Patent Description:
A motion assistance device refers to a mechanism or device which helps a patient, who cannot walk on his own due to various diseases, accidents, and the like, to exercise for rehabilitation treatment. As aging accelerates in our society, a growing number of people experience difficulty exercising normally or an inconvenience during exercise, so interest in motion assistance devices is also increasing. A motion assistance device is worn on the body of a user to assist muscular strength necessary for the user to exercise and promotes the user to walk so that the user may exercise normally. Document <CIT> discloses such a conventional motion assistance device comprising a proximal support configured to be worn on a proximal part of a user; a distal support configured to be worn a distal part of the user; a driving assembly which is connected to the proximal support and configured to generate power; and a driving frame configured to transmit a force from the driving assembly to the distal support, wherein the driving assembly comprises a speed reduce, an actuator comprising a stator and a rotor, wherein the stator is fixed to the housing and has a ring shape, wherein the rotor is located inside the stator and rotatable relative to the stator.

In general, users who wear the motion assistance device are people with physical disabilities. For these people, the process of wearing the motion assistance device itself may be difficult. There is a need for technology which enables a user with physical disabilities to put on a motion assistance device alone, without the help of other people.

<CIT> discloses a conventional speed reducer for walk assist apparatus and <CIT> discloses a wearable robot using an actuator module.

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

The present invention is provided by the appended set of claims. According to various example embodiments, there is provided a motion assistance device including a proximal support configured to be worn on a proximal part of a user, a distal support configured to be worn on a distal part of the user, a driving assembly which is connected to the proximal support and configured to generate power, and a driving frame configured to transmit the force from the driving assembly to the distal support.

According to various example embodiments, the driving assembly may include a housing which is connected to the proximal support, an actuator including a stator which is fixed to the housing and has a ring shape and a rotor which is located inside the stator and rotatable relative to the stator, a speed reducer which is inserted inside the rotor and includes an input end which is connected to an output end of the actuator, and a supporting part configured to support the speed reducer and connected detachably to the housing.

According to various example embodiments, the driving frame may be configured to connect the output end of the speed reducer to the distal part and is capable of motion relative to the supporting part.

According to various example embodiments, the supporting part may include a base frame which overlaps with the housing based on a direction of a rotation axis of the rotor and connected detachably to the housing and a supporting frame which extends from the base frame, is at least partially located inside the stator, and is configured to support the speed reducer.

According to various example embodiments, the supporting part may further include an extension frame which extends from the base frame and overlaps with the speed reducer based on a direction of a rotation axis of the rotor.

According to various example embodiments, the driving assembly may further include a frame fastening member configured to fasten the supporting part to the housing.

According to various example embodiments, the housing may include a lower cover configured to support the rotor in a way that the rotor is rotatable, a side cover which extends from the lower cover and is configured to cover a side surface of the stator, and an upper cover which extends from the side cover and is configured to cover an upper surface of the stator.

According to various example embodiments, the rotor may include a main plate which is provided in parallel with the lower cover and a vertical extension part which extends from the main plate and is between the stator and the speed reducer.

According to various example embodiments, the rotor may further include a cap configured to cover the main plate and a cap fastening member configured to fasten the cap to the speed reducer and connected to the speed reducer.

According to various example embodiments, the supporting part and the speed reducer may be separable from the housing.

According to various example embodiments, the speed reducer may include a main shaft which is connected to the rotor and rotates based on a rotation axis of the rotor, a first sun gear which is fixed on the main shaft, a ring gear which is fixed on the supporting part and surrounds the first sun gear, a plurality of first planetary gears which is arranged between the first sun gear and the ring gear and engages with the first sun gear and the ring gear, a first carrier which is connected to a central axis of each of the plurality of first planetary gears, a second sun gear which is connected to the first carrier, a plurality of second planetary gears which is arranged between the second sun gear and the ring gear and engages with the second sun gear and the ring gear, and a second carrier which is connected to a central axis of each of the plurality of second planetary gears and connected to the driving frame.

According to various example embodiments, the rotor and the first sun gear may rotate at a same speed, and the first sun gear, the first carrier, and the second carrier may rotate at different speeds.

According to various example embodiments, the driving assembly may further include a lower bearing which is arranged between the rotor and the housing and an upper bearing which is arranged between the ring gear and the second carrier.

According to various example embodiments, the driving assembly may further include a first inner bearing which is arranged between the main shaft and the first carrier, a second inner bearing which is arranged between the main shaft and the second sun gear, and a third inner bearing which is arranged between the main shaft and the second carrier.

The driving assembly may further include a washer which is inserted in the main shaft and configured to cover the third inner bearing.

The driving assembly may further include a stopper which is arranged in the supporting part and located on a movement path of the driving frame.

According to various example embodiments, a driving assembly includes a housing, an actuator including a stator which is fixed to the housing and has a ring shape and a rotor which is located inside the stator and rotatable relative to the stator, a speed reducer which is inserted inside the rotor and includes an input end which is connected to an output end of the actuator, and a supporting part configured to support the speed reducer and connected detachably to the housing.

According to various example embodiments, the driving assembly may be provided in the motion assistance device and may include a housing, an actuator including a stator which is fixed to the housing and has a ring shape and a rotor which is located inside the stator and rotatable relative to the stator, a speed reducer including a ring gear which is inserted in the rotor and faces an inner side surface of the rotor, a sun gear which is connected to an output end of the actuator, and a plurality of planetary gears which is arranged between the ring gear and the sun gear, and a supporting part configured to support the ring gear and connected detachably to the housing.

The following detailed structural or functional description is provided as an example only and various alterations and modifications may be made to the example embodiments. Here, example embodiments are not construed as limited to the disclosure and should be understood to include all changes, equivalents, and replacements within the idea and the technical scope of the invention as defined by the appended claims.

Terms, such as first, second, and the like, may be used herein to describe various components. For example, a "first" component may be referred to as a "second" component, and similarly, the "second" component may be referred to as the "first" component.

It should be noted that if it is described that one component is "connected", "coupled", or "joined" to another component, a third component may be "connected", "coupled", and "joined" between the first and second components, although the first component may be directly connected, coupled, or joined to the second component.

The same name may be used to describe an element included in the example embodiments described above and an element having a common function. Unless otherwise mentioned, the descriptions on the example embodiments may be applicable to the following example embodiments and thus, duplicated descriptions will be omitted for conciseness.

Unless otherwise defined, all terms, including technical and scientific terms, used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms, such as those defined in commonly used dictionaries, are to be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art, and are not to be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Hereinafter, example embodiments will be described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, like reference numerals refer to like constituent elements and a repeated description related thereto will be omitted.

<FIG> is a diagram illustrating a user wearing a motion assistance device according to an example embodiment.

Referring to <FIG>, a motion assistance device <NUM> according to an example embodiment may be worn by a user and assist an exercise of the user. The user may be a human, an animal, or a robot, but examples are not limited thereto. The motion assistance device <NUM> includes a proximal support <NUM> (e.g., to be worn proximate a waist of a user), a distal support <NUM> (e.g., to be worn on a thigh of the user), and a driving assembly <NUM>.

In an example embodiment, the proximal support <NUM> and the distal support <NUM> may be opposite to each other based on one body part of the user and respectively support a proximal part and a distal part. For example, the proximal support <NUM> may support a proximal part (e.g., waist and/or a pelvis) of the user and the distal support <NUM> may support a thigh, a knee, a calf, and/or a foot of the user. For example, the proximal support <NUM> may include a detachable belt for supporting the overall waist of the user, and the distal support <NUM> may include a detachable belt for supporting the overall thigh of the user.

As another example, the proximal support <NUM> and the distal support <NUM> may be opposite to each other based on the upper arm of the user. In this case, the proximal support <NUM> may support a shoulder and/or a back of the user and the distal support <NUM> may support a forearm of the user. For example, the proximal support <NUM> may include a detachable belt for supporting the shoulder of the user all around and the distal support <NUM> may include a detachable belt for supporting the forearm of the user all around or a structure enclosing the forearm of the user all around.

In an example embodiment, the driving assembly <NUM> may rotate the distal support <NUM> with respect to the proximal support <NUM>. For example, the driving assembly <NUM> may rotate the distal support <NUM> with respect to the proximal support <NUM> based on a sagittal plane. That is, the driving assembly <NUM> may assist the user to perform flexion or extension exercises by rotating the distal support <NUM>.

In an example embodiment, the proximal support <NUM> and the distal support <NUM> may rotate relative based on the frontal plane. For example, the driving assembly <NUM> may be disposed on one side of the proximal support <NUM>.

<FIG> is a perspective view of a driving assembly according to an example embodiment, <FIG> is an exploded perspective view of a front of the driving assembly according to an example embodiment, <FIG> is an exploded perspective view of a rear of the driving assembly according to an example embodiment, and <FIG> is a cross-sectional view of a motion assistance device illustrating a cross-sectional view taken along a line V-V of <FIG>.

Referring to <FIG>, the driving assembly <NUM> includes an actuator <NUM>, a speed reducer <NUM>, a driving frame <NUM>, an upper cover <NUM>, a lower cover <NUM>, a plurality of bearings, and a connection line <NUM>.

In an example embodiment, the actuator <NUM> may be a hollow actuator having an inner space. For example, the speed reducer <NUM> may be inserted in the inner space. According to this structure, a width of the driving assembly <NUM>, that is, a vertical distance from the lower cover <NUM> to the driving frame <NUM> may be reduced. By reducing a total height of the driving assembly <NUM> protruding from the user, a total volume of the motion assistance device <NUM> (refer to <FIG>) may be reduced, and for example, the user may wear the motion assistance device <NUM> inside clothes. The actuator <NUM> may include a stator <NUM> and a rotor <NUM>.

In an example embodiment, the stator <NUM> may be connected to the proximal support <NUM>. The stator <NUM> may generate a magnetic field to rotate the rotor <NUM>. The stator <NUM>, for example, may have a ring shape in which a hole is formed in a center part. For example, the stator <NUM> may have a donut shape. However, the shape of the stator <NUM> is not limited thereto.

In an example embodiment, the rotor <NUM> may rotate relative to the stator <NUM>. For example, the rotor <NUM> may be surrounded by the stator <NUM>. For example, the rotor <NUM> may have a cup shape. The rotor <NUM> may include a main plate <NUM>, a vertical extension part <NUM>, a sun gear <NUM>, a permanent magnet <NUM>, and a rotor axis <NUM>.

In an example embodiment, the main plate <NUM> of the rotor <NUM> may be a plate parallel to a plane vertical to a central axis of the stator <NUM>. The vertical extension part <NUM> of the rotor <NUM> may be a part which vertically extends from an edge part of the main plate <NUM> in one direction. The main plate <NUM> and the vertical extension part <NUM> of the rotor <NUM> may together have a cup shape. The speed reducer <NUM> may be inserted in a space formed by the main plate <NUM> and the vertical extension part <NUM>.

In an example embodiment, a plurality of permanent magnets <NUM> of the rotor <NUM> may be arranged along an outer circumferential surface of the vertical extension part <NUM> of the rotor <NUM>. For example, the permanent magnet <NUM> may have a bent shape to have a same curvature as that of the vertical extension part <NUM>, and the plurality of permanent magnets <NUM> may be arranged to be spaced apart by a predetermined distance. The permanent magnet <NUM> may interact with the magnetic field generated by the stator <NUM>. For example, when the permanent magnet <NUM> of the rotor <NUM> interacts with the magnetic field generated by the stator <NUM>, the rotor <NUM> may rotate in one direction.

In an example embodiment, the sun gear <NUM> of the rotor <NUM> may be formed to protrude from the center of the main plate <NUM>. The sun gear <NUM> may rotate integrally with the main plate <NUM>. For example, the rotor axis <NUM> may be formed to protrude from the center of the main plate <NUM>, and the sun gear <NUM> may be fixed to the rotor axis <NUM>. The sun gear <NUM> of the rotor <NUM> may be an output end of the actuator <NUM>. The output end of the actuator <NUM> may be connected to an input end of the speed reducer <NUM>. For example, the sun gear <NUM> may be connected to the input end of the speed reducer <NUM>.

In an example embodiment, the upper cover <NUM> and the lower cover <NUM> may surround the actuator <NUM>. The upper cover <NUM> and the lower cover <NUM> may fix the stator <NUM> and support the rotor <NUM> in a way that the rotor <NUM> may rotate relative to the stator <NUM>. The lower cover <NUM> may be connected to the proximal support <NUM> and may fix the lower surface of the stator <NUM>. The upper cover <NUM> may be connected to the lower cover <NUM> and may fix the upper surface of the stator <NUM>. The stator <NUM> may have limited vertical and horizontal movement due to the lower cover <NUM> and the upper cover <NUM>. That is, the stator <NUM> may be fixed between the lower cover <NUM> and the upper cover <NUM> without shaking.

In an example embodiment, the upper cover <NUM> may include a protrusion <NUM>, which extends towards the inner space of the stator <NUM>. For example, the protrusion <NUM> may be a cylindrical member formed to be protruding from the center part of the upper cover <NUM> to the lower cover <NUM>. The vertical extension part <NUM> of the rotor <NUM> may be between the protrusion <NUM> of the upper cover <NUM> and the stator <NUM>.

In an example embodiment, a lower cover fixing screw <NUM> may connect the lower cover <NUM> to the proximal support <NUM> (refer to <FIG>). The lower cover <NUM> may be fixed to the proximal support <NUM> by a lower cover fixing screw <NUM>. A plurality of lower cover fixing screws <NUM> may be provided along the circumference of the lower cover <NUM>.

In an example embodiment, an upper cover fixing screw <NUM> may connect the upper cover <NUM> to the lower cover <NUM>. The upper cover <NUM> may be fixed to the lower cover <NUM> by the upper cover fixing screw <NUM>. A plurality of upper cover fixing screws <NUM> may be provided along the circumference of the upper cover <NUM>.

In an example embodiment, the plurality of bearings may support the rotor <NUM> to rotate relative to the stator <NUM> stably. The plurality of bearings may support the rotor <NUM> to maintain a predetermined distance with the stator <NUM>. That is, the plurality of bearings may prevent the rotor <NUM> from approaching the protrusion <NUM> or the stator <NUM> of the upper cover <NUM>.

In an example embodiment, the plurality of bearings may include a first inner bearing <NUM>, a second inner bearing <NUM>, and a third inner bearing <NUM>. The first inner bearing <NUM> may be disposed between the rotor <NUM> and the upper cover <NUM>. The second inner bearing <NUM> may be disposed between the rotor <NUM> and the lower cover <NUM>.

In an example embodiment, the first inner bearing <NUM> may contact the upper surface and the inner side surface of the rotor <NUM> and the second inner bearing <NUM> may contact the lower surface and the outer side surface of the rotor <NUM>. According to this arrangement, the first inner bearing <NUM> and the second inner bearing <NUM> may prevent shaking of the rotor <NUM> in a vertical direction and shaking of the rotor <NUM> in a horizontal direction. That is, the center of the rotor <NUM> may maintain a match with the center of the stator <NUM>.

In an example embodiment, the speed reducer <NUM> may be inserted inside the actuator <NUM>. For example, the speed reducer <NUM> may be inserted in a space surrounded by the vertical extension part <NUM> of the rotor <NUM>. The sun gear <NUM>, which is the output end of the actuator <NUM>, may be connected to the input end of the speed reducer <NUM>. Hereinafter, a deceleration mechanism of the speed reducer <NUM> is described in detail.

In an example embodiment, the main plate <NUM> of the rotor <NUM> may include the rotor axis <NUM>, which is formed to protrude from the center, and the first sun gear <NUM>, which is fixed to the rotor axis <NUM>. The protrusion <NUM> of the upper cover <NUM> may include a ring gear <NUM> formed from the inner side surface to the center. The speed reducer <NUM> may include a plurality of first planetary gears <NUM>, a first carrier <NUM>, a second sun gear <NUM>, a plurality of second planetary gears <NUM>, and a second carrier <NUM>.

In an example embodiment, the plurality of first planetary gears <NUM> may be connected to the sun gear <NUM>, which is the output end of the actuator <NUM>. The second carrier <NUM> may be connected to the driving frame <NUM>. That is, the second carrier <NUM> may be an output end of the speed reducer <NUM>.

In an example embodiment, the plurality of first planetary gears <NUM> may be arranged between the first sun gear <NUM> and the ring gear <NUM>. The first planetary gears <NUM>, for example, may be arranged to be spaced apart by a predetermined distance along the circumference of the first sun gear <NUM>. The first planetary gear <NUM> may have a gear shape engaging with the first sun gear <NUM>. One side of the first planetary gear <NUM> may contact the first sun gear <NUM>, and the other side of the first planetary gear <NUM> may contact the ring gear <NUM>. Since the ring gear <NUM> is formed in the protrusion <NUM> of the upper cover <NUM>, the ring gear <NUM> may maintain a fixed state. When the first sun gear <NUM> rotates, the plurality of first planetary gears <NUM> may rotate along the circumference of the first sun gear <NUM>.

In an example embodiment, the first carrier <NUM> may be connected to the central axis of the plurality of first planetary gears <NUM>. When the central axis of the plurality of first planetary gears <NUM> revolves around the first sun gear <NUM>, the first carrier <NUM> may rotate around the first sun gear <NUM> in the same rotation angular velocity as the revolution angular velocity of the central axis of the plurality of first planetary gears <NUM>. Since the central axis of each of the plurality of first planetary gears <NUM> are coupled by the first carrier <NUM>, the central axis of each of the plurality of first planetary gears <NUM> may revolve in the same revolution angular velocity as the first carrier <NUM>. The rotation speed of the first carrier <NUM> may be reduced relative to the rotation speed of the first sun gear <NUM>. That is, the torque output from the first carrier <NUM> may be greater than the torque transmitted from the first sun gear <NUM> to the first planetary gear <NUM>.

In an example embodiment, the second sun gear <NUM> may be formed in the center of the first carrier <NUM>. The second sun gear <NUM> may be formed on the opposite side of the plurality of first planetary gears <NUM>. For example, with reference to <FIG>, when the central axis of the plurality of first planetary gears <NUM> is connected to the lower surface of the first carrier <NUM>, the second sun gear <NUM> may be formed on the upper surface of the first carrier <NUM>. The second sun gear <NUM> may rotate by the same angular velocity as that of the first carrier <NUM>.

In an example embodiment, the plurality of second planetary gears <NUM> may be arranged between the second sun gear <NUM> and the ring gear <NUM>. The second planetary gears <NUM>, for example, may be arranged to be spaced apart by a predetermined distance along the circumference of the second sun gear <NUM>. The second planetary gear <NUM> may have a gear shape engaging with the second sun gear <NUM>. One side of the second planetary gear <NUM> may contact the second sun gear <NUM>, and the other side of the second planetary gear <NUM> may contact the ring gear <NUM>. Since the ring gear <NUM> is formed in the protrusion <NUM> of the upper cover <NUM>, it may maintain a fixed state. When the second sun gear <NUM> rotates, the plurality of second planetary gears <NUM> may revolve along the circumference of the second sun gear <NUM>.

In an example embodiment, the second carrier <NUM> may be connected to the central axis of the plurality of second planetary gears <NUM>. When the central axis of the plurality of second planetary gears <NUM> revolves around the second sun gear <NUM>, the second carrier <NUM> may rotate around the second sun gear <NUM> in the same rotation angular velocity as the revolution angular velocity of the central axis of the plurality of second planetary gears <NUM>. Since the central axis of each of the plurality of second planetary gears <NUM> are coupled by the second carrier <NUM>, the central axis of each of the plurality of second planetary gears <NUM> may revolve in the same revolution angular velocity as the second carrier <NUM>. The rotation speed of the second carrier <NUM> may be reduced relative to the rotation speed of the first carrier <NUM>. That is, the torque output from the second carrier <NUM> may be bigger in size than the torque output from the first carrier <NUM>. The second carrier <NUM> may be an output end of the speed reducer <NUM>. The driving torque generated by the driving assembly <NUM> may increase from the input end of the speed reducer <NUM> to the output end of the speed reducer <NUM>.

In an example embodiment, one end of the driving frame <NUM> may be connected to the output end of the speed reducer <NUM>. For example, one end of the driving frame <NUM> may be connected to the second carrier <NUM>. The other end of the driving frame <NUM> may be connected to the distal support <NUM> (refer to <FIG>). The driving frame <NUM> may transmit the power received from the speed reducer <NUM> to the distal support <NUM>.

<FIG> illustrate the speed reducer <NUM> as including two planetary gear sets. However, the structure of the speed reducer <NUM> is not limited thereto. For example, the speed reducer <NUM> may be composed of one set of first and second planetary gears <NUM> and <NUM>. For example, the first carrier <NUM> of the speed reducer <NUM> may be directly connected to the driving frame <NUM>.

In an example embodiment, the plurality of bearings may prevent shaking of the rotation axis of each of the first sun gear <NUM>, the first planetary gear <NUM>, the first carrier <NUM>, the second sun gear <NUM>, the second planetary gear <NUM>, and the second carrier <NUM>.

In an example embodiment, with reference to <FIG>, the first inner bearing <NUM> may contact the upper surface and the inner side surface of the rotor <NUM> and the second inner bearing <NUM> may contact the lower surface and the outer side surface of the rotor <NUM>. According to this arrangement, the first inner bearing <NUM> and the second inner bearing <NUM> may prevent shaking of the rotor <NUM> in a vertical direction and a horizontal direction. That is, the first inner bearing <NUM> and the second inner bearing <NUM> may match the center of the rotor <NUM> with the center of the stator <NUM>. According to this structure, shaking of the rotation axis of the first sun gear <NUM> may be prevented.

In an example embodiment, the third inner bearing <NUM> may be disposed between the upper cover <NUM> and the second carrier <NUM>. The second carrier <NUM> may receive a radial force according to the movement of the driving frame <NUM>. When the radial force is applied to the second carrier <NUM>, the third inner bearing <NUM> may prevent shaking of the second carrier <NUM>. That is, the third inner bearing <NUM> may prevent shaking of the rotation axis of the second carrier <NUM>.

In an example embodiment, a fourth bearing <NUM> may be disposed between the lower side of the first carrier <NUM> and the rotor axis <NUM> supporting the plurality of first planetary gears <NUM>. For example, the fourth bearing <NUM> may support the first carrier <NUM> to smoothly rotate along the outer circumferential surface of the rotor axis <NUM>. The fourth bearing <NUM> may maintain a predetermined distance between the lower side of the first carrier <NUM> and the rotor axis <NUM>.

In an example embodiment, a fifth bearing <NUM> may be disposed between the upper side of the first carrier <NUM> and the rotor axis <NUM> supporting the plurality of first planetary gears <NUM>. For example, the fifth bearing <NUM> may support the first carrier <NUM> to rotate smoothly along the outer circumferential surface of the rotor axis <NUM>. The fifth bearing <NUM> may maintain a predetermined distance between the upper side of the first carrier <NUM> and the rotor axis <NUM>.

In an example embodiment, the fourth bearing <NUM> and the fifth bearing <NUM> may each support the lower side and the upper side of the first carrier <NUM> to prevent shaking of the first carrier <NUM> and the plurality of first planetary gears <NUM>.

In an example embodiment, a sixth bearing <NUM> may be disposed between the rotor axis <NUM> and the second carrier <NUM>. For example, the sixth bearing <NUM> may support the second carrier <NUM> to rotate along the outer circumferential surface of the rotor axis <NUM>. The sixth bearing <NUM> may maintain a predetermined distance between the rotor axis <NUM> and the second carrier <NUM>. The sixth bearing <NUM> may prevent shaking of the second carrier <NUM>.

In an example embodiment, the sixth bearing <NUM> may be a flange-type bearing. The cylindrical part of the sixth bearing <NUM> may be inserted in a hole formed at the center of the second carrier <NUM>, and a rotor axis fixing screw <NUM> may overlap the flange part to prevent the sixth bearing <NUM> from being separated from the second carrier <NUM>. The rotor axis fixing screw <NUM> may be screwed with the rotor axis <NUM>. For example, the rotor axis <NUM> may have screw threads in the inner circumferential surface of the rotor axis <NUM>, and the rotor axis fixing screw <NUM> may have screw threads in the outer circumferential surface of the rotor axis fixing screw <NUM>.

In an example embodiment, the driving frame <NUM> may be rotatably connected to one side of the proximal support <NUM>. The fixing plate <NUM> of the driving frame <NUM> may be connected to the speed reducer <NUM> (refer to <FIG>) of the driving assembly <NUM> by at least one frame fixing screw <NUM>. A bearing or a friction-reducing plate may be provided between the fixing plate <NUM> and the upper cover <NUM>.

In an example embodiment, the driving frame <NUM> may include a fixing plate <NUM>, which is connected to a speed reducer <NUM> (refer to <FIG>), a hinge <NUM>, which is connected to one end of the fixing plate <NUM>, and a pivot bar <NUM>, which is connected to the hinge <NUM>. The part of the fixing plate <NUM>, which is connected to the hinge <NUM>, may have a curved shape towards the proximal part of the user. According to such a shape, the axis of the hinge <NUM> may be close to the adduction and abduction axes of the user's hip joint. The pivot bar <NUM> may be connected to the distal support <NUM> of the user.

In an example embodiment, the connection line <NUM> may be connected to the stator <NUM> and extend to the outside. The connection line <NUM> may electrically connect a control unit (not shown) and the stator <NUM>. The control unit may control the magnetic field generated by the stator <NUM>.

<FIG> is a perspective view of a driving assembly according to an example embodiment, <FIG> is an exploded perspective view of a driving assembly of <FIG> from which the stopper is omitted, and <FIG> is an exploded perspective view of a driving assembly of <FIG> from which a speed reducer is omitted.

Referring to <FIG>, a driving assembly <NUM> may have a structure, which is assembled by several steps. The driving assembly <NUM> includes a housing <NUM>, a supporting part <NUM>, which is detachably connected to the housing <NUM>, a speed reducer, which is supported by the supporting part <NUM>, a driving frame <NUM>, which is connected to the supporting part <NUM>, and a stopper <NUM>, which is connected to the speed reducer. The speed reducer is inserted in the housing <NUM> while being connected to the supporting part <NUM>. <FIG> illustrates a ring gear R of the speed reducer that is supported by the supporting part <NUM>.

In an example embodiment, the ring gear R may be separated from the housing <NUM>. At least one sun gear, at least one planetary gear, and at least one carrier may be provided inside the ring gear R. The specific structure of the speed reducer is described in detail with reference to <FIG>.

In an example embodiment, the speed reducer may include a main shaft S, which functions as an input end, and a second carrier <NUM>, which functioning as an output end. Power generated by an actuator may be transmitted to the speed reducer through the main shaft S, which is the input end of the speed reducer. The power transmitted to the speed reducer may be decelerated and be transmitted to the second carrier <NUM>, which is the output end.

In an example embodiment, the housing <NUM> may support the actuator. For example, the housing <NUM> may support a stator (e.g., the stator <NUM> of <FIG>). A rotor (e.g., the rotor <NUM> of <FIG>) may be provided rotatably inside the housing <NUM>. The housing <NUM> may fix the stator of the actuator. The housing <NUM> may include an upper cover <NUM>, a lower cover <NUM>, and a side cover <NUM>. The lower cover <NUM> may face the body of the user. The lower cover <NUM> may support the lower side of the actuator. The upper cover <NUM> may cover the upper side of the actuator. The side cover <NUM> may cover the side of the actuator. The upper cover <NUM> may include a plurality of first accommodating parts 241a and a plurality of second accommodating parts 241b.

In an example embodiment, the plurality of first accommodating parts 241a may be grooves formed to be recessed from the surface of the upper cover <NUM>, or holes formed to penetrate the upper cover <NUM>. The plurality of first accommodating parts 241a may be located along the circumferential direction based on the rotation axis of the rotor. For example, the plurality of first accommodating parts 241a may be arranged by an equal distance. For example, "<NUM>" first accommodating parts 241a may be provided. For example, screw threads may be formed on the inner surface of the plurality of first accommodating parts 241a.

In an example embodiment, the plurality of second accommodating parts 241b may be grooves formed to be recessed from the surface of the upper cover <NUM>, or holes formed to penetrate the upper cover <NUM>. The second accommodating parts 241b may be between "<NUM>" adjacent first accommodating parts 241a among the plurality of first accommodating parts 241a. For example, screw threads may be formed on the inner surface of the plurality of second accommodating parts 241b. For example, "<NUM>" second accommodating parts 241b may be provided.

In an example embodiment, the supporting part <NUM> may be detachably connected to the housing <NUM>. The supporting part <NUM> may include a base frame <NUM>, which is detachably connected to the upper cover <NUM>. The supporting part <NUM> may include an extension frame <NUM>, which is formed to extend inward from the base frame <NUM>. The extension frame <NUM> may cover the upper side of the speed reducer to prevent the speed reducer from being separated upward. The supporting part <NUM> may include at least one frame fastening member <NUM>, which fastens the base frame <NUM> to the upper cover <NUM>, through openings 281a. For example, the frame fastening member <NUM> may be a screw. However, the frame fastening member <NUM> is not limited to screws. For example, as for the frame fastening member <NUM>, a structure for fastening the supporting part <NUM> to the housing <NUM> is sufficient. The frame fastening member <NUM> may pass through the upper cover <NUM> and be fastened to the housing <NUM>. For example, the frame fastening member <NUM> may be formed on the outer surface and may provide screw threads which are screwed with the plurality of first accommodating parts 241a.

In an example embodiment, the stopper <NUM> may be detachably connected to the supporting part <NUM>. The stopper <NUM> may be located on a movement path of the driving frame <NUM>. For example, the stopper <NUM> may limit the rotation angle of the driving frame <NUM>. The stopper <NUM> may, for example, support the stopper <NUM> so that the stopper <NUM> does not rotate clockwise excessively or rotate counterclockwise excessively. For example, the stopper <NUM> may limit the rotation angle range of the driving frame <NUM> within <NUM> degrees. According to the stopper <NUM>, the driving frame <NUM> may be prevented from excessively rotating, so the joint of the user may be prevented from being unintentionally burdened. The stopper <NUM> may include a stopper body <NUM>, which is disposed on one surface of the supporting part <NUM>, and a stopper fastening member <NUM>, which fastens the stopper body <NUM> to the supporting part <NUM>. For example, at least "<NUM>" stopper fastening members <NUM> may be provided. The stopper fastening member <NUM> may be connected to at least "<NUM>" points of the stopper body <NUM> to support and prevent the stopper body <NUM> from rotating.

For example, with the supporting part <NUM> fixed to the housing <NUM>, the stopper <NUM> may be separated from the supporting part <NUM>. For example, the stopper <NUM> may not overlap the upper cover <NUM>. The user may separate the supporting part <NUM> from the housing <NUM> even when the stopper <NUM> is fastened to the supporting part <NUM>.

In an example embodiment, the driving frame <NUM> may be connected to the output end of the speed reducer. The driving frame <NUM> may include a fixing plate <NUM> which is fixed to the output end of the speed reducer, a hinge <NUM> which is connected to one end of the fixing plate <NUM>, a pivot bar <NUM> which is rotatably connected to the hinge <NUM>, and at least one frame fixing screw <NUM>, which fastens the fixing plate <NUM> to the speed reducer. The axis of the hinge <NUM> may be close to the adduction and abduction axes of the user's hip joint. The pivot bar <NUM> may be connected to a distal support (e.g., the distal support <NUM> of <FIG>) of the user. The driving frame <NUM> may transmit the power received from the speed reducer to the distal support (e.g., the distal support <NUM> of <FIG>). At least "<NUM>" frame fixing screws <NUM> may be provided.

In an example embodiment, the speed reducer and the supporting part <NUM> may be separated from the housing <NUM>. The speed reducer and the supporting part <NUM> may be easily replaced. When the supporting part <NUM> is separated from the housing <NUM>, the speed reducer may be separated from the housing <NUM>. Likewise, when the supporting part <NUM> is inserted in the housing <NUM>, the speed reducer may be connected to the actuator. The user may easily maintain, repair, and/or replace the speed reducer by separating the supporting part <NUM> from the housing <NUM>.

<FIG> is a cross-sectional view of a driving assembly according to an example embodiment, <FIG> is a cross-sectional view of the driving assembly according to an example embodiment, and <FIG> is an exploded cross-sectional view of the driving assembly according to an example embodiment.

Referring to <FIG>, the driving assembly <NUM> includes actuators <NUM> and <NUM>, a speed reducer <NUM>, a housing <NUM>, a plurality of bearings <NUM>, <NUM>, <NUM>, <NUM>, and <NUM>, a washer W, a printed circuit board <NUM>, and a supporting part <NUM>.

In an example embodiment, the actuators <NUM> and <NUM> includes the stator <NUM> and the rotor <NUM>. The stator <NUM> may be fixed to the housing <NUM>. The stator <NUM> may be electrically connected to the control unit (not shown) through the printed circuit board <NUM>. The printed circuit board <NUM> may control the magnetic field generated by the stator <NUM>. The control unit (not shown), for example, may be provided in the proximal support (e.g., the proximal support <NUM> of <FIG>). The control unit (not shown) may control the rotation speed of the rotor <NUM> by adjusting the strength of the magnetic field generated by the stator <NUM>.

In an example embodiment, the rotor <NUM> may rotate relative to the stator <NUM>. For example, the rotor <NUM> may be surrounded by the stator <NUM>. The rotor <NUM> may provide an inner space for accommodating the speed reducer. For example, the rotor <NUM> may have a cup shape. The rotor <NUM> may include a main plate <NUM>, a vertical extension <NUM>, a permanent magnet <NUM>, a cap <NUM>, and a cap fastening member <NUM>.

In an example embodiment, the main plate <NUM> may be provided in parallel with the lower cover <NUM>. The main plate <NUM> may rotate relative to the lower cover <NUM>. The main plate <NUM> may rotate around the main shaft S. The main shaft S may be provided in parallel to a Z-axis. In the present application, the up direction refers to the +Z direction, and the down direction refers to the -Z direction.

In an example embodiment, the vertical extension <NUM> may be formed to extend upward from the edge of the main plate <NUM>. The vertical extension <NUM> may be between the stator <NUM> and the speed reducer <NUM>. For example, the inner side surface of the vertical extension <NUM> may face the outer side surface of the ring gear R and the outer side surface of the vertical extension <NUM> may face the permanent magnet <NUM>. The permanent magnet <NUM> may interact with the stator <NUM>.

In an example embodiment, the plurality of permanent magnets <NUM> may be arranged along the outer circumferential surface of the vertical extension <NUM>. For example, the permanent magnet <NUM> may have a bent shape to have a same curvature as that of the vertical extension part <NUM> and the plurality of permanent magnets <NUM> may be arranged to be spaced apart by a predetermined distance.

In an example embodiment, the cap <NUM> may cover the main plate <NUM>. For example, the cap <NUM> may cover the lower side of the main plate <NUM>. The cap <NUM> may be spaced apart from the lower cover <NUM>. A gap may be provided between the cap <NUM> and the lower cover <NUM>. The cap <NUM> may rotate relative to the lower cover <NUM>.

In an example embodiment, the cap fastening member <NUM> may fasten the cap <NUM> to the speed reducer <NUM>. The cap fastening member <NUM> may be detachably connected to the speed reducer <NUM>. For example, the cap fastening member <NUM> may have a shape of engaging with the main shaft S of the speed reducer <NUM>. The cap fastening member <NUM> may be connected to the main plate <NUM> and the main shaft S to rotate at the same time. The main plate <NUM>, the main shaft S, and the cap fastening member <NUM> may rotate at the same rotation speed. The cap fastening member <NUM> may have a shape that inserts in the lower cover <NUM>. For example, the cap fastening member <NUM> may have a shape not protruding outward from the lower surface of the lower cover <NUM>. At least a part of the cap fastening member <NUM> may cover the lower bearing <NUM>. The cap fastening member <NUM> may prevent the lower bearing <NUM> from being separated downward.

In an example embodiment, the speed reducer <NUM> may be separated from the housing <NUM> with the supporting part <NUM>. The speed reducer <NUM> may include a main shaft S functioning as an input end, a first sun gear <NUM> which is fixed on the lower side of the main shaft S, a ring gear R which is provided in a supported state by the supporting part <NUM>, a plurality of first planetary gears <NUM> which is arranged between the first sun gear <NUM> and the ring gear R and engages with the first sun gear <NUM> and the ring gear R, a first carrier <NUM> which is connected to the central axis of each of the plurality of first planetary gears <NUM>, a second sun gear <NUM> which is connected to the first carrier <NUM>, a plurality of second planetary gears <NUM> which is arranged between the second sun gear <NUM> and the ring gear R and engages with the second sun gear <NUM> and the ring gear R, and the second carrier <NUM> which is connected to the central axis of each of the plurality of second planetary gears <NUM> and connected to the driving frame (e.g., the driving frame <NUM> of <FIG>). The first planetary gear <NUM> may be connected to the first carrier <NUM> through a first bolt B1, and the second planetary gear <NUM> may be connected to the second carrier <NUM> through a second bolt B2.

In an example embodiment, the first sun gear <NUM> may rotate at the same speed as the rotor <NUM>. For example, the first sun gear <NUM> may be fixed to the main shaft S so that movement of the first sun gear <NUM> relative to the main shaft S is limited. The first sun gear <NUM>, the first carrier <NUM>, the second carrier <NUM> may rotate at different speeds. For example, the first sun gear <NUM> may rotate at the relatively fastest speed. The first carrier <NUM> may be decelerated by the plurality of first planetary gears <NUM> and may rotate at a relatively slower speed than the first sun gear <NUM>. The second carrier <NUM> may be decelerated once more by the plurality of second planetary gears <NUM> and may rotate at a relatively slower speed than the first carrier <NUM>.

In an example embodiment, the plurality of second planetary gears <NUM> may be located at the upper part of the first planetary gear <NUM>. "<NUM>" first planetary gears <NUM> and "<NUM>" second planetary gears <NUM> may be provided, but the numbers thereof are not limited thereto. The first carrier <NUM> and the second sun gear <NUM> may be formed integrally.

In an example embodiment, the second carrier <NUM> may include a plurality of carrier holes 2222a. The plurality of carrier holes 2222a may include the frame fixing screw. For example, the plurality of carrier holes 2222a and the frame fixing screw <NUM> may have a screw thread shape engaging with each other. For example, the plurality of carrier holes 2222a may be provided in the same number as the frame fixing screws <NUM>.

In an example embodiment, the housing <NUM> may include a lower cover <NUM> which supports the rotor <NUM> in a way that the rotor <NUM> is rotatable, a side cover <NUM> which extends from the lower cover <NUM> and is configured to cover a side surface of the stator <NUM>, and an upper cover <NUM> which extends from the side cover <NUM> and is configured to cover the upper surface of the stator <NUM>.

In an example embodiment, the plurality of bearings <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> may support the rotation of the rotor <NUM> and the speed reducer <NUM>. For example, the plurality of bearings <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> may include the lower bearing <NUM>, the upper bearing <NUM>, the first inner bearing <NUM>, the second inner bearing <NUM>, and the third inner bearing <NUM>.

In an example embodiment, the lower bearing <NUM> may be disposed between the rotor <NUM> and the housing <NUM>. For example, the lower bearing <NUM> may be disposed between the lower cover <NUM> and the main plate <NUM>. The lower bearing <NUM> may support the main plate <NUM> to smoothly rotate relative to the lower cover <NUM>.

In an example embodiment, the upper bearing <NUM> may be disposed between the ring gear R and the second carrier <NUM>. For example, the upper bearing <NUM> may be disposed between the inner side surface of the ring gear R and the outer side surface of the second carrier <NUM>. The upper bearing <NUM> may support the second carrier <NUM> to smoothly rotate relative to the ring gear R.

In an example embodiment, the first inner bearing <NUM>, the second inner bearing <NUM>, and the third inner bearing <NUM> may be disposed inside the speed reducer <NUM>. The first inner bearing <NUM> may be disposed between the main shaft S and the first carrier <NUM>. The second inner bearing <NUM> may be disposed between the main shaft S and the second sun gear <NUM>. The third inner bearing <NUM> may be disposed between the main shaft S and the second carrier <NUM>. For example, the third inner bearing <NUM> may be disposed between the outer side surface of the main shaft S and the inner side surface of the second carrier <NUM>. The third inner bearing <NUM> may support the second carrier <NUM> to smoothly rotate relative to the main shaft S.

In an example embodiment, the washer W may be inserted in the main shaft S and cover the third inner bearing <NUM>. The washer W may support the third inner bearing <NUM> so that the third inner bearing <NUM> is not separated upward. The main shaft S may include a lower protrusion, which supports the first sun gear <NUM>. By the main shaft S and the washer W, the gear set of the speed reducer <NUM> may maintain a compact structure.

In an example embodiment, the supporting part <NUM> may include the base frame <NUM>, a supporting frame <NUM>, the extension frame <NUM>, and the frame fastening member <NUM>. The base frame <NUM> may overlap with the housing <NUM> based on the rotation axis of the rotor <NUM>. The base frame <NUM> is detachable from the housing <NUM>. The supporting frame <NUM> may extend from the base frame <NUM>, at least a part of the supporting frame <NUM> may be located inside the stator <NUM>, and support the speed reducer <NUM>. The extension frame <NUM> may extend inward from the base frame <NUM> and may overlap with the speed reducer <NUM> based on the rotation axis direction of the rotor <NUM>. The frame fastening member <NUM> may fasten the base frame <NUM> to the upper cover <NUM>.

In an example embodiment, a driving assembly may easily replace a speed reducer. According to an example embodiment, it is possible to combine various different speed reducers while using the same platform. For example, it is possible to only replace the speed reducer while maintaining mechanisms and hardware other than the speed reducer and use the driving assembly as necessary.

For example, it is possible to assist the running exercise of the user by using the same motor and a high-speed or low-torque speed reducer. In another example, it is possible to assist the climbing of the user by using the same motor and a high-speed or low-torque speed reducer. Due to these characteristics, it is possible to boost the utilization of the wearable device by designing the speed reducer to be replaceable.

<FIG> is an exploded perspective view schematically illustrating when two different speed reducers are waiting to be connected to a housing according to an example embodiment, <FIG> is a perspective view schematically illustrating when a first speed reducer is connected to a housing according to an example embodiment, and <FIG> is a perspective view schematically illustrating when a second speed reducer is connected to a housing according to an example embodiment.

Referring to <FIG>, a driving assembly may include a housing <NUM> and speed reducers 32A and 32B, which are connected detachably with each other. The speed reducers 32A and 32B may include a first speed reducer 32A and a second speed reducer 32B. The first speed reducer 32A is driven at a relatively low speed and may have an output end, which generates a relatively large torque. The second speed reducer 32B is driven at a relatively high speed and may have an output end, which generates a relatively small torque. The housing <NUM> may be connected to the first speed reducer 32A or the second speed reducer 32B.

The user may replace the speed reducer according to the purpose of use of the driving assembly. For example, in the case of a task requiring a relatively large torque, the user may use the driving assembly while the first speed reducer 32A is coupled to the housing <NUM>. Moreover, in the case of a task requiring a relatively small torque, such as general walking, the user may use the driving assembly while the second speed reducer 32B is coupled to the housing <NUM>.

<FIG> is a diagram schematically illustrating a user wearing a wearable module of a motion assistance device on the upper arm according to an example embodiment.

Referring to <FIG>, the motion assistance device may be worn on the upper arm of the user U. For example, a driving assembly <NUM> may be provided near the shoulder of the user U. The driving assembly <NUM> may generate power for assisting the movement of the upper arm. A driving frame <NUM> may be connected to the driving assembly <NUM> and may be disposed along the upper arm of the user U.

In an example embodiment, a cover <NUM> may be connected to the end of the driving frame <NUM> and may support a part of the upper arm of the user. A strap <NUM> may be connected to the cover <NUM>. The strap <NUM> may be connected to the cover <NUM> to support the rest of the upper arm.

As described above, although the examples have been described with reference to the limited drawings, a person skilled in the art may apply various technical modifications and variations based thereon. For example, suitable results may be achieved if the described techniques are performed in a different order and/or if components in a described system, architecture, device, or circuit are combined in a different manner and/or replaced or supplemented by other components.

Claim 1:
A motion assistance device comprising:
a proximal support (<NUM>) configured to be worn on a proximal part of a user;
a distal support (<NUM>) configured to be worn a distal part of the user;
a driving assembly (<NUM>) which is connected to the proximal support (<NUM>) and configured to generate power; and
a driving frame (<NUM>) configured to transmit a force from the driving assembly (<NUM>) to the distal support,
wherein the driving assembly (<NUM>) comprises:
a housing (<NUM>) being connected to the proximal support;
an actuator comprising a stator (<NUM>) and a rotor (<NUM>), wherein the stator (<NUM>) is fixed to the housing (<NUM>) and has a ring shape, wherein the rotor (<NUM>) is located inside the stator (<NUM>) and rotatable relative to the stator (<NUM>);
a speed reducer (<NUM>) which is inserted inside the rotor (<NUM>) and comprises an input end which is connected to an output end of the actuator; and
a supporting part (<NUM>) being connected to the speed reducer (<NUM>) and connected detachably to the housing (<NUM>),
wherein the speed reducer (<NUM>) is connected to the supporting part (<NUM>) while being inserted into the housing.