Driving module, motion assistance apparatus including the driving module, and method of controlling the motion assistance apparatus

A motion assistance apparatus comprising:

• a fixing member configured to be fixed to a user;
• a driving module on one side of the fixing member, the driving module including,
• a driver configured to transmit power,
• an input side rotary body connected to the driver and configured to rotate,
• a first decelerator configured to operate based on the power received from the driver through the input side rotary body, the first decelerator configured to transmit the power to a first joint member of the motion assistance apparatus, and
• a second decelerator configured to operate based on the power received from the driver through the input side rotary body, the second decelerator configured to transmit the power to a second joint member of the motion assistance apparatus;
• the first joint member and the second joint member configured to assist respective rotary motions;
• a first power transmitter connected to a first output terminal of the first decelerator to the first joint member such that the first output terminal of the first decelerator and the first joint member are enabled to have opposite rotation directions;
• and
• a second power transmitter connected to a second output terminal of the second decelerator to the second joint member such that the second output terminal of the second decelerator and the second joint member are enabled to have identical rotation directions,
• wherein a first gear ratio from the input side rotary body to the first output terminal of the first decelerator differs from a second gear ratio from the input side rotary body to the second output terminal of the second decelerator, and
• wherein the first decelerator comprises a first planet gear, a first carrier, a first ring gear, and a first pulley,
• the second decelerator comprises a second planet gear, a second carrier, a second ring gear, and a second pulley,
• the first and second ring gears are fixed together to perform a single rigid body motion, and
• the first and second carriers are fixed to the first and second pulleys, respectively, to perform a single rigid body motion.

A motion assistance apparatus comprising:

• a fixing member configured to be fixed to a user;
• a driving module on one side of the fixing member, the driving module including
• a driver configured to transmit driving power,
• an input side rotary body connected to the driver and configured to rotate,
• a first decelerator configured to operate using the power received from the driver through the input side rotary body, the first decelerator configured to transmit the power to a first joint member of the motion assistance apparatus, and
• a second decelerator configured to operate using the power received from the driver through the input side rotary body, the second decelerator configured to transmit the power to a second joint member of the motion assistance apparatus;
• the first joint member and the second joint member configured to assist respective rotary motions;
• a first power transmitter connected to the first decelerator and the first joint member;
• and
• a second power transmitter connected to the second decelerator and the second joint member, and
• wherein a first gear ratio from the driver to a first output terminal of the first decelerator differs from a second gear ratio from the driver to a second output terminal of the second decelerator,
• the first decelerator comprises a first planet gear, a first carrier, a first ring gear, and a first pulley,
• the second decelerator comprises a second planet gear, a second carrier, a second ring gear, and a second pulley,
• the first and second ring gears are fixed together to perform a single rigid body motion, and
• the first and second carriers are fixed to the first and second pulleys, respectively, to perform a single rigid body motion.