Reconfigurable motion assistance apparatus
A wearable and reconfigurable motion assistance apparatus may include: a waist belt to be worn around a waist part of a user, a thigh belt to be worn around a thigh part of the user, an actuator connected to the waist belt and configured to generate power, a main frame including an upper frame connected to the actuator and a lower frame connected to the upper frame and configured to transmit the power to the thigh belt, an upper cover provided to be detachable from the upper frame, and a lower cover provided to be detachable from the lower frame.
1. A motion assistance apparatus comprising:
a waist member, comprising a support, configured to be worn by a user proximate a waist of the user;
a thigh belt configured to be worn around a thigh part of the user;
an actuator configured to generate power;
a main frame comprising an upper frame connected to the actuator and a lower frame connected to the upper frame and connected to the actuator and to the thigh belt, wherein operation of the actuator causes movement of the main frame to cause movement of the thigh belt relative to the waist member;
an upper cover for covering at least part of the upper frame and configured to be detachable from the upper frame; and
a lower cover for covering at least part of the lower frame and configured to be detachable from the lower frame, wherein:
the upper frame comprises an upper frame body and a plurality of hook holes formed through the upper frame body, and
the upper cover comprises an upper cover body covering the upper frame body and a plurality of hooks formed to protrude from the upper cover body and insertable into the plurality of hook holes.
2. The motion assistance apparatus of claim 1 , further comprising a link rotatably connected to at least one of the upper frame and the lower frame.
3. The motion assistance apparatus of claim 2 , wherein the upper frame and the lower frame are spaced apart from each other.
4. The motion assistance apparatus of claim 3 , further comprising a rotating shaft configured to connect the link to at least one of the upper frame and the lower frame.
5. The motion assistance apparatus of claim 2 , wherein
the upper frame body is rotatably connected to the lower frame.
6. The motion assistance apparatus of claim 1 , wherein the plurality of hook holes are configured to be spaced apart from one another around a rotation axis of the main frame, in a circumferential direction, with respect to the waist member.
7. The motion assistance apparatus of claim 1 , wherein the upper frame comprises a plurality of aligning protrusions protruding from the upper frame body and inserted into the actuator.
8. The motion assistance apparatus of claim 1 , wherein the lower frame comprises:
a lower frame body connected to the upper frame body;
a frame rib protruding from the lower frame body and configured to support the lower cover; and
a holder detachably connected to the thigh belt.
9. The motion assistance apparatus of claim 8 , wherein the frame rib comprises:
a core rib provided between at least the link and the holder;
a lower rib extending from the core rib to the holder; and
an upper rib on an opposite side of the lower rib based on the core rib.
10. The motion assistance apparatus of claim 9 , wherein the frame rib further comprises a side rib formed to extend from an edge of the lower frame body and connectable to the lower rib and/or the upper rib.
11. The motion assistance apparatus of claim 8 , further comprising a connector comprising a connector body connected to the thigh belt and a pair of connector wings extending from the connector body, wherein the connector is configured to be detachable from the holder.
12. The motion assistance apparatus of claim 11 , wherein
the holder comprises:
a pair of connector guides configured to guide a rotation of the connector;
a holder body facing the connector body and provided between at least the pair of connector guides; and
a pair of supporters formed to extend from the holder body and configured to respectively support the pair of connector wings, and
wherein the connector is configured to rotate in a direction with respect to the holder, in a state in which the pair of connector wings is supported by the pair of connector guides, so that the connector is connected to the holder.
13. The motion assistance apparatus of claim 12 , wherein one of the pair of connector wings is supported by one of the pair of supporters in a state in which the connector wing is spaced apart from one of the pair of connector guides.
14. The motion assistance apparatus of claim 13 , wherein the lower cover comprises:
a lower cover body covering the lower frame body; and
cover protrusions formed protruding from the lower cover body and inserted between at least the one of the pair of connector wings and the one of the pair of connector guides.
15. A motion assistance apparatus comprising:
a waist member, comprising a support, configured to be worn by a user proximate a waist of the user;
a thigh belt configured to be worn around a thigh part of the user;
an actuator configured to generate power;
a main frame comprising an upper frame connected to the actuator and a lower frame connected to the upper frame and connected to the actuator and to the thigh belt, wherein operation of the actuator causes movement of the main frame to cause movement of the thigh belt relative to the waist member;
an upper cover for covering at least part of the upper frame, and comprising an upper mold configured to be detachable from the upper frame and an upper layer covering the upper mold; and
a lower cover for covering at least part of the lower frame, and comprising a lower mold configured to be detachable from the lower frame and is spaced apart from the upper mold and a lower layer covering the lower mold,
wherein the upper mold comprises an upper mold body covering the upper frame body and a plurality of hooks formed to protrude from the upper mold body and insertable into a plurality of hook holes formed through the upper frame body.
16. The motion assistance apparatus of claim 15 , wherein the upper frame and the lower frame are spaced apart from each other.
17. The motion assistance apparatus of claim 15 , further comprising a link rotatably connected to at least one of the upper frame and the lower frame.
18. The motion assistance apparatus of claim 17 , further comprising a rotating shaft configured to connect the link to at least one of the upper frame and the lower frame.
19. The motion assistance apparatus of claim 15 , wherein the upper frame comprises an upper frame body rotatably connected to the lower frame.
20. The motion assistance apparatus of claim 19 , wherein the plurality of hook holes are configured to be spaced apart from one another around a rotation axis of the main frame with respect to the waist member in a circumferential direction.