# US 10,478,368 B2 · Force transmitting frames and motion assistance apparatuses including the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,368 B2 - Document ID: US10478368B2 - Status: Granted - Kind: B2 - Application number: 14/843,039 - Filed: 2015-09-02 - Published: 2016-03-24 - Granted: 2019-11-19 - Earliest claimed: 2014-09-19 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Younbaek Lee; Byungjune Choi; Jeonghun Kim; Se-Gon Roh; Minhyung Lee; Jongwon Lee; Hyundo Choi - Web page: https://patentgrep.com/patent/US10478368B2 ## CPC - A61H 1/008: {Apparatus for applying pressure or blows almost perpendicular to the body or limb axis, e.g. chiropractic devices for repositioning vertebrae, correcting deformation} - A61F 2/605: {Hip joints} - A61F 5/0102: {specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations} - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - 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}) - A61F 2005/0137: {with two parallel pivots} - A61F 2005/0165: {with limits of movement} - A61F 2005/0179: {with spring means} - A61H 2201/1215: Rotary drive - A61H 2201/1628: Pelvis - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/165: Wearable interfaces - 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) - 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 force transmitting frame may have a length greater than a width. Stiffnesses of first and second end portions of the force transmitting frame may be greater than a stiffness of a central area of the force transmitting frame in a longitudinal direction of the force transmitting frame. The force transmitting frame may include: an inner frame configured to support one side of a user; and/or an outer frame of which first and second end portions are fixed to first and second end portions of the inner frame, and of which a central portion is not fixed to a central portion of the inner frame. The central portion of the outer frame may be configured to slide with respect to the central portion of the inner frame. ## Claims ### Claim 1 A force transmitting frame having a length greater than a width, wherein stiffnesses of first and second end portions of the force transmitting frame are greater than a stiffness of a central area of the force transmitting frame in a longitudinal direction of the force transmitting frame, the force transmitting frame comprising: an inner frame configured to support one side of a user; and an outer frame of which first and second end portions are fixed to first and second end portions of the inner frame, respectively, and of which a central portion is not fixed to a central portion of the inner frame, wherein the central portion of the outer frame is configured to slide with respect to the central portion of the inner frame. ### Claim 2 (depends on 1) The force transmitting frame of claim 1, wherein the central area is flexible. ### Claim 3 (depends on 1) The force transmitting frame of claim 1, wherein the stiffnesses of the first and second end portions are 1.5 to 20 times greater than the stiffness of the central area. ### Claim 4 (depends on 1) The force transmitting frame of claim 1, wherein the stiffnesses of the first and second end portions are 4 to 10 times greater than the stiffness of the central area. ### Claim 5 (depends on 1) The force transmitting frame of claim 1, wherein surfaces of the first and second end portions face a same direction. ### Claim 6 (depends on 1) The force transmitting frame of claim 1, wherein surfaces of the first and second end portions face different directions. ### Claim 7 (depends on 6) The force transmitting frame of claim 6, wherein the surfaces of the first and second end portions form an angle of 80 degrees to 100 degrees. ### Claim 8 (depends on 1) The force transmitting frame of claim 1, wherein the inner frame comprises an inner plate and a first hanging portion between the inner plate and an outer plate, and wherein the outer frame comprises the outer plate and a second hanging portion configured to fasten to the first hanging portion. ### Claim 9 (depends on 8) The force transmitting frame of claim 8, wherein one of the first hanging portion and the second hanging portion comprises a portion having a width increasing in a direction toward the other of the first hanging portion and the second hanging portion. ### Claim 10 (depends on 9) The force transmitting frame of claim 9, wherein a cross-section of the one hanging portion corresponds to a reversed trapezoidal shape. ### Claim 11 (depends on 8) The force transmitting frame of claim 8, wherein the inner frame further comprises a first protruding portion configured to protrude from the inner plate toward the outer plate, and wherein the outer frame further comprises a second protruding portion configured to protrude from the outer plate toward the inner plate. ### Claim 12 (depends on 11) The force transmitting frame of claim 11, wherein a plurality of first protruding portions are formed in a longitudinal direction of the inner frame, and wherein a plurality of second protruding portions are formed in a longitudinal direction of the outer frame. ### Claim 13 (depends on 12) The force transmitting frame of claim 12, wherein an interval between two adjacent first protruding portions, among the plurality of first protruding portions, is configured to be shorter than a length of a second protruding portion provided on an opposite side of the two first protruding portions. ### Claim 14 (depends on 8) The force transmitting frame of claim 8, wherein an interval between the inner plate and the outer plate decreases from the central area of the force transmitting frame toward the first and second end portions of the force transmitting frame. ### Claim 15 (depends on 8) The force transmitting frame of claim 8, wherein an interval between the inner plate and the outer plate is determined based on the following Equation, h ⁡ ( x ) = F ⁡ ( L - x ) T - F ⁢ ⁢ sin ⁡ ( atan ⁡ ( d dx ⁢ p ⁡ ( x ) ) ) [ Equation ] wherein ‘h(x)’ denotes the interval between the inner plate and the outer plate, ‘F’ denotes a magnitude of a force applied to one end portion of the force transmitting frame, ‘T’ denotes a magnitude of a tensile force applied to the inner plate, ‘L’ denotes a length of the force transmitting frame, ‘x’ denotes a distance from an end portion of the force transmitting frame to a desired point of the inner plate, and ‘p(x)’ denotes a height of the inner plate at the distance x. ### Claim 16 (depends on 8) The force transmitting frame of claim 8, further comprising: an applying portion connected to one end of the inner frame and one end of the outer frame, and configured to transmit a force to a portion of the user. ### Claim 17 (depends on 16) The force transmitting frame of claim 16, wherein a thickness of the applying portion is configured to be greater than a sum of a thickness of the one end of the inner frame and a thickness of the one end of the outer frame. ### Claim 18 (depends on 16) The force transmitting frame of claim 16, wherein a distance between the inner plate and the outer plate increases as a distance from the applying portion increases. ### Claim 19 (depends on 1) The force transmitting frame of claim 1, further comprising: a frame stiffener provided on at least one of the inner frame and the outer frame. ### Claim 20 (depends on 19) The force transmitting frame of claim 19, wherein the frame stiffener comprises a carbon fiber material. ### Claim 21 (depends on 1) The force transmitting frame of claim 1, further comprising: a supporting body, between the inner frame and the outer frame, configured to support the inner frame and the outer frame; and a separation preventing band configured to prevent separation of the inner frame and the outer frame from one another. ### Claim 22 (depends on 21) The force transmitting frame of claim 21, wherein the supporting body is vertically bent a plurality of times, wherein the supporting body comprises carbon fiber, wherein the separation preventing band is wound around circumferences of the inner frame and the outer frame, and wherein the separation preventing band comprises fabric material. ### Claim 23 (depends on 1) The force transmitting frame of claim 1, wherein the inner frame includes a first plate, the outer frame includes a second plate, wherein the central area between the first and second end portions is configured to prevent separation of the first plate from the second plate. ### Claim 24 (depends on 23) The force transmitting frame of claim 23, wherein the central area is part of the first plate. ### Claim 25 A force transmitting frame having a length greater than a width, wherein stiffnesses of first and second end portions of the force transmitting frame are greater than a stiffness of a central area of the force transmitting frame in a longitudinal direction of the force transmitting frame, and the central area is provided in a form of a twisted curve. ### Claim 26 A force transmitting frame, comprising: a first plate; a second plate configured to face the first plate; a connecting portion configured to connect a first end of the first plate to a first end of the second plate; and an applying portion configured to connect a second end of the first plate to a second end of the second plate, wherein the first end and the second end of the second plate are fixed to the first end and the second end of the first plate, respectively, a central portion of the second plate is not fixed to a central portion of the first plate, and the central portion of the second plate is configured to slide with respect to the central portion of the first plate. ### Claim 27 (depends on 26) The force transmitting frame of claim 26, further comprising: a separation preventing member configured to prevent separation between the first plate and the second plate. ### Claim 28 (depends on 27) The force transmitting frame of claim 27, wherein a first side of the separation preventing member is slidingly connected to the first plate, and a second side of the separation preventing member is slidingly connected to the second plate. ### Claim 29 (depends on 26) The force transmitting frame of claim 26, further comprising: a guide portion comprising a guide protrusion configured to protrude from the first plate, and a guide hole provided in the guide protrusion, wherein the second plate is configured to be received in the guide hole. ### Claim 30 (depends on 26) The force transmitting frame of claim 26, wherein an interval between the first plate and the second plate is determined in proportion to a value obtained by multiplying an inner product of a first unit vector of a normal direction of the applying portion and a second unit vector of a direction of the interval by a distance value from the applying portion to the interval. ### Claim 31 (depends on 26) The force transmitting frame of claim 26, wherein an interval between the first plate and the second plate is determined in proportion to a distance in a direction perpendicular to a direction of a force applied to the applying portion. ### Claim 32 (depends on 26) The force transmitting frame of claim 26, further comprising: a supporting body, between the first plate and the second plate, configured to support the first plate and the second plate; and a separation preventing band configured to prevent separation of the first plate and the second plate from one another. ### Claim 33 A motion assistance apparatus, comprising: a fixing member to be attached to a user; a driving source provided on one side of the fixing member; a joint assembly configured to assist rotary motion of a joint portion of the user; and a force transmitting frame of which a first end portion is connected to the joint assembly, and of which a second end portion is configured to transmit a force to a portion of the user, wherein a stiffness of the second end portion of the force transmitting frame is greater than a stiffness of a central portion of the force transmitting frame, the force transmitting frame includes first and second plates, first and second end portions of the first plate are fixed to first and second end portions of the second plate, respectively, a central portion of the first plate is not fixed to a central portion of the second plate, and the central portion of the first plate is configured to slide with respect to the central portion of the second plate. ### Claim 34 (depends on 33) The motion assistance apparatus of claim 33, wherein the stiffness of the second end portion of the force transmitting frame is 1.5 to 20 times greater than the stiffness of the central portion of the force transmitting frame. ### Claim 35 (depends on 33) The motion assistance apparatus of claim 33, wherein the stiffness of the second end portion of the force transmitting frame is 4 to 10 times greater than the stiffness of the central portion of the force transmitting frame. ### Claim 36 (depends on 33) The motion assistance apparatus of claim 33, wherein the force transmitting frame further comprises: a supporting body, between the first and second plates, configured to support the first and second plates; and a separation preventing band configured to prevent separation of the first and second plates from one another.