved surface corresponding to a contact portion of the user. The fixing module <NUM> includes a first side frame <NUM> disposed on one side of the waist of the user, and a second side frame <NUM> disposed on another side of the waist of the user.

The driving module <NUM> may provide power that is transmitted to the joint assembly <NUM>. For example, the driving module <NUM> may be disposed in a lateral direction of the joint assembly <NUM>, in detail, such that an axis of rotation of the diving module <NUM> may be spaced apart from an axis of rotation of the joint assembly <NUM>. Therefore, when compared to a case in which the driving module <NUM> and the joint assembly <NUM> share an axis of rotation, a protruding height from the user may relatively decrease. In other example embodiments, the driving module <NUM> may be more spaced apart from the joint assembly <NUM>. Therefore, a power transmitting module may be additionally provided to transmit power from the driving module <NUM> to the joint assembly <NUM>. The power transmitting module may be a rotary body such as, for example, a gear, or a longitudinal member such as, for example, a wire, a cable, a string, a rubber band, a spring, a belt, and a chain.

The joint assembly <NUM> may receive power from the driving module <NUM>, and assist a motion of a joint portion of the user. The joint assembly <NUM> may be disposed on one side of the fixing module <NUM> at a position corresponding to the joint portion of the user, for example, at a hip joint of the user. One side of the joint assembly <NUM> may be connected to the driving module <NUM>, and another side of the joint assembly <NUM> may be connected to the supporting module <NUM>.

The joint assembly <NUM> includes a rotating member <NUM>, and a connecting member <NUM>. The rotating member <NUM> may rotate using power received from the driving module <NUM>. For example, the rotating member <NUM> may be disposed on one side of the hip joint of the user. The connecting member <NUM> may connect the rotating member <NUM> to the supporting module <NUM>, and rotate using torque of the rotating member <NUM>. The connecting member <NUM> may be provided, for example, in a hinge connection structure. By a hinge axis of the hinge connection structure and an axis of rotation of the rotating member <NUM>, the supporting module <NUM> may perform a two degree of freedom (DOF) motion with respect to the fixing module <NUM>.

The supporting module <NUM> may support a portion of the user, and assist a motion of the portion of the user. The supporting module <NUM> may be configured to rotate using torque of the joint assembly <NUM>. The supporting module <NUM> may include a supporting frame <NUM>, an applying member <NUM>, and a supporting band <NUM>.

The supporting frame <NUM> may transmit force to a portion of the user, for example, to the thighs of the user to assist the user in rotating their hip joints. One end portion of the supporting frame <NUM> may be rotatably connected to the joint assembly <NUM>, and another end portion of the supporting frame <NUM> may be connected to the supporting band <NUM> to transmit force to a portion of the user. For example, the supporting frame <NUM> may push or pull a thigh of the user. The supporting frame <NUM> may extend and be bent in a longitudinal direction of the thigh of the user to cover at least a portion of the circumference of the thigh of the user. The one end portion of the supporting frame <NUM> may be disposed on a side surface of the thigh of the user, and the other portion of the supporting frame <NUM> may be disposed on a front surface of the thigh of the user. A surface on the side of the one end portion of the supporting frame <NUM> may be orthogonal to a surface on the side of the other end portion of the supporting frame <NUM>.

The supporting frame <NUM> may be movably connected to the connecting member <NUM>. By relative motions of the supporting frame <NUM> and the connecting member <NUM>, a total length from the joint assembly <NUM> to the supporting band <NUM> may be variable. In this example, the supporting module <NUM> may perform a three degree of freedom (DOF) motion with respect to the fixing module <NUM>.

The applying member <NUM> may be connected to the other end portion of the supporting frame <NUM> to apply force to a portion of the user. For example, the applying member <NUM> may be disposed along the front surface of the thigh of the user, or in a circumferential direction of the thigh of the user to push or pull the thigh of the user. The applying member <NUM> may include a curved surface corresponding to the thigh of the user, and configured to extend from the other end portion of the supporting frame <NUM> toward both sides of the supporting frame <NUM>.

The supporting band <NUM> may be connected to one side of the applying member <NUM>. For example, the supporting band <NUM> may be disposed to cover a circumference of at least a portion of the thigh of the user, thereby preventing separation between the thigh of the user and the supporting frame <NUM>.

<FIG> is a rear view illustrating a fixing module according to some example embodiments, and <FIG> is an exploded perspective view illustrating a fixing module according to some example embodiments.

Referring to <FIG> and <FIG>, the fixing module <NUM> may include the first side frame <NUM>, the second side frame <NUM>, and a fastening member <NUM>. As discussed above, the first side frame <NUM> and the second side frame <NUM> may be configured to attach to opposite sides of the waist of the user. The first side frame <NUM> and the second side frame <NUM> may be connected to each other to form a single closed curve, for example, around the waist of the user.

The first side frame <NUM> and the second side frame <NUM> may be detachable from each other. Therefore, the first side frame <NUM> and the second side frame <NUM> may also be referred to as a "first separable frame" and a "second separable frame", respectively.

The first side frame <NUM> may cover one side surface of the waist of the user, a portion of a front surface of the waist of the user, and a portion of a rear portion of the waist of the user. For example, the first side frame <NUM> may fit around half of the pelvis of the user. The first side frame <NUM> may be provided roughly in a U-shape. The first side frame <NUM> may be provided using a relatively thin board. The first side frame <NUM> may be provided using a flexible material to improve a degree of contact with the user. In this example, the first side frame <NUM> may be deformed based on a shape of the user to be in close contact with the user. The first side frame <NUM> includes a first central portion <NUM>, a first front extending portion <NUM>, and a first rear extending portion <NUM>.

The first central portion <NUM> may include a curved surface corresponding to one side surface of the user, and be disposed on the one side surface of the user. The first central portion <NUM> includes a joint mounting portion <NUM> configured to extend toward a hip joint portion of the user. The joint mounding portion <NUM> may be provided to cover the hip joint portion. The rotating member <NUM> of <FIG> may be provided on the joint mounting portion <NUM>.

The first front extending portion <NUM> may extend from the first central portion <NUM> to cover at least a portion of the front surface of the user. The first front extending portion <NUM> may be provided to be detachable from the second side frame <NUM>. For example, the first front extending portion <NUM> includes a first binding portion <NUM>, and a first connecting portion <NUM>.

The first binding portion <NUM> may be provided to be detachable from the second side frame <NUM>. For example, the first binding portion <NUM> may include a base plate having a shape of a board, and a hook and loop fastener provided on the base plate. The first binding portion <NUM> may also be fastened with the second side frame <NUM> in a structure of a buckle. However, the shape of the first binding portion <NUM> is not limited thereto. For example, the first and second binding portions <NUM>, <NUM> may be series of buttons, tabs or posts that are adjustable, and/or form an adjustable belt like loop that is secured via pressure provided thereto. Further, the fixing module <NUM> may include a stretchable fabric such that the fixing module <NUM> may be warm as clothing. The first connecting portion <NUM> may rotatably connect the first binding portion <NUM> to the first central portion <NUM>. For example, the first connecting portion <NUM> may be a ring or a hinge.

The first rear extending portion <NUM> may extend from the first central portion <NUM> to cover at least a portion of the rear surface of the user. The first rear extending portion <NUM> may extend toward an opposite side of the first front extending portion <NUM> based on the first central portion <NUM>. The first rear extending portion <NUM> may be disposed on the opposite side of the first front extending portion <NUM> based on the user. The first rear extending portion <NUM> may be provided to be detachable from the second side frame <NUM>.

The first rear extending portion <NUM> includes a first guide portion <NUM>. The first guide portion <NUM> may guide the second side frame <NUM> to slide with respect to the first rear extending portion <NUM>. The first guide portion <NUM> may be a slot provided lengthwise in an extending direction of the first rear extending portion <NUM>. In this example, the first guide portion <NUM> may be referred to as a "guide slot". A plurality of first guide portions <NUM> may be provided. The plurality of first guide portions <NUM> may be provided in parallel. The fastening member <NUM> may be connected to the first guide portion <NUM>.

Although <FIG> illustrates a manual adjustment of the distance between the first side frame <NUM> and the second side frame <NUM>, in other example embodiments the distance between the first side frame <NUM> and the second side frame <NUM> may be electronically adjusted. For example, in other example embodiments, the fixing module <NUM> may include a motor (not shown). The first and second side frames may be connected in a rack and pinion design such that, in response to instructions generated by a controller (not shown), the motor generates a force that causes the pinion to rotate on the rack and adjust the distance between the first side frame <NUM> and the second side frame <NUM>.

The controller (not shown) may include a processor and a memory storing computer readable code, that when executed by the processor, configures the controller as a special purpose computer that is configured to control the motion assistance apparatus <NUM>.

The first side frame <NUM> may further include a first supporting member <NUM>. The first supporting member <NUM> may include one or more of a first upper supporting member <NUM> and a first lower supporting member <NUM>. The first supporting member <NUM> may stabilize the fixing member <NUM> when a force is applied thereto. Further, in some example embodiments, the first supporting member <NUM> may further include an internal pad (not shown) to further stabilize the fixing member <NUM> and also provide comfort to the user.

The first upper supporting member <NUM> may extend from the first rear extending portion <NUM> in an upward direction to support a lower back of the user. The first side supporting member <NUM> may extend in a direction orthogonal to a longitudinal direction of the first rear extending portion <NUM>. For example, the first upper supporting member <NUM> may support a dorsal portion of the user. The first upper supporting member <NUM> may extend from the first rear extending portion <NUM> to a portion corresponding to about a midpoint of the dorsal portion of the user. As illustrated in <FIG>, the first upper supporting member <NUM> may include a first extension <NUM> whose width increases in a direction of the first rear extending portion <NUM> near the waist of the user.

The first lower supporting member <NUM> may extend from the first rear extending portion <NUM> in a downward direction to support a lower side of the user. The first lower supporting member <NUM> may extend in a direction orthogonal to the longitudinal direction of the first rear extending portion <NUM>. For example, the first lower supporting member <NUM> may support a hip portion of the user.

The first side frame <NUM> may include a reinforcing material (not shown), for example a pad, on an interior surface thereof. The reinforcing material may stabilize the fixing member <NUM> and also provide comfort to the user.

The second side frame <NUM> may be provided in a shape symmetrical to the first side frame <NUM>. Hereinafter, the same names may be used to describe the elements included in the first side frame <NUM> described above and elements having common functions. Unless otherwise mentioned, the descriptions on the first side frame <NUM> may be applicable to the second side frames <NUM>.

The second side frame <NUM> may cover a remaining portion of the waist of the user yet to be covered by the first side frame <NUM>. The second side frame <NUM> may covering another side of the waist of the user, a remaining portion of the front surface of the waist user, and a remaining portion of the rear portion of the waist of the user. At least a portion of the second side frame <NUM> may overlap the first side frame <NUM>. The second side frame <NUM> may include a second central portion <NUM>, a second front extending portion <NUM>, and a second rear extending portion <NUM>.

The second central portion <NUM> may include a curved surface corresponding to one of the side surfaces of the waist of the user, and configured to attach to this side surface of the waist of the user. The second central portion <NUM> may be disposed to face the first central portion <NUM>. The second central portion <NUM> may include a joint mounting portion <NUM> configured to extend toward a hip joint portion of the user. The joint mounting portion <NUM> may be provided to cover the hip joint portion.

The second front extending portion <NUM> may extend from the second central portion <NUM> to cover at least a portion of the front surface of the waist of the user. The second front extending portion <NUM> may be provided to be detachable from the first binding portion <NUM>. For example, the second front extending portion <NUM> includes a second binding portion <NUM>, and a second connecting portion <NUM>.

The second binding portion <NUM> may be provided to be detachable from the first binding portion <NUM>. For example, the second binding portion <NUM> may include a hook and loop fastener corresponding to the first binding portion <NUM>. The second binding portion <NUM> may also be provided in a structure of a buckle corresponding to the first binding portion <NUM>.

The second connecting portion <NUM> may rotatably connect the second binding portion <NUM> to the second central portion <NUM>.

The second rear extending portion <NUM> may extend from the second central portion <NUM> to cover at least a portion of the rear surface of the user. The second rear extending portion <NUM> may extend towards an opposite side of the second front extending portion <NUM> based on the second central portion <NUM>. The second rear extending portion <NUM> may be disposed on the opposite sides of the second front extending portion <NUM> based on the user. The second rear extending portion <NUM> may be provided to be detachable from the first rear extending portion <NUM>.

The second rear extending portion <NUM> may include a second guide portion <NUM>. The second guide portion <NUM> may guide the first rear extending portion <NUM> to slide with respect to the second rear extending portion <NUM>. The second guide portion <NUM> may be a slot provided lengthwise in an extending direction of the second rear extending portion <NUM>. The second guide portion <NUM> may be provided in a shape corresponding to the first guide portion <NUM>. When the second rear extending portion <NUM> overlap the first rear extending portion <NUM>, the second guide portion <NUM> may overlap at least a portion of the first guide portion <NUM>. The fastening member <NUM> may be connected to the overlapping portion between the second guide portion <NUM> and the first guide portion <NUM>. The fastening member <NUM> may fasten the second rear extending portion <NUM> with the first rear extending portion <NUM>.

The second side frame <NUM> may further include a second supporting member <NUM>. The second supporting member <NUM> may stabilize the fixing member <NUM> when a force is applied thereto. Further, in some example embodiments, the second supporting member <NUM> may further include an internal pad (not shown) to further stabilize the fixing member <NUM> and also provide comfort to the user.

The second supporting member <NUM> includes a second upper supporting member <NUM>, and a second lower supporting member <NUM>. While <FIG> illustrates that both the first side frame <NUM> and the second side frame <NUM> each include a supporting member <NUM>, <NUM>, in other example embodiments, only one of the first side frame <NUM> and the second side frame <NUM> may include a supporting member. For example, a single supporting member may be attached to one of the side frames in relatively closer contact to the user when the two side frames <NUM>, <NUM> overlap around the user.

The second upper supporting member <NUM> may be provided in a shape symmetrical to the first upper supporting member <NUM>. The second upper supporting member <NUM> may include a second extension <NUM>. The second upper supporting member <NUM> and the first upper supporting member <NUM> may be disposed on both sides based on a spine of the user, respectively, to support erector spinae muscles of the user.

The second lower supporting member <NUM> may be provided in a shape symmetrical to the first lower supporting member <NUM>. The second lower supporting member <NUM> and the first lower supporting member <NUM> may be disposed to support hip muscles of the user.

The second side frame <NUM> may include a reinforcing material (not shown), for example a pad, on an interior surface thereof. The reinforcing material may stabilize the fixing member <NUM> and also provide comfort to the user.

The fastening member <NUM> may fasten the first side frame <NUM> with the second side frame <NUM>. The fastening member <NUM> may penetrate through the first guide portion <NUM> and the second guide portion <NUM>, and prevent relative movements of the first rear extending portion <NUM> and the second rear extending portion <NUM>. In an example, the fastening member <NUM> may include a bolt and a nut configured to pressurize the first rear extending portion <NUM> and the second rear extending portion <NUM> simultaneously. In an example, one of the first guide portion <NUM> or the second guide portion <NUM> may be provided in a form of a threaded hole, and the fastening member <NUM> may be a bolt having threads corresponding to the hole.

Hereinafter, 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.

<FIG> is an exploded perspective view illustrating a fixing module according to some example embodiments.

Referring to <FIG>, the fixing module <NUM> may include the first side frame <NUM>, the second side frame <NUM>, the fastening member <NUM>, and a supporting member <NUM>. The supporting member <NUM> may include a fixing portion <NUM>, an upper supporting member <NUM>, and a lower supporting member <NUM>.

The fixing portion <NUM> may overlap the first side frame <NUM> and the second side frame <NUM>. The first rear extending portion <NUM> may be fixed to one side of the fixing portion <NUM>, and the second rear extending portion <NUM> may be fixed to another side of the fixing portion <NUM>. A third guide portion <NUM> may be provided in the fixing portion <NUM>. The third guide portion <NUM> may be provided in a shape corresponding to the first guide portion <NUM> and the second guide portion <NUM>.

The upper supporting member <NUM> may extend from the fixing portion <NUM> in an upward direction to support an upper side of the user. The upper supporting member <NUM> may extend in a direction orthogonal to a longitudinal direction of the fixing portion <NUM>. For example, the upper supporting member <NUM> may support a dorsal portion of the user. The upper supporting member <NUM> may extend from the fixing portion <NUM> to a portion corresponding to a midpoint of the dorsal portion of the user.

The lower supporting member <NUM> may extend from the fixing portion <NUM> in a downward direction to support a lower side of the user. The lower supporting member <NUM> may extend in a direction orthogonal to the longitudinal direction of the fixing portion <NUM>. For example, the lower supporting member <NUM> may support a hip portion of the user.

The fastening member <NUM> may include a first fastening member configured to fasten the first rear extending portion <NUM> with the fixing portion <NUM>, and a second fastening member configured to fasten the second rear extending portion <NUM> with the fixing portion <NUM>. While <FIG> illustrates two fastening members, the number of fastening members may vary. For example, in other example embodiments a single fastening member may be used to fasten the first rear extending portion <NUM> and the second rear extending portion <NUM> with the fixing portion <NUM>.

<FIG> is a perspective view illustrating a supporting member according to some example embodiments.

Referring to <FIG>, in some example embodiments a supporting member <NUM> may be applicable to at least one of the supporting members described above to provide increased flexibility in a central portion and increased stiffness in an end portion thereof.

The supporting member <NUM> may include a fixing portion <NUM> in which a guide portion <NUM> is provided, an upper supporting member <NUM>, a lower supporting member <NUM>, and a stiffening device <NUM>.

The upper supporting member <NUM> includes an upper plate <NUM> provided in a shape of a board extending from the fixing portion <NUM> in an upward direction, and a plurality of upper protruding portions <NUM> configured to protrude from the upper plate <NUM> such that the upper plate <NUM> is ribbed. The plurality of upper protruding portions <NUM> may be disposed to be spaced apart from each other in a longitudinal direction of the upper plate <NUM>. The plurality of upper protruding portions <NUM> may be disposed in parallel. Through the foregoing structure, a flexibility of a central area of the upper supporting member <NUM> may increase.

The lower supporting member <NUM> may include a lower plate <NUM> provided in a shape of a board extending from the fixing portion <NUM> in a downward direction, and a plurality of lower protruding portions <NUM> configured to protrude from the lower plate <NUM> such that the lower plate <NUM> is ribbed. The plurality of lower protruding portions <NUM> may be disposed to be spaced apart from each other in a longitudinal direction of the lower plate <NUM>. The plurality of lower protruding portions <NUM> may be disposed in parallel. Through the foregoing structure, a flexibility of a central area of the lower supporting member <NUM> may increase.

The stiffening device <NUM> may reinforce a stiffness of the upper supporting member <NUM> or the lower supporting member <NUM>. For example, the stiffener <NUM> may increase a stiffness of both end portions of the upper supporting member <NUM> or the lower supporting member <NUM> to be greater than a stiffness of the central area of the upper supporting member <NUM> or the lower supporting member <NUM>. The stiffener <NUM> may be disposed to penetrate through the plurality of upper protruding portions <NUM> and the plurality of lower protruding portions <NUM>. The stiffening device <NUM> may be embedded in width directions of the upper plate <NUM> and the lower plate <NUM>, and extend in longitudinal directions of the upper plate <NUM> and the lower plate <NUM>. The stiffening device <NUM> may be a linear material such as, for example, a wire. The ends of the stiffening device <NUM> may be fixed to the ends of the upper plate <NUM> and/or the lower plate <NUM>, and a center portion of the stiffening device <NUM> may be unfixed from a central portion of the upper plate <NUM> and/or the lower plate <NUM>.

<FIG> is a perspective view illustrating a supporting member according to example embodiments.

Referring to <FIG>, a supporting member <NUM> may be applicable to at least one of the upper supporting member and the lower supporting member described above to provide increased flexibility in a central portion and increased stiffness in the end portions thereof.

The supporting member <NUM> may include a first frame <NUM>, a second frame <NUM>, a connecting end portion <NUM>, and an applying end portion <NUM>.

The first frame <NUM> may include a first plate <NUM>, a first protruding portion <NUM>, and a first hanging portion <NUM>.

The first plate <NUM> may be formed using a thin elastic board, for example, a material such as plastic, and steel.

The first protruding portion <NUM> may protrude from the first plate <NUM> toward the second frame <NUM>. A plurality of first protruding portions <NUM> may be disposed to be spaced apart from each other in a longitudinal direction of the first plate <NUM>. The first protruding portion <NUM> may be provided lengthwise in a direction orthogonal to the longitudinal direction of the first plate <NUM>. A cross-section area of the first protruding portion <NUM> may decrease as a distance from the first plate <NUM> increases. A width of an upper side of the first protruding portion <NUM> may be smaller than a width of a lower side of the first protruding portion <NUM>. The first protruding portion <NUM> may have an inclined surface in a shape of a taper. Through the foregoing structure, in a case in which a second protruding portion <NUM> is inserted into a space between two adjacent first protruding portions <NUM>, the second protruding portion <NUM> may move along inclined surface without being obstructed by the first protruding portions <NUM>.

The first hanging portion <NUM> may prevent a separation of the second frame <NUM> from the first frame <NUM>. The first hanging portion <NUM> may be provided in a form of a groove including side surfaces of the first protruding portion <NUM> and an inner surface of the first plate <NUM>. As shown in <FIG>, the first hanging portion <NUM> may be provided in a form of a trapezoidal groove. To have a form of such a groove, a side surface of the first protruding portion <NUM> may protrude toward an inner side as a distance from the first plate <NUM> increases. For example, when first protruding portions <NUM> are arranged in two rows along both edges of the first plate <NUM>, side surfaces of the first protruding portions <NUM> may be provided to protrude toward a center as a distance from the first plate <NUM> increases. These side surfaces of the first protruding portions <NUM> and the inner surface of the first plate <NUM> may be combined with a second hanging portion <NUM> of the second frame <NUM> to form a groove that prevents a separation.

The second frame <NUM> may be provided in a shape corresponding to the first frame <NUM>. The second frame <NUM> includes a second plate <NUM>, the second protruding portion <NUM>, and the second hanging portion <NUM>.

The second plate <NUM> may be provided in a shape corresponding to the first plate <NUM>, and disposed to be spaced apart from the first plate <NUM>. The second plate <NUM> may be formed using a thin elastic board, for example, a material such as plastic, and steel.

A space between the second plate <NUM> and the first plate <NUM> may increases from the applying end portion <NUM> toward the connecting end portion <NUM>. A distance between the second plate <NUM> and the first plate <NUM> may increase as a distance from the applying end portion <NUM> increases.

The second protruding portion <NUM> may protrude from the second plate <NUM> toward the first plate <NUM>. A plurality of second protruding portions <NUM> may be disposed to be spaced apart from each other in a longitudinal direction of the second plate <NUM>. The second protruding portion <NUM> may be provided lengthwise in a direction orthogonal to the longitudinal direction of the second plate <NUM>.

The second hanging portion <NUM> may prevent a separation of the first frame <NUM> from the second frame <NUM>. As shown in <FIG>, a cross-section of the second hanging portion <NUM> may be provided in a shape of a reversed trapezoidal dove tail. The second hanging portion <NUM>, of which a width increases from the second plate <NUM> toward the first plate <NUM>, may be combined with the first hanging portion <NUM> provided in a trapezoidal shape to prevent a separation of the second plate <NUM>.

The connecting end portion <NUM> may be connected to the first rear extending portion <NUM> or the second rear extending portion <NUM> of <FIG>, or the fixing portion <NUM> of <FIG>.

The applying end portion <NUM> may apply force to a user to offset a torsional moment when the torsional moment is applied to the fixing module <NUM> due to a reaction resulting from rotation of the joint assembly <NUM>. The applying end portion <NUM> may apply force to an upper side or a lower side of the user, for example, a back or hips. Thus, the torsional moment resulting from the rotation of the joint assembly <NUM> and a torsional moment resulting from force received by the applying end portion <NUM> from the user may cancel each other out, whereby deformation of the fixing module <NUM> may be prevented. Dissimilar to the drawings, a thickness of the applying end portion <NUM> may be set to be greater than a sum of a thickness of the first frame <NUM> adjacent to the applying end portion <NUM> and a thickness of the second frame <NUM> adjacent to the applying end portion <NUM>.

By the connecting end portion <NUM> and the applying end portion <NUM>, end portions of a power transmitting frame, for example, the first side frame <NUM>, to which both end portions of the first frame <NUM> and the second frame <NUM> are fixed, respectively, may have a relatively great stiffness resistant to a torsion. Dissimilar to both end portions restricted by each other, a central portion of the first frame <NUM> may relatively move with respect to a central portion of the second frame <NUM>. Thus, a central portion of the power transmitting frame, for example, the first side frame <NUM> may have a greater flexibility than an end portion thereof. Conversely, a stiffness of both end portions of the power transmitting frame, for example, the first side frame <NUM> may be greater than a stiffness of a central portion thereof.

Through an interaction between the first hanging portion <NUM> and the second hanging portion <NUM>, a separation between the first frame <NUM> and the second frame <NUM> may be prevented. Thus, the central portion of the first frame <NUM> may slide with respect to the central portion of the second frame <NUM>. Thus, the power transmitting frame, for example, the first side frame <NUM> may prevent buckling of the first frame <NUM> or the second frame <NUM> while maintaining a flexibility of the central portion of the first frame <NUM> or the second frame <NUM>.

<FIG> illustrate a supporting member deformed when an external force is applied to the supporting member according to example embodiments.

In detail, <FIG> illustrates a state in which a load is not applied to the supporting member, <FIG> illustrates a state in which a load F is applied to an end portion of the supporting member, and <FIG> illustrates a state in which a load F is applied to a central portion of the supporting module.

As described above, a stiffness of an end portion of the supporting member may be greater than a stiffness of the central portion thereof. Thus, as shown in <FIG>, when the load F is applied to the end portion of the supporting member, the end portion of the supporting member may resist the load F and thus may not experience little deformation. However, as shown in <FIG>, when the identical load F is applied to the central portion of the supporting member, due to the flexibility of the central portion of the supporting member, the central portion may experience greater deformation.

A conventional longitudinal member made of a flexible material may be weaker as a distance from a fixing end increases. Thus, force may not be transmitted properly at an end portion of the longitudinal member including the flexible material. Furthermore, a conventional longitudinal member may instead be made from a stiff material to transmit force properly at an end portion thereof. However, a flexibility of the longitudinal member including the stiff material may decrease at a central portion thereof. Thus, the longitudinal member including the stiff material may have difficulty in handling changes in a volume of a user with respect to various motion states. In this example, a frictional force with the user may increase.

In contrast, in one or more example embodiments, a supporting member may include a flexible central portion and a stiff end portion and thus, the supporting member may apply sufficient supporting force corresponding to a reaction resulting from rotation of the joint assembly <NUM> while reducing frictional force with the user.

Referring to <FIG>, the fixing module <NUM> may include the first side frame <NUM>, the second side frame <NUM>, the fastening member <NUM>, and a supporting member <NUM> that is adjustable.

For example, the supporting member <NUM> may include a fixing portion <NUM>, an upper supporting member <NUM>, and a lower supporting member <NUM>.

The fixing portion <NUM> may overlap the first side frame <NUM> and the second side frame <NUM>. The first rear extending portion <NUM> may be fixed to one side of the fixing portion <NUM>, and the second rear extending portion <NUM> may be fixed to another side of the fixing portion <NUM>. A third guide portion <NUM> may be provided in the fixing portion <NUM>.

The third guide portion <NUM> may include one or more slots provided in a direction perpendicular to the first guide portion <NUM> of the first side frame <NUM> and the second guide portion <NUM> of the second side frame <NUM>. For example, the third guide portion <NUM> may include two parallel slots that extend in a direction perpendicular to the first and second guide portions <NUM>, <NUM>. By the third guide portion <NUM>, a position of the supporting member <NUM> may be adjusted in a vertical direction with respect to the first side frame <NUM> or the second side frame <NUM>.

Claim 1:
A fixing device (<NUM>) for a motion assistance apparatus comprising:
a first side frame (<NUM>) including:
a first central portion (<NUM>) configured to attach to one side of a user;
a first front extending portion (<NUM>) configured to extend from the first central portion (<NUM>) along a front side of the user; and
a first rear extending portion (<NUM>) configured to extend from the first central portion (<NUM>) along a rear side of the user; and
a second side frame (<NUM>) including:
a second central portion (<NUM>) configured to attach to another side of the user such that the second central portion (<NUM>) faces the first central portion (<NUM>) and is separated from the first central portion (<NUM>) by a distance with a portion of user enclosed therebetween, the distance between the first central portion (<NUM>) and the second central portion (<NUM>) being adjustable;
a second front extending portion (<NUM>) configured to extend from the second central portion (<NUM>) along the front side of the user; and
a second rear extending portion (<NUM>) configured to extend from the second central portion (<NUM>) along the rear side of the user,
wherein the first front extending portion (<NUM>) and the second front extending portion (<NUM>) are detachable from one another and configured to overlap around a front side of the user in a front overlapping area that is adjustable,
wherein at least one of the first side frame (<NUM>) and the second side frame (<NUM>) further comprises:
a supporting member (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>) configured to extend from a rear extending portion of the at least one side frame in one or more of a cranial or caudal direction ;
characterised in that
the first rear extending portion (<NUM>) and the second rear extending portion (<NUM>) are detachable from one another and configured to overlap around a rear side of the user in an rear overlapping area that is adjustable, wherein the first rear extending portion (<NUM>) is configured to slide with respect to the second rear extending portion (<NUM>).