# US 10,441,492 B2 · Power transmission apparatus having two belts > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,441,492 B2 - Document ID: US10441492B2 - Status: Granted - Kind: B2 - Application number: 15/348,341 - Filed: 2016-11-10 - Published: 2018-01-11 - Granted: 2019-10-15 - Earliest claimed: 2016-07-05 - Assignees: Korea Institute of Science and Technology - Applicants: Korea Institute of Science and Technology - Inventors: Junho Choi; Seung-Jong Kim; Jaehwan Park; Seunghan Park - Web page: https://patentgrep.com/patent/US10441492B2 ## CPC - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - F16H 7/02: with belts; with V-belts - F16H 19/005: {for conveying oscillating or limited rotary motion} - A61F 2/605: {Hip joints} - A61F 2/64: Knee joints - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - A61H 2201/1215: Rotary drive - A61H 2201/14: Special force transmission means, i.e. between the driving means and the interface with the user - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/165: Wearable interfaces - A61H 2205/10: Leg - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - F16H: GEARING - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract A power transmission apparatus includes a driving joint unit having a first driving gear fixed to a first driving shaft and a second driving gear fixed to a second driving shaft, an operating joint unit fixed on an operating shaft and having an operating gear rotating together with the operating shaft, a first operating belt connected to the first driving gear and the operating gear, a second operating belt connected to the second driving gear and the operating gear to apply a torque in opposite directions, a driving link having one end connected to the first driving shaft or the second driving shaft and the other end connected to the operating shaft, and an operating link fixed to the operating shaft. ## Claims ### Claim 1 A power transmission apparatus, comprising: a first driving gear fixed to a first driving shaft; a second driving gear fixed to a second driving shaft that is coaxial with the first driving shaft; an operating gear fixed to an operating shaft; a first operating belt coupling the first driving gear to the operating gear; a second operating belt coupling the second driving gear to the operating gear; a driving link having a first end rotatably coupled to the first driving shaft or the second driving shaft, and a second end rotatably coupled to the operating shaft; and an operating link fixed to the operating shaft. ### Claim 2 (depends on 1) The power transmission apparatus according to claim 1, further comprising: an operating joint attached to the operating shaft; a first motor configured to transmit torque to the first driving shaft; and a second motor configured to transmit torque to the second driving shaft, wherein the torque demanded by the first motor is determined according to a sum of a torque demanded by a driving joint unit, which includes the first driving gear and the second driving gear, and a torque demanded by the operating joint, and wherein the torque demanded by the second motor is determined according to a difference of the torque demanded by the driving joint unit and the torque demanded by the operating joint. ### Claim 3 (depends on 2) The power transmission apparatus according to claim 2, wherein the driving joint unit is configured to be fixed to an upper body of a user, the driving link is configured to be fixed to a thigh of the user, the operating link is configured to be fixed to a calf of the user, and the driving link and the operating link are configured to rotate with respect to each other to assist with walking of the user. ### Claim 4 (depends on 3) The power transmission apparatus according to claim 3, wherein the first motor and the second motor are respectively connected to the first driving shaft and the second driving shaft. ### Claim 5 (depends on 3) The power transmission apparatus according to claim 3, wherein the driving shafts are configured to be disposed at a side of a hip joint of the user, and the operating shaft is configured to be disposed at a side of a knee joint of the user. ### Claim 6 (depends on 3) The power transmission apparatus according to claim 3, wherein the power transmission apparatus is configured such that a sum of a rotation angle of the first motor and a rotation angle of the second motor determines a rotation angle of the thigh with respect to a hip joint of the user, and a difference of the rotation angle of the first motor and the rotation angle of the second motor determines a rotation angle of the calf with respect to a knee joint of the user. ### Claim 7 (depends on 1) The power transmission apparatus according to claim 1, wherein the second operating belt is connected to the second driving gear and the operating gear in a figure eight shape. ### Claim 8 (depends on 1) The power transmission apparatus according to claim 1, wherein the first operating belt and the second operating belt are made of an elastic material. ### Claim 9 (depends on 1) The power transmission apparatus according to claim 1, further comprising: a motor support structure; a first motor fixed to the motor support structure; a second motor fixed to the motor support structure; a first driving belt connecting the first motor to the first driving shaft; and a second driving belt connecting the second motor to the second driving shaft. ### Claim 10 (depends on 1) The power transmission apparatus according to claim 1, wherein the driving link is disposed between the first driving shaft and the operating shaft. ### Claim 11 (depends on 1) The power transmission apparatus according to claim 1, wherein the first driving gear is coaxial with the second driving gear.