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US 12,728,064 B2Granted
Motion assistance apparatus
AssigneeKorea Institute of Science and Technology
InventorsJongwon Lee, Jong Bok Lee
Life of this patent
Estimating the term…
Abstract
Provided is a motion assistance apparatus that includes a fixing module which is fixed to a part of the body of a user, a support module which supports another part of the body of the user and is rotatable relative to the fixing module, a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module, and a second driving module which flexes the support module relative to the fixing module. The first driving module includes an abduction motor, and a first axis serving as an abduction axis of the first driving module is positioned at the same height as or lower than a second axis serving as a flexion axis of the second driving module.
Claims18
A motion assistance apparatus comprising:
- a fixing module configured to be fixed to a part of the body of a user;
- a support module configured to support another part of the body of the user and is rotatable relative to the fixing module;
- a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module;
- and
- a second driving module which flexes the support module relative to the fixing module,
- wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
- wherein the first driving module further comprises:
- a bracket fixed to a lower side of the second driving module;
- an abduction shaft coupled to the bracket;
- an upper bevel gear coupled to the abduction shaft;
- and
- a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor,
- wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
10 more elements
A motion assistance apparatus comprising:
- a fixing module configured to be fixed to the waist of a user;
- a support module configured to support the leg of the user;
- and
- a first driving module which is positioned between the fixing module and the support module and abducts the support module relative to the fixing module,
- wherein the support module comprises:
- a support band configured to be fixed to the leg of the user;
- and
- a support connector configured to connect the support band to the first driving module,
- wherein the support band provides a slide hole, and
- a portion of the support connector is inserted into the slide hole, and the support connector is slidably coupled to the support band,
- wherein the support connector comprises:
- a connection body of which one side is connected to the first driving module;
- and
- a slide member which is connected to the other side of the connection body and of which a portion is inserted into the slide hole, and
- wherein the slide member is rotatably coupled to the connection body;
- wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
- wherein the first driving module further comprises:
- a bracket fixed to a lower side of the second driving module;
- an abduction shaft coupled to the bracket;
- an upper bevel gear coupled to the abduction shaft;
- and
- a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor;
- wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
20 more elements
A motion assistance apparatus comprising:
- a support module;
- a fixing module spaced apart from the support module in a first direction;
- a first driving module which is positioned between the support module and the fixing module and rotates the support module relative to the fixing module;
- and
- a second driving module which is positioned between the first driving module and the fixing module and rotates the support module relative to the fixing module,
- wherein the first driving module rotates the support module about a second direction that crosses the first direction, and
- the second driving module rotates the support module about a third direction that crosses both the first direction and the second direction,
- wherein the support module comprises:
- a support band configured to be fixed to the leg of a user;
- and
- a support connector configured to connect the support band to the first driving module,
- wherein the support band provides a slide hole, and
- a portion of the support connector is inserted into the slide hole, and the support connector is slidably coupled to the support band, and
- wherein the support connector comprises:
- a connection body of which one side is connected to the first driving module;
- and
- a slide member which is connected to the other side of the connection body and of which a portion is inserted into the slide hole,
- wherein the slide member is rotatably coupled to connection body;
- wherein the first driving module comprises an abduction motor, and a first axis configured to be an abduction axis of the first driving module is positioned at the same height as or lower than a second axis configured to be a flexion axis of the second driving module,
- wherein the first driving module further comprises:
- a bracket fixed to a lower side of the second driving module;
- an abduction shaft coupled to the bracket;
- an upper bevel gear coupled to the abduction shaft;
- a lower bevel gear which engages with the upper bevel gear and is connected to the abduction motor;
- a motor shaft coupled to the lower bevel gear and configured to rotate the lower bevel gear about an axis perpendicular to a plane defined by the first axis and the second axis;
- a module housing surrounding the abduction motor and being rotatably coupled to the abduction shaft about the first axis;
- and
- a gear housing covering the upper bevel gear,
- wherein the abduction motor is connected to the abduction shaft to be rotatable about the abduction shaft.
26 more elements
Dependencies are inferred from the claim text.