# US 11,432,986 B2 · Motion assistance apparatus

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- Number: US 11,432,986 B2
- Document ID: US11432986B2
- Status: Granted
- Kind: B2
- Application number: 16/531,895
- Filed: 2019-08-05
- Published: 2020-04-30
- Granted: 2022-09-06
- Earliest claimed: 2018-10-30
- Assignees: Samsung Electronics Co., Ltd.
- Applicants: Samsung Electronics Co., Ltd.
- Inventors: Jongwon Lee; Youn Baek Lee; Se-Gon Roh; Minhyung Lee; Byungjune Choi
- Web page: https://patentgrep.com/patent/US11432986B2

## CPC

- A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising
- 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 1/0237: {for the lower limbs}
- A61H 1/024: {Knee (A61H1/0255 takes precedence)}
- A61H 1/0244: {Hip (A61H1/0255 takes precedence)}
- A61H 1/0255: {Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane (A61H1/0214 takes precedence)}
- A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)}
- A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses}
- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- A61H 2003/001: {on steps or stairways}
- A61H 2003/007: {secured to the patient, e.g. with belts}
- A61H 2201/0107: modular
- A61H 2201/0192: Specific means for adjusting dimensions
- A61H 2201/0196: automatically adjusted according to anthropometric data of the user
- A61H 2201/1207: with electric or magnetic drive
- A61H 2201/1223: Frequency controlled AC motor
- A61H 2201/14: Special force transmission means, i.e. between the driving means and the interface with the user
- A61H 2201/1628: Pelvis
- A61H 2201/163: holding means therefor
- A61H 2201/164: Feet or leg, e.g. pedal
- A61H 2201/1642: Holding means therefor
- A61H 2201/165: Wearable interfaces
- A61H 2201/1671: rotational
- A61H 2201/1673: Multidimensional rotation
- A61H 2201/1676: Pivoting
- A61H 2201/5007: computer controlled
- A61H 2203/03: especially adapted for animals
- A61H 2205/10: Leg
- A61H 2230/625: used as a control parameter for the apparatus
- 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)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A motion assistance apparatus includes a waist frame configured to support a waist of a user, and a proximal support configured to support a proximal part of the user. A pressure applied to a thigh of the user by the proximal support in a sitting state in which the user is sitting may be greater than a pressure applied to the thigh of the user by the proximal support in a standing state in which the user is standing upright.

## Claims

### Claim 1

A motion assistance apparatus comprising:
a waist frame configured to support a waist of a user;
a proximal support configured to support a proximal part of the user; and
a rotary coupler configured to connect the waist frame and the proximal support at a selected one of a plurality of different positions such that a position at which the proximal support is connected to the waist frame via the rotary coupler varies based on the selected one of the plurality of different positions,
wherein the waist frame includes an axis adjustment guide on the waist frame such that the axis adjustment guide is tilted upward toward a rear side of the waist frame, the axis adjustment guide configured to adjust a relative position between the waist frame and the rotary coupler; and
wherein the rotary coupler includes,
a base installable in the axis adjustment guide at different ones of the plurality of different positions, and
a rotating body rotatably connected to the base.

### Claim 2 (depends on 1)

The motion assistance apparatus of claim 1, wherein the proximal support comprises:
a length adjustment guide on the proximal support, the length adjustment guide configured to adjust a relative position between the rotary coupler and the proximal support.

### Claim 3 (depends on 1)

The motion assistance apparatus of claim 1, wherein the axis adjustment guide has a plurality of axis adjustment holes arranged in parallel therein.

### Claim 4 (depends on 1)

The motion assistance apparatus of claim 1, wherein the axis adjustment guide is tilted upward and backward at 45 degrees when the user is in a standing state.

### Claim 5 (depends on 1)

The motion assistance apparatus of claim 1, wherein the proximal support comprises:
a proximal frame perpendicular to a ground when the user is in a standing state; and
a proximal extension extending backward and upward from the proximal frame, the proximal extension configured to connect to the rotary coupler.

### Claim 6 (depends on 1)

The motion assistance apparatus of claim 1, wherein the proximal support is configured to support a rear surface of the proximal part of the user, and the motion assistance apparatus further comprises:
a distal support rotatably connected to the proximal support, the distal support configured to support a distal part of the user; and
an actuator configured to generate a force to change an angle between the distal support and a proximal frame.