Motion assistance apparatus
View Patent ↗Provided is a motion assistance apparatus that includes a fixing module which is fixed to a part of the body of a user, a support module which supports another part of the body of the user and is rotatable relative to the fixing module, a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module, and a second driving module which flexes the support module relative to the fixing module. The first driving module includes an abduction motor, and a first axis serving as an abduction axis of the first driving module is positioned at the same height as or lower than a second axis serving as a flexion axis of the second driving module.
1 . A motion assistance apparatus comprising:
a fixing module configured to be fixed to a part of the body of a user;
a support module configured to support another part of the body of the user and is rotatable relative to the fixing module;
a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module; and
a second driving module which flexes the support module relative to the fixing module,
wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
wherein the first driving module further comprises:
a bracket fixed to a lower side of the second driving module;
an abduction shaft coupled to the bracket;
an upper bevel gear coupled to the abduction shaft; and
a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor,
wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
2 . The motion assistance apparatus of claim 1 , wherein the first driving module further comprises a module housing that surrounds the abduction motor, and
the module housing is rotatably coupled to the abduction shaft.
3 . The motion assistance apparatus of claim 2 , wherein the support module comprises:
a support band configured to be fixed to the leg of the user; and
a support connector configured to connect the support band to the first driving module,
wherein the support connector is coupled to the module housing.
4 . The motion assistance apparatus of claim 1 , wherein the abduction shaft is coupled and fixed to the bracket,
the upper bevel gear is coupled and fixed to the abduction shaft, and
the lower bevel gear is rotated by the abduction motor.
5 . The motion assistance apparatus of claim 1 , wherein the second driving module comprises a flexion motor.
6 . The motion assistance apparatus of claim 1 , wherein the fixing module comprises:
a fixing band configured to be fixed to the waist of the user; and
a fixing coupler configured to connect the fixing band to the second driving module.
7 . The motion assistance apparatus of claim 1 , wherein the support module comprises:
a support band configured to be fixed to the leg of the user; and
a support connector configured to connect the support band to the first driving module,
wherein the support band provides a slide hole, and
a portion of the support connector is inserted into the slide hole, and the support connector is slidably coupled to the support band.
8 . The motion assistance apparatus of claim 1 , wherein the second driving module is positioned between the fixing module and the first driving module.
9 . The motion assistance apparatus of claim 1 , wherein the first driving module further comprises:
a motor shaft coupled to the lower bevel gear and configured to rotate the lower bevel gear about an axis perpendicular to a plane defined by the first axis and the second axis;
a module housing surrounding the abduction motor and being rotatably coupled to the abduction shaft about the first axis; and
a gear housing covering the upper bevel gear.
10 . A motion assistance apparatus comprising:
a fixing module configured to be fixed to the waist of a user;
a support module configured to support the leg of the user; and
a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module,
wherein the support module comprises:
a support band configured to be fixed to the leg of the user; and
a support connector configured to connect the support band to the first driving module,
wherein the support band provides a slide hole, and
a portion of the support connector is inserted into the slide hole, and the support connector is slidably coupled to the support band,
wherein the support connector comprises:
a connection body of which one side is connected to the first driving module; and
a slide member which is connected to the other side of the connection body and of which a portion is inserted into the slide hole, and
wherein the slide member is rotatably coupled to the connection body;
wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
wherein the first driving module further comprises:
a bracket fixed to a lower side of the second driving module;
an abduction shaft coupled to the bracket;
an upper bevel gear coupled to the abduction shaft; and
a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor;
wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
11 . The motion assistance apparatus of claim 10 , wherein the slide hole extends vertically.
12 . The motion assistance apparatus of claim 10 , wherein the support band further comprises an elastic member, and
the elastic member is coupled to the slide hole to press the slide member.
13 . The motion assistance apparatus of claim 10 , wherein two support modules are provided, and
the two support modules are spaced apart from each other in a horizontal direction.
14 . The motion assistance apparatus of claim 10 , further comprising a second driving module which is positioned between the fixing module and the first driving module and flexes the support module relative to the fixing module.
15 . The motion assistance apparatus of claim 10 , wherein the first driving module further comprises:
a motor shaft coupled to the lower bevel gear and configured to rotate the lower bevel gear about an axis perpendicular to a plane defined by the first axis and the second axis;
a module housing surrounding the abduction motor and being rotatably coupled to the abduction shaft about the first axis; and
a gear housing covering the upper bevel gear.
16 . A motion assistance apparatus comprising:
a support module;
a fixing module spaced apart from the support module in a first direction;
a first driving module which is positioned between the support module and the fixing module and rotates the support module relative to the fixing module; and
a second driving module which is positioned between the first driving module and the fixing module and rotates the support module relative to the fixing module,
wherein the first driving module rotates the support module about a second direction that crosses the first direction, and
the second driving module rotates the support module about a third direction that crosses both the first direction and the second direction,
wherein the support module comprises:
a support band configured to be fixed to the leg of a user; and
a support connector configured to connect the support band to the first driving module,
wherein the support band provides a slide hole, and
a portion of the support connector is inserted into the slide hole, and the support connector is slidably coupled to the support band, and
wherein the support connector comprises:
a connection body of which one side is connected to the first driving module; and
a slide member which is connected to the other side of the connection body and of which a portion is inserted into the slide hole,
wherein the slide member is rotatably coupled to connection body;
wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
wherein the first driving module further comprises:
a bracket fixed to a lower side of the second driving module;
an abduction shaft coupled to the bracket;
an upper bevel gear coupled to the abduction shaft;
a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor;
a motor shaft coupled to the lower bevel gear and configured to rotate the lower bevel gear about an axis perpendicular to a plane defined by the first axis and the second axis;
a module housing surrounding the abduction motor and being rotatably coupled to the abduction shaft about the first axis; and
a gear housing covering the upper bevel gear,
wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
17 . The motion assistance apparatus of claim 16 , wherein two support modules are provided, and
the two support modules are spaced apart from each other in the third direction.
18 . The motion assistance apparatus of claim 16 , wherein the first driving module comprises an abduction motor, and
the second driving module comprises a flexion motor.