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US 10,092,474 B2Granted
Supporting frame and motion assistance apparatus including the same
AssigneeSamsung Electronics Co., Ltd.
InventorsYoun Baek Lee, Byungjune Choi, Hyun Do Choi, Jeonghun Kim, Se-Gon Roh, Minhyung Lee, Jongwon Lee
Life of this patent
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Abstract
A supporting frame and a motion assistance apparatus including the same may be provided. In particular, the supporting frame including a first frame including a hinge connecting portion, a second frame configured to slidingly move with respect to the first frame, and an assistance force sensing portion on at least one of the first frame and the second frame may be provided.
Claims20
A supporting frame comprising:
- a first frame including a hinge connecting portion;
- a second frame configured to slidingly move with respect to the first frame in a continuous manner while the supporting frame is worn by a user;
- an assistance force sensing portion on at least one of the first frame and the second frame, the assistance force sensing portion including at least one pair of a first strain gauge and a second strain gauge, the at least one pair of the first strain gauge and the second strain gauge provided to face each other in at least one sensor disposition space defined in at least one of the first frame or the second frame;
- and
- a controller configured to eliminate an effect of a bending moment applied to the supporting frame based on values measured by the at least one pair of the first strain gauge and the second strain gauge.
2 more elements
A supporting frame for transmitting power to an object, the supporting frame comprising:
- a first frame including a hinge connecting portion, the hinge connecting portion configured to rotate on an axis corresponding to a power transmitting direction of the supporting frame;
- a second frame configured to slidingly move with respect to the first frame in a direction intersecting the power transmitting direction in a continuous manner while the supporting frame is worn by a user;
- at least one pair of a first tensile force measuring sensor and a second tensile force measuring sensor, the at least one pair of the first tensile force measuring sensor and the second tensile force measuring sensor provided to face each other in at least one sensor disposition space defined in at least one of the first frame or the second frame;
- and
- a controller configured to eliminate an effect of a bending moment applied to the supporting frame based on values measured by the at least one pair of the first tensile force measuring sensor and the second tensile force measuring sensor.
2 more elements
A motion assistance apparatus comprising:
- a fixing member configured to be fixed to an object;
- a driving module on one side of the fixing member;
- a joint member rotatably connected to the fixing member, the joint member configured to be driven by the driving module;
- a first frame rotatably coupled to the joint member;
- a second frame configured to slidingly couple to the first frame in a continuous manner while the motion assistance apparatus is worn by a user;
- a supporting member coupled to the second frame to support a portion of the object;
- at least one pair of a first tensile force measuring sensor and a second tensile force measuring sensor, the at least one pair of the first tensile force measuring sensor and the second tensile force measuring sensor provided to face each other in at least one sensor disposition space defined in at least one of the first frame or the second frame;
- and
- a controller configured to eliminate an effect of a bending moment applied to the motion assistance apparatus based on values measured by the at least one pair of the first tensile force measuring sensor and the second tensile force measuring sensor.
6 more elements
Dependencies are inferred from the claim text.