Upper arm module of wearable muscular strength assisting apparatus and wearable muscular strength assisting apparatus including same
An upper arm module of a wearable muscular strength assisting apparatus is provided. The upper arm module includes a base part configured to be connected to a wearer's body, and an upper arm part having a first end thereof coupled to the base part to be rotatable about a fixed point. The upper arm part is coupled to the wearer's upper arm to apply a torque thereto. The upper arm module further includes an elastic body having a first end thereof fixedly coupled to the upper arm part and generating an elastic force by deformation. In particular, the upper arm module also includes a first link having a first end thereof rotatably coupled to the base part at a point of application, and a second link rotatably coupled to the second end of the first link at a first point.
1 . An upper arm module of a wearable muscular strength assisting apparatus, the upper arm module comprising:
a base part connected to a wearer's body, and disposed to correspond to an upper end portion of a wearer's upper arm;
an upper arm part having a first end thereof coupled to the base part to be rotatable about a fixed point, wherein the upper arm part extends to correspond to the wearer's upper arm and is coupled to the wearer's upper arm to apply a torque to the wearer's upper arm;
an elastic body having a first end thereof fixedly coupled to the upper arm part at a position spaced apart from the first end of the upper arm part in an extension direction of the upper arm part, wherein the elastic body generates an elastic force by deformation; and
a connecting link having a first end thereof rotatably coupled to the base part at a point of application spaced apart from the fixed point and a second end thereof coupled to a second end of the elastic body, wherein a length of the elastic body is varied as the upper arm part is rotated about the fixed point.
2 . The upper arm module of claim 1 , wherein the base part is coupled to the plurality of fastening mechanisms to be rotatable about a rotating shaft that extends in a vertical direction of the wearer.
3 . The upper arm module of claim 1 , wherein the elastic body is a spring having a first end thereof fixedly and rotatably coupled to the upper arm part, and a magnitude of the elastic force thereof is varied in response to change in length due to movement of a second end thereof coupled to the third point of the second link.
4 . The upper arm module of claim 1 , wherein the point of application is disposed in the base part at a position above the fixed point, to allow a direction from the fixed point to the point of application forms an upward slope with respect to a ground.