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

<CIT> describes a walking assistance robot comprising a frame configured of a plurality of links pivotally connected to one another to allow flexibly bending the frame, and pins that connect the plurality of links that constitute the frame which are inserted into and slide in a curve-shaped slot and a slot in a vertical direction so that, even though the frame is bent, the entire length of the frame is increased and ends of the frame can be moved along a straight line that is horizontal with respect to the ground.

Some example embodiments relate to a walking assistance device deformable based on a thigh shape to closely fit a body shape of a user, and, thus, improve user wearability and decrease the device volume.

Some example embodiments relate to a walking assistance device configured to assist a user.

According to the invention, the walking assistance device is provided as defined in claim <NUM>.

In some example embodiments, the plurality of segment frames include an upper segment frame connected to the upper thigh frame; and a lower segment frame connected to the lower thigh frame, the lower segment frame configured to rotate relative to the upper segment frame.

In some example embodiments, the upper segment frame is integrally formed with the upper thigh frame, and the lower segment frame is integrally formed with the lower thigh frame.

In some example embodiments, the upper segment frame is detachably connectable to the upper thigh frame, and the lower segment frame is detachably connectable to the lower thigh frame.

In some example embodiments, the motion frame further includes an elastic body including a first end portion fixed to the upper segment frame and a second end portion fixed to the lower segment frame.

In some example embodiments, the motion frame further includes a rotary shaft configured to connect the upper segment frame and the lower segment frame such that the rotary shaft is parallel to the second axis, wherein the elastic body is configured to enclose the rotary shaft.

In some example embodiments, the motion frame further includes a stopper configured to restrict an angle of rotation of the upper segment frame with respect the lower segment frame.

In some example embodiments, the stopper extends from a first one of the upper segment frame and the lower segment frame toward a second one of the upper segment frame and the lower segment frame.

In some example embodiments, the plurality of segment frames include a first segment frame; a second segment frame rotatably connected a first end of first segment frame; a third segment frame rotatably connected to a second end of the first segment frame; a fourth segment frame rotatably connected to the second segment frame; and a fifth segment frame rotatably connected to the third segment frame and the fourth segment frame, wherein the upper thigh frame is connected to the second segment frame.

In some example embodiments, the motion frame further includes an elastic body including a first end fixed to the fourth segment frame and a second end fixed to the fifth segment frame.

In some example embodiments, the motion frame further includes a first stopper configured to restrict an angle of rotation of the second segment frame with respect to the fourth segment frame; and a second stopper configured to restrict an angle of rotation of the third segment frame with respect to the fifth segment frame.

In some example embodiments, the second segment frame is detachably connectable to the upper thigh frame, and the third segment frame is detachably connectable to the lower thigh frame.

In some example embodiments, the plurality of motion frames are configured to connect to each other in series.

In some example embodiments, the plurality of motion frames include a first motion frame including a first magnet having a first polarity and a first frame body configured to receive the first magnet; and a second motion frame including a second magnet having a second polarity and a second frame body rotatably connected to the first frame body, the second motion frame configured to receive the second magnet, the second magnet configured to face the first magnet.

In some example embodiments, each of the first frame body and the second frame body include rounded end portions facing each other.

Other example embodiments relate to a walking assistance device configured to assist a user.

In some example embodiments, the walking assistance device includes an upper thigh frame; a lower thigh frame; and a motion frame connected between the upper thigh frame and the lower thigh frame, the motion frame including a plurality of segment frames, the plurality of segment frames configured to determine an angle between the upper thigh frame and the lower thigh frame by rotating relative to a neighboring one of the plurality of segment frames to adjust a relative angle with respect to the neighboring one of the plurality of segment frames based on a shape of a thigh of the user.

In some example embodiments, the motion frame is configured to rotate about one or more a third axis that is parallel to the second axis and perpendicular to the first axis.

In some example embodiments, the motion frame is configured to adjust a set distance between the upper frame and the lower frame.

In some example embodiments, the motion frame extends inferiorly from the upper frame when the user is upright.

The walking assistance device further includes a wearable portion attached to an inferior end of the lower frame, the wearable portion configured to secure the thigh of the user.

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.

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.

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

<FIG> illustrates a user wearing a walking assistance device according to at least one example embodiment, and <FIG> illustrates a user wearing a walking assistance device according to at least one example embodiment, the user having thicker thighs when compared to the user of <FIG>.

Referring to <FIG>, in one or more example embodiments, a walking assistance device <NUM> may be deformable based on a thigh shape of a user. For example, the walking assistance device <NUM> may closely fit a user having relatively thin thighs and also closely fit a user with relatively thick thighs. When the walking assistance device <NUM> closely fits a thigh of the user, a separation distance between the walking assistance device <NUM> and the thigh of the user may decrease. The user may wear clothes over the walking assistance device <NUM>, and the wearability that the user feels may improve.

The walking assistance device <NUM> may assist a hip joint of the user. The walking assistance device <NUM> includes a hip joint actuator <NUM>, an upper thigh frame <NUM>, a motion frame <NUM>, a lower thigh frame <NUM>, and a thigh wearable portion <NUM>. The motion frame <NUM> may be deformed based on a thigh shape of the user. The walking assistance device <NUM> may further include a waist wearable portion <NUM>. The upper thigh frame <NUM> is configured to adjust an angle with respect to the hip joint actuator <NUM>. Through the angle adjustment of the upper thigh frame <NUM> and the deformation degree of the motion frame <NUM>, the walking assistance device <NUM> is configured to closely fit the thigh of the user.

The waist wearable portion <NUM> may support a waist of the user. The waist wearable portion <NUM> may have a length adjustable based on a waist circumference of the user. The waist wearable portion <NUM> may support the hip joint actuator <NUM>. The waist wearable portion <NUM> may be positioned such that the hip joint actuator <NUM> may be disposed alongside the hip joint.

The hip joint actuator <NUM> generates power to assist the hip joint of the user. The hip joint actuator <NUM> supports the upper thigh frame <NUM>. The hip joint actuator <NUM> may rotate the upper thigh frame <NUM> about a first axis a1. The hip joint actuator <NUM> may assist an extension and a flexion of the thigh.

The upper thigh frame <NUM> is connected to the hip joint actuator <NUM>, and receivea the power from the hip joint actuator <NUM> and rotate about the first axis a1 and rotate about a second axis a2 intersecting the first axis a1. The upper thigh frame <NUM> may rotate about the hip joint actuator <NUM> in response to an adduction or an abduction of the thigh. The upper thigh frame <NUM> may rotate about the hip joint actuator <NUM> based on the thigh shape of the user, in addition to the adduction or the abduction of the thigh. For example, when a user having relatively thick thighs wears the walking assistance device <NUM>, the upper thigh frame <NUM> may rotate outward about the hip joint actuator <NUM>.

The motion frame <NUM> may include an extra degree of freedom (DOF), so as to be deformed based on the thigh shape of the user. The motion frame <NUM> may be deformed and determine an angle between the upper thigh frame <NUM> and the lower thigh frame <NUM>. The motion frame <NUM> may be positioned between the upper thigh frame <NUM> and the lower thigh frame <NUM>. The motion frame <NUM> includes a plurality of segment frames <NUM> and <NUM> configured to rotate relative to each other. The plurality of segment frames <NUM> and <NUM> may include the upper segment frame <NUM> and the lower segment frame <NUM> connected to perform a <NUM>-DOF rotation.

For example, an angle between the upper segment frame <NUM> and the lower segment frame <NUM> when a user having relatively thick thighs wears the walking assistance device <NUM> may be less than an angle between the upper segment frame <NUM> and the lower segment frame <NUM> when a user having relatively thin thighs wears the walking assistance device <NUM>.

The motion frame <NUM> may be deformed based on an angle of the upper thigh frame <NUM> about the hip joint actuator <NUM>. For example, when a user having relatively thick thighs wears the walking assistance device <NUM>, the walking assistance device <NUM> may closely fit the thigh of the user in a manner that the upper thigh frame <NUM> is pushed outward by the thigh and the lower segment frame <NUM> is bent in a direction toward the thigh with respect to the upper segment frame <NUM>.

The motion frame <NUM> may be provided as an integral body with the upper thigh frame <NUM> and the lower thigh frame <NUM>, or may be detachably connected to the upper thigh frame <NUM> and the lower thigh frame <NUM>. When the motion frame <NUM> is detachably connected to the upper thigh frame <NUM> and the lower thigh frame <NUM>, the user may mount the motion frame <NUM> between the upper thigh frame <NUM> and the lower thigh frame <NUM>, or remove the motion frame <NUM> from the walking assistance device <NUM>, as necessary. For example, if the motion frame <NUM> is removed from the walking assistance device <NUM>, the lower thigh frame <NUM> may be mounted directly on the upper thigh frame <NUM>.

The motion frame <NUM> may include a fixing member (not shown) configured to fix the angle between the upper thigh frame <NUM> and the lower thigh frame <NUM>.

The lower thigh frame <NUM> may be connected to the motion frame <NUM>. The lower thigh frame <NUM> may be provided as an integral body with the motion frame <NUM>, or detachably connected to the motion frame <NUM>.

The thigh wearable portion <NUM> may support the thigh of the user. The thigh wearable portion <NUM> may have a length adjustable based on a thigh circumference of the user.

Referring to <FIG>, a user having relatively thin thighs may wear the walking assistance device <NUM>. In this example, the angle between the upper segment frame <NUM> and the lower segment frame <NUM> of the motion frame <NUM> may be relatively great. In detail, the upper segment frame <NUM> and the lower segment frame <NUM> may form an approximately straight line such that the angle between the upper segment frame <NUM> and the lower segment frame <NUM> may be approximately <NUM> degrees.

Referring to <FIG>, a user having relatively thick thighs may wear the walking assistance device <NUM>. In this example, the upper thigh frame <NUM> may stay in a state of being pushed outward about the second axis a2 by the thigh, that is, in a counterclockwise direction. In addition, the lower segment frame <NUM> may stay in a state of being rotated inward about the upper segment frame <NUM>, that is, in a clockwise direction, and the lower thigh frame <NUM> may closely fit the thigh of the user.

<FIG> is a front view illustrating a walking assistance device according to at least one example embodiment, <FIG> is a front view illustrating a motion frame according to at least one example embodiment, <FIG> is a cross-sectional view cut along a line V-V of <FIG>, and <FIG> is a cross-sectional view illustrating a deformation of the motion frame of <FIG>.

Referring to <FIG>, the motion frame <NUM> may include the upper segment frame <NUM>, the lower segment frame <NUM>, a rotary shaft <NUM>, an elastic body <NUM>, a stopper <NUM>, an upper connecting member <NUM>, a button <NUM>, and a lower connecting member <NUM>.

The upper segment frame <NUM> may be connected to the upper thigh frame <NUM> provided on an upper side. The upper segment frame <NUM> may be rotatably connected to the lower segment frame <NUM> by the rotary shaft <NUM>. The upper segment frame <NUM> may include a first upper hollow 11a and a second upper hollow 11b.

The lower segment frame <NUM> may be connected to the lower thigh frame <NUM> provided on a lower side. The lower segment frame <NUM> may be rotatably connected to the upper segment frame <NUM> by the rotary shaft <NUM>.

The rotary shaft <NUM> may rotatably connect the upper segment frame <NUM> and the lower segment frame <NUM>. For example, the rotary shaft <NUM> may be a rod that penetrates through one of the upper segment frame <NUM> and the lower segment frame <NUM> and is inserted into the other one. For example, the rotary shaft <NUM> may be a rod that is provided as an integral body with one of the upper segment frame <NUM> and the lower segment frame <NUM> and protrudes toward the other one. The rotary shaft <NUM> may be provided to be parallel to the second axis a2 which is a rotation axis of the upper thigh frame <NUM>.

The rotary shaft <NUM> may be disposed at <NUM> degrees with respect to the first axis a1 which is a drive axis of the hip joint actuator <NUM>. Here, being disposed at <NUM> degrees may indicate that a virtual auxiliary line parallel to the first axis a1 which is the drive axis of the hip joint actuator <NUM> is perpendicular to the rotary shaft <NUM>. In this structure, it is possible to prevent the deformation of the motion frame <NUM> by the hip joint actuator <NUM> and to reduce a loss of power while the power of the hip joint actuator <NUM> is transmitted to the lower thigh frame <NUM>.

The walking assistance device may implement a motion about the first axis a1 by the hip joint actuator <NUM>, a rotational motion of the upper thigh frame <NUM> connected to the hip joint actuator <NUM> so as to rotate about the second axis a2, and a rotational motion of the lower segment frame <NUM> connected to the hip joint actuator <NUM> so as to rotate about the upper segment frame <NUM>.

The elastic body <NUM> may assist the motion frame <NUM> to maintain the basic shape of a straight line. One end portion of the elastic body <NUM> may be fixed to the upper segment frame <NUM>, and the other end portion thereof may be fixed to the lower segment frame <NUM>. For example, the one end portion of the elastic body <NUM> may be received in the first upper hollow 11a of the upper segment frame <NUM> and fixed to an inner wall of the upper segment frame <NUM>, and the other end portion of the elastic body <NUM> may be received in a first lower hallow 12a of the lower segment frame <NUM> and fixed to an inner wall of the lower segment frame <NUM>. The elastic body <NUM> may be a spring. While the lower segment frame <NUM> is rotating relative to the upper segment frame <NUM> about the rotary shaft <NUM> in a clockwise direction, elastic energy stored in the elastic body <NUM> may gradually increase.

A central portion of the elastic body <NUM> may enclose the rotary shaft <NUM>. Even when an end portion of the elastic body <NUM> is separated from the upper segment frame <NUM> and/or the lower segment frame <NUM>, the elastic body <NUM> may be stably hung over the rotary shaft <NUM>.

The stopper <NUM> may restrict rotation angles of the upper segment frame <NUM> and the lower segment frame <NUM>. In the example of <FIG>, the stopper <NUM> may prevent the lower segment frame <NUM> rotating relative to the upper segment frame <NUM> in a counterclockwise direction. The stopper <NUM> may assist the lower segment frame <NUM> to rotate only in an inward direction.

The stopper <NUM> may extend from one of the upper segment frame <NUM> and the lower segment frame <NUM> toward the other one. In <FIG> and <FIG>, an example in which the stopper <NUM> extends from the lower segment frame <NUM> and is received in the first upper hollow 11a of the upper segment frame <NUM> is illustrated. However, examples are not limited thereto.

In some other example embodiments, in addition to the elastic body <NUM> associated with the rotary shaft <NUM> of the motion frame <NUM>, the rotational shaft of the second axis a2 may have an elastic body associated therewith to urge the upper thigh frame <NUM> in a clockwise direction towards the thigh of the user as the upper thigh frame <NUM> is being pushed outward about the second axis a2 by the thigh, that is, in the counterclockwise direction.

As described above, the motion frame <NUM> may be provided as an integral body with the upper thigh frame <NUM> and the lower thigh frame <NUM> or detachable from the upper thigh frame <NUM> and the lower thigh frame <NUM>. Hereinafter, a detachable structure will be described in detail, based on an example in which the motion frame <NUM> is detachable from the upper thigh frame <NUM> and the lower thigh frame <NUM>.

The upper connecting member <NUM> may connect the upper segment frame <NUM> to the upper thigh frame <NUM>. A portion of the upper connecting member <NUM> may be received in the upper segment frame <NUM>, and the other portion of the upper connecting member <NUM> may be inserted into the upper thigh frame <NUM>. The upper connecting member <NUM> may include a connecting hole 7a. The upper connecting member <NUM> may be received in the second upper hollow 11b and supported by an elastic body.

The button <NUM> may be connected to one side of the upper connecting member <NUM>, such that at least a portion thereof may protrude toward an outer side of the upper segment frame <NUM>. The user may push the button <NUM> to push the upper connecting member <NUM>.

The upper thigh frame <NUM> may include a projection (not shown) to be inserted into the connecting hole 7a of the upper connecting member <NUM>. While pushing the upper connecting member <NUM> by pushing the button <NUM>, the user may insert the upper connecting member <NUM> into the upper thigh frame <NUM> and then release the button <NUM>. In this example, the upper connecting member <NUM> may return to its original place, and the projection provided in the upper thigh frame <NUM> may be inserted into the connecting hole 7a of the upper connecting member <NUM>.

The lower connecting member <NUM> may include a projection (not shown) that functions similar to the projection of the upper thigh frame <NUM>, and the lower thigh frame <NUM> may include elements corresponding to the upper connecting member <NUM> and the button <NUM>.

However, the structure for detaching the motion frame <NUM> from the upper thigh frame <NUM> and/or the lower thigh frame <NUM> is not limited thereto.

<FIG> illustrates a user wearing a walking assistance device according to at least one example embodiment, <FIG> is a side view illustrating a motion frame according to at least one example embodiment, and <FIG> is a cross-sectional view illustrating a deformation of the motion frame of <FIG>.

Referring to <FIG>, a walking assistance device <NUM> may be deformable based on a thigh shape of a user. For example, the walking assistance device <NUM> may closely fit a user having relatively thin thighs and also closely fit a user with relatively thick thighs.

The walking assistance device <NUM> may include the waist wearable portion <NUM>, the hip joint actuator <NUM>, the upper thigh frame <NUM>, a motion frame <NUM>, the lower thigh frame <NUM>, and the thigh wearable portion <NUM>.

A plurality of motion frames <NUM> may be provided. For example, the plurality of motion frames <NUM> may include a first motion frame <NUM>, a second motion frame <NUM>, and a third motion frame <NUM> that are connected to each other in series. The plurality of motion frames <NUM> may each include a plurality of segment frames. The plurality of motion frames <NUM> may be connected so as to rotate relative to each other. The rotation of the plurality of motion frames <NUM> may allow the walking assistance device <NUM> to closely fit a thigh of a user, irrespective of the thigh shape of the user. Hereinafter, the plurality of segment frames will be described based on the first motion frame <NUM>. However, the plurality of segment frames of the first motion frame <NUM> may apply to the second motion frame <NUM> and/or the third motion frame <NUM>.

The first motion frame <NUM> may include first through fifth segment frames <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> that are connected in the form of a pentagon.

The first through fifth segment frames <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> may each be hinged to a neighboring segment frame. The first segment frame <NUM> may be aligned with the upper thigh frame <NUM> and/or the lower thigh frame <NUM>. The second segment frame <NUM> may be rotatably connected to an upper end of the first segment frame <NUM>, and the third segment frame <NUM> may be rotatably connected to a lower end of the first segment frame <NUM>. The fourth segment frame <NUM> may be rotatably connected to the second segment frame <NUM>, and the fifth segment frame <NUM> may be rotatably connected to the third segment frame <NUM> and the fourth segment frame <NUM>.

The first motion frame <NUM> may further include an elastic body <NUM> with one end fixed to the fourth segment frame <NUM> and the other end fixed to the fifth segment frame <NUM>. The elastic body <NUM> may be provided on inner sides of the fourth segment frame <NUM> and the fifth segment frame <NUM>. If an angle between the fourth segment frame <NUM> and the fifth segment frame <NUM> increases, elastic energy stored in the elastic body <NUM> may increase.

The first motion frame <NUM> may further include a first stopper <NUM> configured to restrict rotation angles of the second segment frame <NUM> and the fourth segment frame <NUM>, and a second stopper <NUM> configured to restrict rotation angles of the third segment frame <NUM> and the fifth segment frame <NUM>. The first stopper <NUM> may be fixed to an end portion of the second segment frame <NUM> and contact an outer side of the fourth segment frame <NUM>. The second stopper <NUM> may be fixed to an end portion of the third segment frame <NUM> and contact an outer side of the fifth segment frame <NUM>.

The second segment frame <NUM> may be provided as an integral body with the upper thigh frame <NUM> or detachably connected to the upper thigh frame <NUM>. The third segment frame <NUM> may be provided as an integral body with the lower thigh frame <NUM> or detachably connected to the lower thigh frame <NUM>. For example, the first connecting member <NUM> may be inserted into the upper thigh frame <NUM>. The first connecting member <NUM> may be provided in the upper thigh frame <NUM>, and the second connecting member <NUM> may be provided in the lower thigh frame <NUM>.

The first motion frame <NUM> may be disposed between the upper thigh frame <NUM> and the lower thigh frame <NUM>, wherein motion frames other than the first motion frame <NUM> may be connected alongside in series. For example, the second motion frame <NUM> and the third motion frame <NUM> may be connected alongside under the first motion frame <NUM>. In this example, the second connecting member <NUM> provided on the bottom of the first motion frame <NUM> may be connected to the second motion frame <NUM>. The second motion frame <NUM> or the third motion frame <NUM> may include a third connecting member <NUM>. A fourth connecting member <NUM> may be provided on the bottom of the third motion frame <NUM> and detachably connected to the lower thigh frame <NUM>.

The second motion frame <NUM> may include first through fifth segment frames <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> that are connected in the form of a pentagon, and first and second stoppers <NUM> and <NUM>, and an elastic body <NUM>. The third motion frame <NUM> may include first through fifth segment frames <NUM>, <NUM>, <NUM>, <NUM>, and <NUM> that are connected in the form of a pentagon, first and second stoppers <NUM> and <NUM>, and an elastic body <NUM>.

For example, the first connecting member <NUM> may be provided in the second segment frame <NUM> of the first motion frame <NUM> and detachably connected to the upper thigh frame <NUM>. In detail, the second connecting member <NUM> detachably connecting the first motion frame <NUM> and the second motion frame <NUM> may be provided in the third segment frame <NUM> of the first motion frame <NUM> and/or the second segment frame <NUM> of the second motion frame <NUM>. The third connecting member <NUM> detachably connecting the second motion frame <NUM> and the third motion frame <NUM> may be provided in the third segment frame <NUM> of the second motion frame <NUM> and/or the second segment frame <NUM> of the third motion frame <NUM>. The fourth connecting member <NUM> may be provided in the third segment frame <NUM> of the third motion frame <NUM> and detachably connected to the lower thigh frame <NUM>. The number of motion frames <NUM>, <NUM>, and <NUM> may be determined based on a selection of the user. For example, for a user having relatively long thighs, it is possible to increase the number of motion frames.

In some other example embodiments, the motion frame may be a sliding assembly that includes a support frame and a sliding frame configured to move relative thereto within an accommodating space therein to compensate for a length corresponding to a difference in height of users.

<FIG> is a front view illustrating a motion frame according to at least one example embodiment, <FIG> is a cross-sectional view cut along a line XI-XI of <FIG>, and <FIG> is a cross-sectional view illustrating a deformation of the motion frame of <FIG>.

Referring to <FIG>, a plurality of motion frames <NUM> may be provided. For example, the motion frames <NUM> may include a first motion frame <NUM>, a second motion frame <NUM>, and a third motion frame <NUM> that are connected to each other in series.

The first motion frame <NUM> may include a first frame body <NUM>, and one or more first magnets <NUM> and <NUM>.

The first frame body <NUM> may be rotatably connected to the upper thigh frame <NUM> (See <FIG>) and the second motion frame <NUM>. The first frame body <NUM> may include a first upper round part 311a formed at an end portion facing the upper thigh frame <NUM> (See <FIG>), and a first lower round part 311b formed at an end portion facing the second motion frame <NUM>. The first round parts 311a and 311b may reduce a minimum distance between a magnet provided in the first motion frame <NUM> and a magnet provided in the upper thigh frame <NUM> (See <FIG>) and/or the second motion frame <NUM>.

The one or more first magnets <NUM> and <NUM> may be received in the first frame body <NUM>. Here, two first magnets <NUM> and <NUM>, in detail, the first upper magnet <NUM> and the first lower magnet <NUM>, may be provided. However, examples are not limited thereto. For example, a single first magnet or three or more magnets may be provided in the first frame body <NUM>.

For example, the first upper magnet <NUM> may face a magnet (not shown) provided in the upper thigh frame <NUM> with an opposite polarity. An attraction force between the magnet (not shown) provided in the upper thigh frame <NUM> and the first upper magnet <NUM> may assist the first motion frame <NUM> to maintain the shape of a straight line with respect to the upper thigh frame <NUM>. Further, even when an angle between the upper thigh frame <NUM> and the first motion frame <NUM> changes based on a body shape of the user, the attraction force may assist the first motion frame <NUM> to closely fit a body of the user.

The second motion frame <NUM> may include a second frame body <NUM>, and the one or more second magnets <NUM> and <NUM>. The second frame body <NUM> may be rotatably connected to the first motion frame <NUM> and the third motion frame <NUM>, where the second frame body <NUM> may rotate about rotary shaft <NUM>. The second frame body <NUM> may include a second upper round part 321a formed at an end portion facing the first motion frame <NUM>, and a second lower round part 321b formed at an end portion facing the third motion frame <NUM>. The second round parts 321a and 321b may reduce a minimum distance between a magnet provided in the second motion frame <NUM> and a magnet provided in the first motion frame <NUM> and/or the second motion frame <NUM>.

The one or more second magnets <NUM> and <NUM> may be received in the second frame body <NUM>. The second upper magnet <NUM> may face the first lower magnet <NUM> received in the first motion frame <NUM> with an opposite polarity. The second lower magnet <NUM> may face a third upper magnet <NUM> received in the third motion frame <NUM> with an opposite polarity. The third motion frame <NUM> will be described further below,.

An attraction force between the first lower magnet <NUM> and the second upper magnet <NUM> and/or an attraction force between the second lower magnet <NUM> and the third upper magnet <NUM> may assist the motion frames <NUM> to maintain the shape of a straight line. Even when angles of the motion frames <NUM> change based on the body shape of the user, the one or more second magnets <NUM> and <NUM> may assist the motion frames <NUM> to closely fit the body of the user.

The third motion frame <NUM> may include a third frame body <NUM>, and the one or more third magnets <NUM> and <NUM>.

The third frame body <NUM> may be rotatably connected to the second motion frame <NUM> and the lower thigh frame <NUM> (See <FIG>), where the third frame body <NUM> may rotate about rotary shaft <NUM>. The third frame body <NUM> may include a third upper round part 331a and a third lower round part 331b.

The one or more third magnets <NUM> and <NUM> may be received in the third frame body <NUM>. For example, the third upper magnet <NUM> may face the second lower magnet <NUM> with an opposite polarity. A magnet (not shown) provided in the lower thigh frame <NUM> and the third lower magnet <NUM> may face with opposite polarities. Even when the angles of the motion frames <NUM> changes based on the body shape of the user, the one or more third magnets <NUM> and <NUM> may assist the motion frames <NUM> to closely fit the body of the user.

In some example embodiments, the magnets <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be electromagnetics configured to selectively create a magnetic field in response to an electric current provided thereto. For example, the walking assistance device may include a controller (not shown) configured to determine whether a condition is present and selectively create the magnetic field and/or vary a strength of the magnetic field based on the condition. For example, as a walking speed of the user increases, the controller may increase the magnetic field to increase the rigidity of the motion frames <NUM>.

The controller (not shown) may include processing circuitry including, but is not limited to, a central processing unit (CPU) , an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit, a microprocessor, application-specific integrated circuit (ASIC), etc. The processing circuitry may be special purpose processing circuitry that adjusts the magnetic field to control the rigidity of the motion frames <NUM>. Further, in some example embodiments, the processing circuitry may further control the hip joint actuator <NUM> to provide an assistance torque to the user.

Claim 1:
A walking assistance device (<NUM>, <NUM>) configured to assist a user, the walking assistance device comprising:
a hip joint actuator (<NUM>) configured to generate power to assist a hip joint of a user;
an upper thigh frame (<NUM>) connected to the hip joint actuator (<NUM>), the upper thigh frame (<NUM>) being configured to rotate about a first axis (A1) in response to power received from the hip joint actuator (<NUM>), and to rotate about a second axis (A2) intersecting the first axis (A1);
a motion frame (<NUM>, <NUM>) connected to the upper thigh frame (<NUM>), the motion frame (<NUM>, <NUM>) including a plurality of segment frames (<NUM>, <NUM>; <NUM>, <NUM>, <NUM>) configured to rotate relative to each other based on a shape of a thigh of the user such that the motion frame (<NUM>, <NUM>) is deformed based on a thigh shape of the user ; and
a lower thigh frame (<NUM>) connected to the motion frame (<NUM>, <NUM>);
characterized in that the upper thigh frame (<NUM>) is supported by the hip joint actuator (<NUM>) and configured to adjust an angle with respect to the hip joint actuator (<NUM>);
wherein the walking assistance device (<NUM>, <NUM>) further includes a wearable portion (<NUM>) attached to an inferior end of the lower thigh frame (<NUM>), the wearable portion (<NUM>) configured to secure the thigh of the user, and
wherein through the angle adjustment of the upper thigh frame (<NUM>) and the deformation degree of the motion frame (<NUM>, <NUM>), the walking assistance device (<NUM>, <NUM>) is configured to closely fit the thigh of the user.