Patent Description:
Motion assistance apparatuses enabling the elderly and/or patients having joint problems to walk with less effort, and motion assistance apparatuses increasing muscular strength of users for military purposes are being developed.

<CIT> is related to a joint mechanism having a zigzag structure extending in a zigzag pattern between a first member and a second member. A flexible lengthy member fixed to the first member extends from the first member toward the second member and is travelable with respect to the second member. A tension application unit that applies a tension to the flexible lengthy member is configured to be capable of changing a tension to apply.

<CIT> is related to a force transmitting frame having a length greater than a width. Stiffnesses of first and second end portions of the force transmitting frame may be greater than a stiffness of a central area of the force transmitting frame in a longitudinal direction of the force transmitting frame. The force transmitting frame may include: an inner frame configured to support one side of a user; and/or an outer frame of which first and second end portions are fixed to first and second end portions of the inner frame, and of which a central portion is not fixed to a central portion of the inner frame. The central portion of the outer frame may be configured to slide with respect to the central portion of the inner frame.

The summary below is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. The summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In a first aspect of the invention, there is provided a force transmitting frame for use in a motion assistance apparatus and/or a robot arm, as set out in claim <NUM>.

Embodiments of the invention are based inter alia on the inventive insight that existing force transmitting frames are rigid such that the force cannot be transmitted to a specific portion of the frame. By using a second longitudinal member with one end sliding with respect to the base and one end fastened to a first end of the first longitudinal member, the force transmitting frame has a flexible middle portion and two stiffer ends. Therefore a force can be transmitted in an improved manner between two ends of the force transmitting frame. In an exemplary embodiment, a middle region of the first longitudinal member and a middle region of the second longitudinal member are configured to move relative to each other.

In an exemplary embodiment, a middle region of each of the first longitudinal member and the second longitudinal member is flexible with respect to a force applied in a direction perpendicular to a longitudinal direction thereof.

In an exemplary embodiment, the force transmitting frame is shaped such that a distance between the first longitudinal member to the second longitudinal member is based on: h(x) = <MAT>, wherein h(x) denotes the distance between the first longitudinal member and the second longitudinal member, F denotes a magnitude of a force applied to one end portion of the force transmitting frame, T denotes a magnitude of a tensile force applied to the first longitudinal member, L denotes a length of the force transmitting frame, x denotes a distance from the base of the force transmitting frame to a predetermined point of the second longitudinal member, and p(x) denotes a height of the first longitudinal member at a position the distance x away from the base.

In an exemplary embodiment, a height of the at least one distance maintaining member increases in a direction away from the first fastener.

In an exemplary embodiment, the force transmitting frame may further include a third longitudinal member connected to the base; a fourth longitudinal member configured to slide with respect to the base; a second fastener configured to fasten a first end of the third longitudinal member to a first end of the fourth longitudinal member; and a fastening member configured to connect the first fastener and the second fastener.

In an exemplary embodiment, the second longitudinal member and the third longitudinal member are on opposite sides of the first longitudinal member, and the fourth longitudinal member and the first longitudinal member are on opposite sides of the third longitudinal member.

In an exemplary embodiment, the force transmitting frame is configured to support a foot of a user, the foot of the user including a rearfoot, a midfoot and a forefoot, the base is configured to support at least a portion of the rearfoot of the user, the first longitudinal member is configured to support at least a portion of the midfoot of the user, the second longitudinal member is between the first longitudinal member and the ground when the user stands erect on the ground, and the first fastener is configured to support at least a portion of the forefoot of the user.

In a second aspect of the invention, there is provided a motion assistance apparatus. The motion assistance apparatus includes a supporting frame configured to support a first portion of a user; a joint assembly configured to assist a motion of a joint of the user; and a force transmitting frame configured to transmit a force to a second portion of the user according to the above first aspect of the invention, wherein the base is connected to the joint assembly.

Embodiments of the invention are based inter alia on the inventive insight that existing ankle motion assistance apparatus cannot transmit power to the forefoot. The force transmitting frame transmits a force between elements connected to both ends of the force transmitting frame. Thus the force transmitting frame transmits power to the forefoot, thereby transmitting power directly to the ground while minimizing force transmission to the body, and assisting a toe-off motion of the user.

In an exemplary embodiment, the force transmitting frame may further include at least one distance maintaining member between the first longitudinal member and the second longitudinal member, the at least one distance maintaining member configured to maintain a distance between the first longitudinal member and the second longitudinal member.

In an exemplary embodiment, the motion assistance apparatus may further include an actuator configured to transmit a power to the second longitudinal member; and a power transmitting cable configured to connect the actuator and the force transmitting frame.

In an exemplary embodiment, the actuator may include an elastic body configured to provide an elastic force to the second longitudinal member; and an elastic body support connected to the joint assembly, the elastic body support configured to support the elastic body.

In an exemplary embodiment, the actuator may further include a slider configured to slide with respect to the elastic body support, wherein the power transmitting cable is configured to connect the slider and the second longitudinal member, and the elastic body is between the elastic body support and the slider.

In an exemplary embodiment, the actuator may include a driving source; and a rotary body connected to the driving source, the rotary body configured to wind and unwind the power transmitting cable.

In an exemplary embodiment, the motion assistance apparatus may further include a reducer between the actuator and the second longitudinal member, the reducer configured to increase the power transmitted from the actuator to the second longitudinal member.

In an exemplary embodiment, the reducer may include a first movable pulley associated with the second longitudinal member, and the power transmitting cable may include a first end portion, a second end portion and a middle portion therebetween, the first end portion being connected to the base, the second end portion is connected to the actuator, and the middle portion being wound around the first movable pulley.

In an exemplary embodiment, the force transmitting frame may further include a third longitudinal member parallel to the second longitudinal member, and the first longitudinal member may include a first branch and a second branch, the first branch having one end fastened to the second longitudinal member and the second branch having one end fastened to the third longitudinal member.

In an exemplary embodiment, the motion assistance apparatus may further include an actuator configured to transmit a power to the second longitudinal member and the third longitudinal member; and a reducer configured to increase the power, and to transmit the increased power to each of the second longitudinal member and the third longitudinal member.

In an exemplary embodiment, the reducer may include a fixed pulley associated with the base; a first movable pulley associated with the second longitudinal member; a second movable pulley associated with the third longitudinal member; a first power transmitter including a first end portion, a second end portion and a middle portion therebetween, the first end portion of the first power transmitter being connected to the actuator, the second end portion of the first power transmitter being connected to the base, and the middle portion of the first power transmitter being wound sequentially around the first movable pulley, the fixed pulley, and the second movable pulley; and a second power transmitter including a first end portion, a second end portion and a middle portion therebetween, the first end portion of the second power transmitter being connected to the actuator, the second end portion of the second power transmitter being connected to the base, and the middle portion of the second power transmitter being wound sequentially around the second movable pulley, the fixed pulley, and the first movable pulley.

In a third aspect of the invention, there is provided a robot arm, comprising an operator and a force transmitting frame according to the above first aspect of the invention, said force transmitting frame being connected to the operator. Preferably, the force transmitting frame further comprises a third longitudinal member, a fourth longitudinal member, a second fastener, and a fastening member. The fastening member may include a portion to be in direct contact with an object, for example, surgical equipment. The robot arm as disclosed above has the advantage that the middle portion of the arm is more flexible, which enables an easier manipulation of a surgical robot and increases the safety of a surgical procedure.

Hereinafter, some example embodiments will be described in detail with reference to the accompanying drawings. Regarding the reference numerals assigned to the elements in the drawings, it should be noted that the same elements will be designated by the same reference numerals, wherever possible, even though they are shown in different drawings. Also, in the description of example embodiments, detailed description of well-known related structures or functions will be omitted when it is deemed that such description will cause ambiguous interpretation of the present disclosure.

It should be understood, however, that there is no intent to limit this disclosure to the particular example embodiments disclosed. On the contrary, example embodiments are to cover all modifications, equivalents, and alternatives falling within the scope of the example embodiments. Like numbers refer to like elements throughout the description of the figures.

In addition, terms such as first, second, A, B, (a), (b), and the like may be used herein to describe components. It should be noted that if it is described in the specification 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.

<FIG> is a side view illustrating a force transmitting frame according to at least one example embodiment of the invention, and <FIG> is a graph illustrating a method of determining a distance between a first longitudinal member and a second longitudinal member according to at least one example embodiment of the invention.

Referring to <FIG>, a force transmitting frame <NUM> may transmit a force to a portion of a user. The user may correspond to a human, an animal, or a robot. However, the user is not limited thereto. For example, the force transmitting frame <NUM> may support a sole of a human. In another example, when the force transmitting frame <NUM> is used as an arm of a robot, the force transmitting frame <NUM> may transmit a force to an object connected to the arm of the robot. The force transmitting frame <NUM> may include any form that transmits a force between elements connected to both ends of the force transmitting frame <NUM>, and the purpose of use thereof is not limited thereto. The force transmitting frame <NUM> may include a base <NUM>, a first longitudinal member <NUM>, a second longitudinal member <NUM>, and a first fastener <NUM>.

A first end portion of the first longitudinal member <NUM> is fastened to a first end portion of the second longitudinal member <NUM>. A second end portion of the first longitudinal member <NUM> is fixed to the base <NUM>, and a second end portion of the second longitudinal member <NUM> slides with respect to the base <NUM>. For example, the base <NUM> may include a hole or groove through which the second longitudinal member <NUM> may pass. The hole or groove may guide the second longitudinal member <NUM> to slide with respect to the base <NUM> in a desired (or, alternatively, a predetermined) direction.

A middle region of the second longitudinal member <NUM> may move relative to a middle region of the first longitudinal member <NUM>. A remaining portion of the second longitudinal member <NUM> excluding the first end portion thereof may not be fastened to the first longitudinal member <NUM>. The first longitudinal member <NUM> and the second longitudinal member <NUM> may each include a thin, elastic board, for example, a material of plastic or steel.

The first fastener <NUM> fastens the first end portion of the first longitudinal member <NUM> and the first end portion of the second longitudinal member <NUM>. For example, the first fastener <NUM> may be a bolt and a nut, or a string to be used to fasten the first end portion of the first longitudinal member <NUM> and the first end portion of the second longitudinal member <NUM>.

A distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> increases in a direction away from the first fastener <NUM>. The distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> may be determined, for example, as shown in the graph of <FIG>. The origin of the graph of <FIG> corresponds to a portion of the base <NUM> through which the second longitudinal member <NUM> may pass. For example, the portion corresponding to the origin may be a hole or groove of the base <NUM> through which the second longitudinal member <NUM> may pass. When F denotes a force applied to the first fastener <NUM>, the force F may be a force applied to toes when the user performs a toe-off motion. h(x) that reduces (or, alternatively, prevents) buckling of the first longitudinal member <NUM> when a set (or, alternatively, a predetermined) force F is applied to the first fastener <NUM> may be determined. That is, the distance h(x) may make a sum of moments applied to the first longitudinal member <NUM> be equal to zero.

A point of the first longitudinal member <NUM> that meets a normal at a point (x<NUM>, y<NUM>) of the second longitudinal member <NUM> may be denoted as (x<NUM>, y<NUM>). Moments applied to the point (x<NUM>, y<NUM>) may be a moment M<NUM> by the force F, and a moment M<NUM> by a tensile force T applied to an inner plate. Meanwhile, a tensile force applied to the first longitudinal member <NUM> does not apply a moment to the point (x<NUM>, y<NUM>), and thus may not need to be considered. The moments M<NUM> and M<NUM> may be given as expressed in Equations <NUM> and <NUM>, respectively. <MAT> <MAT>.

h(x<NUM>) that makes a sum of the moments applied to the point (x<NUM>, y<NUM>) be equal to zero may be determined as expressed by Equation <NUM>. That is, under the condition that the moments M<NUM> and M<NUM> are equal, h(x<NUM>) may be determined as expressed by Equation <NUM>.

In Equation <NUM>, Φ denotes an angle between a tangent at a point of the second longitudinal member <NUM> and an x axis. Meanwhile, when p(x) denotes a height of the second longitudinal member <NUM>, p(x) may be a function that defines a shape of the second longitudinal member <NUM>. Φ and p(x) may have a relationship as expressed by Equation <NUM>.

Using Equation <NUM>, Equation <NUM> may be rearranged as expressed by Equation <NUM>.

Equation <NUM> may be generalized to an equation with respect to a desired (or, alternatively, a predetermined) point (x, y) of the second longitudinal member <NUM>, as expressed by Equation <NUM>.

Here, a relationship between T and F may be calculated when the function p(x) related to the shape of the second longitudinal member <NUM> is provided. F is a force applied to a portion of the user, and a value of F may be set (or, alternatively, predetermined) by the user or a designer. Thus, when the function p(x) is provided, a shape of the first longitudinal member <NUM>, which is the distance h(x) spaced apart from the second longitudinal member <NUM>, may be determined.

The force transmitting frame <NUM> determined as described above may transmit a force wholly without being bent although the force is applied to the first fastener <NUM>. When the force transmitting frame <NUM> is determined based on Equation <NUM>, the force transmitting frame <NUM> is supposed to transmit the force wholly without being bent in theory. However, in practice, when considering deformation by various factors, for example, a manufacturing tolerance and an assembly tolerance between components of the force transmitting frame <NUM>, the force transmitting frame <NUM> may be deformed slightly when a force is applied to the first fastener <NUM>. Even in view of such effects, it is learned that both end portions of the force transmitting frame <NUM> may be stiffer than the middle region of the force transmitting frame <NUM> with respect to the force.

In a case in which the force transmitting frame <NUM> has a two-dimensional (2D) shape, the distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> may be determined in proportion to the distance to the first fastener <NUM> in a direction perpendicular to a direction in which the force is applied to the first fastener <NUM>. That is, the distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> increases from the first fastener <NUM> toward the base <NUM>.

Meanwhile, the above description is merely an example of a method of determining the distance between the first longitudinal member <NUM> and the second longitudinal member <NUM>, and thus example embodiments are not limited thereto.

<FIG> illustrate a force transmitting frame that is deformed when a load is applied to the force transmitting frame according to at least one example embodiment of the invention.

In detail, <FIG> illustrates a case in which a force is applied to the middle region of the force transmitting frame <NUM>, <FIG> illustrates a case in which a force is applied to one end portion of the force transmitting frame <NUM>, and <FIG> illustrates a case in which a load is not applied to the force transmitting frame <NUM>.

When the distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> is determined based on Equation <NUM>, both end portions of the force transmitting frame <NUM> may be stiffer than the middle region of the force transmitting frame <NUM>. Referring to <FIG>, when the same load F is applied to the middle region of the force transmitting frame <NUM>, a position of the middle region of the force transmitting frame <NUM> may change greatly. Referring to <FIG>, when the force F is applied to an end portion of the force transmitting frame <NUM>, a position of the end portion of the force transmitting frame <NUM> may not change greatly.

<FIG> illustrates a force transmitting frame according to at least one example embodiment of the invention, and <FIG> is a cross-sectional view illustrating the force transmitting frame according to at least one example embodiment of the invention.

Referring to <FIG>, a force transmitting frame <NUM> includes a base <NUM>, a first longitudinal member <NUM>, a second longitudinal member <NUM>, a first fastener <NUM>, and at least one distance maintaining member <NUM>.

The distance maintaining member <NUM> is disposed between the first longitudinal member <NUM> and the second longitudinal member <NUM> to maintain a distance between the first longitudinal member <NUM> and the second longitudinal member <NUM>. The distance maintaining member <NUM> may have a hole or groove through which the second longitudinal member <NUM> may pass. The hole or groove may guide the second longitudinal member <NUM> to be in contact with the distance maintaining member <NUM> and slide in a desired (or, alternatively, a predetermined) direction. The distance maintaining member <NUM> may be fixed to one of the first longitudinal member <NUM> and the second longitudinal member <NUM>. A height of the distance maintaining member <NUM> may be determined to be the distance between the first longitudinal member <NUM> and the second longitudinal member <NUM> of <FIG>.

<FIG> is a side view illustrating a force transmitting frame according to at least one example embodiment of the invention.

Referring to <FIG>, a force transmitting frame <NUM> includes a base <NUM>, a first longitudinal member <NUM>, a second longitudinal member <NUM>, a first fastener <NUM>, and a distance maintaining member <NUM>.

The distance maintaining member <NUM> may include a plurality of grooves formed in a vertical direction. In another example, the distance maintaining member <NUM> may have a shape being bent multiple times in a vertical direction. For example, the distance maintaining member <NUM> may have a shape of a sine wave, a square wave, or a zigzag.

<FIG> illustrates a motion assistance apparatus that assists a toe-off motion of a user according to at least one example embodiment of the invention.

Referring to <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. The motion assistance apparatus <NUM> includes a force transmitting frame <NUM>, and may include a power transmitting cable <NUM>. <FIG> exemplarily illustrates a case in which the motion assistance apparatus <NUM> assists a motion of a foot of the user. However, the motion assistance apparatus <NUM> may also assist a motion of another portion in an upper body, for example, a wrist, an elbow, or a shoulder of the user, or a motion of another portion in a lower body, for example, a knee or a hip joint of the user. That is, the motion assistance apparatus <NUM> may assist a motion of a portion of the user.

The force transmitting frame <NUM> may be flexible and thus, may be bent flexibly in response to a bending motion of a sole in a process before and after a terminal stance phase. Further, both end portions of the force transmitting frame <NUM> may be stiffer than a middle region of the force transmitting frame <NUM>. Thus, a front end portion of the force transmitting frame <NUM> may push the ground strongly by a tensile force transmitted through the power transmitting cable <NUM> connected to the force transmitting frame <NUM>, whereby the motion assistance apparatus <NUM> may assist a toe-off motion of the user.

Detailed examples of the motion assistance apparatus <NUM> will be described hereinafter.

<FIG> is a perspective view illustrating a motion assistance apparatus according to at least one example embodiment of the invention, <FIG> is a side view illustrating the motion assistance apparatus according to at least one example embodiment of the invention, and <FIG> is a perspective view illustrating a force transmitting frame according to at least one example embodiment of the invention.

Referring to <FIG> and <FIG>, a motion assistance apparatus <NUM> includes a supporting frame <NUM>, a joint assembly <NUM>, a force transmitting frame <NUM>, and may include an actuator <NUM>, a power transmitting cable <NUM>, and a reducer <NUM>.

The supporting frame <NUM> and the force transmitting frame <NUM> may be disposed on opposite sides of a joint of a user to support the user. For example, in a case in which the motion assistance apparatus <NUM> assists a motion of an ankle of the user, the supporting frame <NUM> and the force transmitting frame <NUM> may be disposed on opposite sides of the ankle of the user. The supporting frame <NUM> may support a portion above the ankle of the user, for example, a calf, and the force transmitting frame <NUM> may support a portion below the ankle of the user, for example, a foot.

The supporting frame <NUM> may be provided in a structure that partially encloses a portion of the user to reduce a probability of (or, alternatively, prevent) a separation of the user. The supporting frame <NUM> may include, for example, a detachable belt to support the entire circumference of the calf of the user. A lower end of the supporting frame <NUM> may be connected to the joint assembly <NUM>.

The joint assembly <NUM> may assist a motion of a joint of the user. The joint assembly <NUM> may assist a dorsi-flexion or plantar-flexion motion of a talocrural joint of the user. That is, the joint assembly <NUM> may enable the supporting frame <NUM> to rotate relative to the force transmitting frame <NUM>. The joint assembly <NUM> may include a cover frame <NUM>, a middle frame <NUM>, a bottom frame <NUM>, and a cover connector <NUM>.

The cover frame <NUM>, the middle frame <NUM>, and the bottom frame <NUM> that are arranged in a row may be provided in a U-shape that encloses the ankle of the user.

Bottom surfaces of both ends of the cover frame <NUM> may include contact surfaces, and the contact surfaces may be formed based on a desired (or, alternatively, a predetermined) curvature. The contact surfaces may include a repetitive gear tooth shape of a desired (or, alternatively, a predetermined) size, and the curvature may be applied to a base circle of the gear tooth shape.

Both ends of the middle frame <NUM> may include contact surfaces, and the contact surfaces may be formed based on a desired (or, alternatively, a predetermined) curvature. The contact surfaces may include a repetitive gear tooth shape of a desired (or, alternatively, a predetermined) size, and the curvature may be applied to a base circle of the gear tooth shape. Although <FIG> illustrates a case in which a plurality of middle frames <NUM> are provided, a single middle frame <NUM> may be provided, or the cover frame <NUM> may be connected directly to the bottom frame <NUM> without a middle frame <NUM>. Two neighboring middle frames of the plurality of middle frames <NUM> may each have contact portions that engage with those of the other.

Top surfaces of both ends of the bottom frame <NUM> may include contact surfaces, and the contact surfaces may be formed based on a desired (or, alternatively, a predetermined) curvature. The contact surfaces may include a repetitive gear tooth shape of a desired (or, alternatively, a predetermined) size, and the curvature may be applied to a base circle of the gear tooth shape.

The gear tooth shape formed on the contact surfaces of the cover frame <NUM> may engage with the gear tooth shape formed on the contact surfaces of the middle frame <NUM>. The gear tooth shape formed on the contact surfaces of the bottom frame <NUM> may engage with the gear tooth shape formed on the contact surfaces of the middle frame <NUM>.

The cover connector <NUM> may connect the cover frame <NUM> and the supporting frame <NUM> such that the cover frame <NUM> and the supporting frame <NUM> may rotate relative to each other about an axis corresponding to a longitudinal direction of the foot of the user. In the above structure, the force transmitting frame <NUM> may rotate in response to an inversion or eversion motion of the user, whereby the user wearability may improve.

The force transmitting frame <NUM> may transmit a force to a second portion of the user that is connected through at least one joint to a first portion of the user that is supported by the supporting frame <NUM>. For example, in a case in which the supporting frame <NUM> supports the calf of the user, the force transmitting frame <NUM> may transmit a force to a sole of the user. The force transmitting frame <NUM> may include a base <NUM> configured to support at least a portion of a rearfoot of the user, a first longitudinal member <NUM> configured to support at least a portion of a midfoot of the user, a second longitudinal member <NUM> with a first end portion fastened to the first longitudinal member <NUM> and a second end portion configured to slide with respect to the base <NUM>, a fastener <NUM> configured to support at least a portion of a forefoot of the user, and a distance maintaining member <NUM> configured to maintain a distance between the first longitudinal member <NUM> and the second longitudinal member <NUM>.

The force transmitting frame <NUM> may have a shape determined based on Equation <NUM>. For example, the force transmitting frame <NUM> may have a shape with a length greater than a width to support from the forefoot to the rearfoot of the user. A middle region of the force transmitting frame <NUM> to be in contact with the midfoot of the user may be flexible to improve the user wearability. Meanwhile, a first end portion of the force transmitting frame <NUM> that receives a force from the power transmitting cable <NUM> and a second end portion of the force transmitting frame <NUM> that transmits the force to the forefoot of the user may be stiffer than the middle region of the force transmitting frame <NUM>, and thus the force transmitting frame <NUM> may sufficiently transmit the force from the power transmitting cable <NUM> to the forefoot of the user.

The actuator <NUM> may provide a force to the second longitudinal member <NUM>, thereby assisting a push-off motion of the user. When the actuator <NUM> pulls the second longitudinal member <NUM>, the second longitudinal member <NUM> may be bent to push up the rearfoot of the user from the ground (a heel-off motion). Then, the second longitudinal member <NUM> may be restored by a tensile force applied to the second longitudinal member <NUM>, thereby assisting a toe-off motion of the user. For example, the actuator <NUM> may be a passive actuator using an elastic body as shown in <FIG>, or may be an active actuator using a motor as shown in <FIG>. Hereinafter, an example of the passive actuator using the elastic body will be described. For example, the actuator <NUM> may include an elastic body <NUM>, an elastic body support <NUM> including a receiving space to receive the elastic body <NUM>, and a slider <NUM>. The slider <NUM> and the elastic body support <NUM> may be disposed on opposite sides of the elastic body <NUM>.

The elastic body <NUM> may generate a restoring force by being compressed or stretched before a push-off operation in a stance phase, and returning to an equilibrium state in the push-off operation. For example, a lower end of the elastic body <NUM> may be fixed to the elastic body support <NUM>. An upper end of the elastic body <NUM> may be fixed to the slider <NUM>. That is, the elastic body <NUM> may be disposed between the elastic body support <NUM> and the slider <NUM>. In the above structure, when a tensile force is applied to the power transmitting cable <NUM>, the slider <NUM> may slide toward the elastic body support <NUM> such that the elastic body <NUM> may be compressed, whereby a potential energy of the elastic body <NUM> may increase.

The power transmitting cable <NUM> may connect the actuator <NUM> and the force transmitting frame <NUM>, and transmit a power therebetween. For example, one end of the power transmitting cable <NUM> may pass through the elastic body support <NUM> to be connected to the slider <NUM>, and another end of the power transmitting cable <NUM> may be connected to the second longitudinal member <NUM>. The power transmitting cable <NUM> may be, for example, a longitudinal member such as a wire, a cable, a string, a rubber band, a spring, a belt, or a chain.

When the user performs a dorsi-flexion or plantar-flexion motion before the push-off motion, distances between middle regions of the frames <NUM>, <NUM>, and <NUM> of the joint assembly <NUM> may increase or decrease such that a distance between the actuator <NUM> and the force transmitting frame <NUM> may change. As the distance between the actuator <NUM> and the force transmitting frame <NUM> changes, the tensile force applied to the power transmitting cable <NUM> may change a length of the elastic body <NUM>. In this process, the potential energy of the elastic body <NUM> may increase, and the increased potential energy may be released to assist the push-off motion of the user when the user performs the push-off motion. The released potential energy may be transmitted to the force transmitting frame <NUM> through the power transmitting cable <NUM>, and the energy transmitted to the force transmitting frame <NUM> may pull the rearfoot of the user. Further, the energy transmitted to the force transmitting frame <NUM> may provide a force to be used for the forefoot of the user to push the ground.

The reducer <NUM> may increase the power received from the actuator <NUM> and transmit the increased power to the second longitudinal member <NUM>. The reducer <NUM> may be disposed between the force transmitting frame <NUM> and the power transmitting cable <NUM>. The reducer <NUM> will be described further with reference to <FIG>.

<FIG> illustrates an actuator according to at least one example embodiment of the invention.

Referring to <FIG>, an actuator <NUM> may include an elastic body <NUM>, and an elastic body support <NUM> including a receiving space to receive the elastic body <NUM>.

For example, a first end portion of the elastic body <NUM> may be fixed to one side of the receiving space of the elastic body support <NUM>, and a second end portion of the elastic body <NUM> may be connected to the power transmitting cable <NUM>. In the above structure, when a tensile force is applied to the power transmitting cable <NUM>, the elastic body <NUM> may elongate and the potential energy of the elastic body <NUM> may increase.

<FIG> is a perspective view illustrating a motion assistance apparatus according to at least one example embodiment of the invention.

Referring to <FIG>, a motion assistance apparatus <NUM> may include the supporting frame <NUM>, the joint assembly <NUM>, the force transmitting frame <NUM>, an actuator <NUM>, and the power transmitting cable <NUM>.

The actuator <NUM> may be an active actuator that includes a driving source <NUM> and a rotary body <NUM>. The power transmitting cable <NUM> may be disposed between the rotary body <NUM> and the force transmitting frame <NUM> to transmit a force therebetween.

The driving source <NUM> may generate a power to rotate the rotary body <NUM> using a voltage, a current, and/or a hydraulic pressure. The type of the driving source <NUM> is not limited thereto. The driving source <NUM> may be disposed on one side of the supporting frame <NUM>. Meanwhile, the driving source <NUM> may be disposed on a portion excluding the supporting frame <NUM>, for example, an upper body of the user, and remotely connected to the rotary body <NUM>.

The rotary body <NUM> may wind or unwind the power transmitting cable <NUM>, thereby transmitting the power to the force transmitting frame <NUM> through the power transmitting cable <NUM>. The rotary body <NUM> may be disposed on one side of the supporting frame <NUM> as shown in <FIG>. However, the position of the rotary body <NUM> is not limited thereto.

As discussed above, the actuator <NUM> may be an active actuator that includes the driving source <NUM>. The motion assistance apparatus <NUM> may further include additional devices to control the driving source <NUM>.

For example, the motion assistance apparatus <NUM> may include one or more sensors and a controller (not shown).

The one or more sensors may include one or more pressure sensors on the force transmitting frame <NUM>.

The controller may include a memory and processing circuitry.

The memory may include may include a non-transitory computer readable medium. Examples of non-transitory computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM discs and DVDs; magneto-optical media such as optical discs; and hardware devices that are specially configured to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like. The non-transitory computer-readable media may also be a distributed network, so that the program instructions are stored and executed in a distributed fashion.

The processing circuitry may include a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), an Application Specific Integrated Circuit (ASIC), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of performing operations in a defined manner.

The processing circuitry may be configured, through a layout design and/or execution of computer readable instructions stored in the memory, as a special purpose computer to control the driving source <NUM> based on signals received from the one or more sensors. For example, the controller may determine whether the user is performing a push-off operation based on data from the one or more sensors, and instruct the driving source <NUM> to rotate the rotary body <NUM> in a first direction before the user performs a push-off operation in a stance phase, and instruct the driving source <NUM> to rotate the rotary body <NUM> in a second direction when the user is performing the push-off operation.

<FIG> illustrate a reducer according to at least one example embodiment of the invention.

Referring to <FIG>, the reducer <NUM> may include a movable pulley <NUM> rotatably provided in the second longitudinal member <NUM>. Similar to the second longitudinal member <NUM>, the movable pulley <NUM> may slide with respect to the base <NUM>.

A first end portion of the power transmitting cable <NUM> may be fixed to the base <NUM>, a second end portion of the power transmitting cable <NUM> may be fixed to an actuator, and a middle portion of the power transmitting cable <NUM> may be wound around the movable pulley <NUM>. In the above structure, when the actuator applies a tensile force of T to the power transmitting cable <NUM>, a tensile force of, for example, 2T may be applied to the second longitudinal member <NUM>.

<FIG> is an exploded perspective view illustrating a force transmitting frame according to at least one example embodiment of the invention.

Referring to <FIG>, a force transmitting frame <NUM> includes a base <NUM>, a first longitudinal member <NUM>, a second longitudinal member <NUM>, may include a third longitudinal member <NUM>, and includes a fastener <NUM> and a distance maintaining member <NUM>.

The first longitudinal member <NUM> may include a first branch <NUM> fastened to a first end portion of the second longitudinal member <NUM>, and a second branch <NUM> fastened to a first end portion of the third longitudinal member <NUM>.

The third longitudinal member <NUM> may be disposed parallel to the second longitudinal member <NUM>. Similar to the second longitudinal member <NUM>, the third longitudinal member <NUM> may slide with respect to the base <NUM>.

In a case in which the force transmitting frame <NUM> provided in the above structure is used as an insole for a user, the user may experience the improved wearability when performing an inversion or eversion motion since the force transmitting frame <NUM> is divided into a left portion and a right portion.

<FIG> illustrates a power transmitting cable and a power transmitter according to at least one example embodiment of the invention, and <FIG> illustrates a reducer according to at least one example embodiment of the invention.

Referring to <FIG> and <FIG>, a reducer <NUM> may include a first movable pulley <NUM> rotatably provided in a second longitudinal member <NUM>, a second movable pulley <NUM> rotatably provided in a third longitudinal member <NUM>, a fixed pulley <NUM> provided in a base <NUM>, and a first power transmitter <NUM> and a second power transmitter <NUM> connected to the power transmitting cable <NUM>.

The first power transmitter <NUM> may be wounded sequentially around the first movable pulley <NUM>, the fixed pulley <NUM>, and the second movable pulley <NUM>, and fixed to base <NUM>. The second power transmitter <NUM> may be wounded sequentially around the second movable pulley <NUM>, the fixed pulley <NUM>, and the first movable pulley <NUM>, and fixed to the base <NUM>.

A tensile force T may be divided into T/<NUM> to be applied to the first power transmitter <NUM> and T/<NUM> to be applied to the second power transmitter <NUM>. In the above structure, when an actuator applies a tensile force of T to the power transmitting cable <NUM>, a tensile force of, for example, T/<NUM> may be applied to each of the first power transmitter <NUM> and the second power transmitter <NUM>. Further, according to a working principle of pulley, the first power transmitter <NUM> may transmit a tensile force of T to each of the first movable pulley <NUM> and the second movable pulley <NUM>. Similarly, the second power transmitter <NUM> may transmit a tensile force of T to each of the first movable pulley <NUM> and the second movable pulley <NUM>. Thus, a tensile force of, for example, 2T may be applied to each of the second longitudinal member <NUM> and the third longitudinal member <NUM>.

<FIG> is a side view illustrating a force transmitting frame according to at least one example embodiment.

Referring to <FIG>, a force transmitting frame <NUM> includes a base <NUM>, a first longitudinal member 82a, a second longitudinal member 83a, may include a third longitudinal member 82b, a fourth longitudinal member 83b, includes a first fastener 84a, and may include a second fastener 84b and a fastening member <NUM>. The fastening member <NUM> may connect a first fastener 84a that fastens a first end portion of the first longitudinal member 82a and a first end portion of the second longitudinal member 83a to a second fastener 84b that fastens a first end portion of the third longitudinal member 82b and a first end portion of the fourth longitudinal member 83b.

The first end portion of the first longitudinal member 82a is fastened to the first end portion of the second longitudinal member 83a. A second end portion of the first longitudinal member 82a is fixed to the base <NUM>, and a second end portion of the second longitudinal member 83a slides with respect to the base <NUM>.

The first end portion of the third longitudinal member 82b may be fastened to the first end portion of the fourth longitudinal member 83b. A second end portion of the third longitudinal member 82b may be fixed to the base <NUM>, and a second end portion of the fourth longitudinal member 83b may slide with respect to the base <NUM>.

For example, the base <NUM> may include a hole or groove through which the second longitudinal member 83a and/or the fourth longitudinal member 83b may pass. The hole or groove may guide the second longitudinal member 83a and/or the fourth longitudinal member 83b to slide with respect to the base <NUM> in a predetermined direction.

The first longitudinal member 82a, the second longitudinal member 83a, the third longitudinal member 82b, and the fourth longitudinal member 83b may each include a thin, elastic board, for example, a material of plastic or steel. In the above structure, both end portions of the force transmitting frame <NUM> may be stiffer than a middle region of the force transmitting frame <NUM>, similar to the above-described force transmitting frames according to the other example embodiments.

The second longitudinal member 83a and the third longitudinal member 82b may be disposed on opposite sides of the first longitudinal member 82a, and the fourth longitudinal member 83b and the first longitudinal member 82a may be disposed on opposite sides of the third longitudinal member 82b. By disposing the second longitudinal member 83a and the fourth longitudinal member 83b that may slide with respect to the base <NUM> to be spaced apart from each other, mutual interference caused by the sliding motion may be minimized and a driving range in which the force transmitting frame <NUM> is to be bent may improve, when compared to a case of disposing the two longitudinal members 83a and 83b adjacent to each other.

<FIG> illustrates a robot arm according to at least one example embodiment of the invention. <FIG> illustrates the robot arm to which a force is applied in a lateral direction according to at least one example embodiment of the invention. <FIG> illustrates an operation of the robot arm according to at least one example embodiment of the invention.

Referring to <FIG>, a robot arm <NUM> includes the force transmitting frame <NUM> and an operator <NUM>.

The force transmitting frame <NUM> includes the base <NUM>, the first longitudinal member 82a, the second longitudinal member 83a, may include the third longitudinal member 82b, the fourth longitudinal member 83b, includes the first fastener 84a, and may include the second fastener 84b and the fastening member <NUM>. The fastening member <NUM> may include a portion to be in direct contact with an object, for example, surgical equipment.

A middle region of the force transmitting frame <NUM> may be flexible. Thus, as shown in <FIG>, although a force is applied to the second longitudinal member 83a or the fourth longitudinal member 83b in a lateral direction, a relative angle of the fastening member <NUM> with respect to the base <NUM> may be maintained. Accordingly, when a force is applied to the force transmitting frame <NUM> in a lateral direction, an angle of the operator <NUM> connected to the fastening member <NUM> may be maintained.

Meanwhile, in a case in which the angle of the operator <NUM> needs to be changed, by sliding the second longitudinal member 83a and/or the fourth longitudinal member 83b with respect to the base <NUM>, an angle or a position of the fastening member <NUM> may be changed.

Claim 1:
A force transmitting frame (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) for use in a motion assistance apparatus (<NUM>, <NUM>, <NUM>) and/or a robot arm (<NUM>), the force transmitting frame having a first end and a second end, the force transmitting frame comprising:
a base (<NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>) arranged at the second end of the force transmitting frame;
a first longitudinal member (<NUM>, <NUM>, <NUM>, 82a, <NUM>, <NUM>) connected to the base;
a second longitudinal member (<NUM>, <NUM>, <NUM>, 83a, <NUM>, <NUM>);
a first fastener (<NUM>, <NUM>, <NUM>, 84a, <NUM>, <NUM>) arranged at the first end of the force transmitting frame and configured to fasten a first end of the first longitudinal member to a first end of the second longitudinal member; and
at least one distance maintaining member (<NUM>, <NUM>, <NUM>, <NUM>) arranged between the base and the first fastener, and between the first longitudinal member and the second longitudinal member, the at least one distance maintaining member configured to maintain a distance between the first longitudinal member and the second longitudinal member;
wherein the force transmitting frame is shaped such that a distance between the first longitudinal member and the second longitudinal member increases from the first fastener toward the base;
wherein a second end of the first longitudinal member is fixed to the base;
characterized in that a second end of the second longitudinal member is configured to slide with respect to the base.