Driving module and motion assistance apparatus including the same

A driving device comprising:

• a driving source configured to generate power;
• a gear train including a decelerating gear set, a frame and a ring gear, the decelerating gear set configured to receive driving power from the driving source, the frame surrounding the deceleration gear set, and the ring gear attached to one side of the frame;
• and
• a rotary joint including at least one planetary gear, the at least one planetary gear configured to,
• rotate using power received from an output end of the decelerating gear set, and
• revolve along the ring gear.

A motion assistance apparatus comprising:

• a fixing device configured to be attached to a user;
• a driving device, the driving device including,
• a driving source on one side of the fixing device,
• a gear train including an input end and an output end, the input end configured to receive driving power from the driving source, and
• a rotary joint including at least one planetary gear connected to the output end of the gear train;
• and
• a supporting device configured to support a portion of a body of the user, and to move in response to the driving power.