Frame module and motion assistance apparatus including the same
A frame module includes a frame configured to enclose a portion of a user, and at least one reinforcement belt of which both end portions are connected to both sides of the frame, thereby restricting a splaying level of the frame in a predetermined direction.
1. A motion assistance apparatus comprising:
a driver configured to generate power to assist a motion of a user;
a rotating member configured to be rotated using power received from the driver to assist a rotary motion of a joint portion of the user; and
a frame module including,
a frame configured to enclose a portion of the user, the frame including a rear portion corresponding to a dorsal portion of the user, a side portion corresponding to a hip portion of the user, and a front portion corresponding to a waist of the user, the side portion of the frame including a joint mounting portion configured to have the rotating member mounted thereto, the front portion including a first binding portion and a second binding portion, the second binding portion configured to detachably connect to the first binding portion; and
at least one reinforcement belt with an entirety thereof located proximal to the user with respect to the frame when the motion assistance apparatus is worn by the user to reinforce a stiffness of the frame to inhibit an impact of the frame and the user, the at least one reinforcement belt including at least a bone belt and a parallel belt intersecting at the joint mounting portion and configured to directly connect the joint mounting portion of the side portion of the frame, the bone belt being arranged to incline upwardly from the joint mounting portion to the front portion and the parallel belt extending perpendicular to the bone belt and configured to sit about the waist of the user.
2. The motion assistance apparatus of claim 1 , wherein the at least one reinforcement belt is configured to have an adjustable length.
3. The motion assistance apparatus of claim 2 , wherein the at least one reinforcement belt comprises:
a first sub-belt having a first end portion and a second end portion, the first end portion of the first sub-belt connected to a first side of the frame; and
a second sub-belt having a first end portion and a second end portion, the first end portion of the second sub-belt connected to a second side of the frame and the second end portion of the second sub-belt configured to detachably connect to the second end portion of the first sub-belt.
4. The motion assistance apparatus of claim 3 , wherein the first end portion of at least one of the first sub-belt and the second sub-belt is rotatably connected to the frame.
5. The motion assistance apparatus of claim 1 , wherein end portions of the at least one reinforcement belt are connected to inner surfaces of the frame such that the at least one reinforcement belt is configured to support the user in a state in which the user is spaced apart from the frame.
6. The motion assistance apparatus of claim 1 , wherein at least one end portion of the reinforcement belt is rotatably connected to the frame.
7. The motion assistance apparatus of claim 1 , wherein the at least one reinforcement belt includes a plurality of reinforcement belts connected to a single hinge axis associated with the frame.
8. The motion assistance apparatus of claim 1 , wherein the at least one reinforcement belt includes a plurality of reinforcement belts connected together in a single closed loop.
9. The motion assistance apparatus of claim 1 , wherein the frame further comprises:
a supporting member configured to extend from the rear portion of the frame in a direction perpendicular to a circumferential direction of the portion of the user to support the user, and wherein
the at least one reinforcement belt includes a supporting belt, the supporting belt having an end portion connected to an end portion of the supporting member.
10. The motion assistance apparatus of claim 1 ,
wherein the frame includes,
an upper supporting member configured to support the dorsal portion of the user by extending upward from the rear portion of the frame vertically in a direction perpendicular to a circumferential direction of the portion of the user, and
a lower supporting member configured to support the hip portion of the user by extending downward in the direction perpendicular to the circumferential direction of the portion of the user, and
wherein the at least one reinforcement belt further includes,
an upper supporting belt having an end portion connected to the upper supporting member; and
a lower supporting belt having an end portion connected to the lower supporting member.
11. The motion assistance apparatus of claim 1 , wherein the at least one reinforcement belt further includes a crossing belt, the crossing belt connected to the frame in a direction intersecting a circumferential direction of the portion of the user.
12. The motion assistance apparatus of claim 1 , wherein the parallel belt is connected to the frame in a direction parallel to a circumferential direction of the portion of the user.
13. The motion assistance apparatus of claim 12 , wherein a first end of the parallel belt is configured to connect to the joint mounting portion, and the frame further comprises:
a supporting member configured to extend in a direction perpendicular to the circumferential direction of the portion of the user to support the user, a second end of the parallel belt configured to connect to the supporting member.
14. The motion assistance apparatus of claim 1 , wherein the bone belt is configured to connect to the frame module in a longitudinal direction of an iliac crest of the user.
15. The motion assistance apparatus of claim 1 ,
wherein the frame includes,
an upper supporting member configured to support the dorsal portion of the user by extending upward from the rear portion of the frame vertically in a direction perpendicular to a circumferential direction of the portion of the user, and
a lower supporting member configured to support the hip portion of the user by extending downward in the direction perpendicular to the circumferential direction of the portion of the user, and
wherein the at least one reinforcement belt further includes a connecting belt configured to connect an end portion of the upper supporting member to an end portion of the lower supporting member.
16. The motion assistance apparatus of claim 1 , wherein
the frame includes a supporting member configured to extend in a direction perpendicular to a circumferential direction of the portion of the user to support the user, and
the at least one reinforcement belt further includes a side belt having a first side and a second side, the first side of the side belt connected to the supporting member and the second side of the side belt connected to the front portion of the frame.
17. The motion assistance apparatus of claim 1 , wherein the frame further comprises:
a supporting member configured to extend in a direction perpendicular to a circumferential direction of the portion of the user to support the user, and
the at least one reinforcement belt includes a supporting belt having at least a first end portion connected to an end portion of the supporting member.
18. The motion assistance apparatus of claim 1 , wherein the frame comprises:
a plurality of interlocking frames configured to enclose the portion of the user, and wherein
the at least one reinforcement belt is configured to restrict deformation of the plurality of interlocking frames in response to a torque applied thereto.
19. The motion assistance apparatus of claim 18 , wherein the plurality of interlocking frames are flexible frames and are separated by an adjustable distance to secure the frame module onto the portion of the user, the plurality of interlocking frames configured to have joint assemblies mounted thereon, the joint assemblies configured to apply a torque to a support attached to at least a thigh of the user to assist the user with movement of their hip joints.
20. The motion assistance apparatus of claim 19 , wherein
the plurality of interlocking frames includes a first interlocking frame and a second interlocking frame, and
the at least one reinforcement belt includes a first sub-belt and a second sub-belt connected to the first interlocking frame and the second interlocking frame, respectively, the first sub-belt configured to detach from the second sub-belt to allow the user to remove the frame module.
21. The motion assistance apparatus of claim 18 , wherein the at least one reinforcement belt includes a plurality of reinforcement belts connected together in a closed loop.
22. The motion assistance apparatus of claim 21 , wherein ends of each of the plurality of reinforcement belts are connected to inner surfaces of the plurality of interlocking frames such that the at least one reinforcement belt is configured to maintain a gap between the plurality of interlocking frames and the user when the torque is applied to the plurality of interlocking frames.
23. The motion assistance apparatus of claim 1 , wherein the bone belt includes a first end attached to the joint mounting portion of the side portion of the frame and a second end attached to the front portion of the frame such that the first end of the bone belt corresponds to the rotating member.