Driving module and motion assistance apparatus including the same

A driving module comprising:

• a driving source, comprising a motor and/or a shaft, configured to generate power;
• a gear train including a decelerating gear set configured to rotate based on the power from the driving source;
• a joint aligning ring, a side of the gear train configured to receive the joint aligning ring such that the joint aligning ring is rotatable therein;
• a rotary joint attached to the joint aligning ring, the rotary joint configured to rotate based on the power from the gear train;
• and
• a joint bearing between at least the joint aligning ring and the rotary joint, the joint bearing configured to attach to the gear train.

A driving device comprising:

• a driving source, comprising a motor and/or a shaft, configured to generate power;
• a gear train including a decelerating gear set and a ring gear, the decelerating gear set configured to receive driving power from the driving source, and the ring gear attached to a side of the decelerating gear set;
• 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 wearable fixing device, comprising a support configured to be mounted proximate a waist and/or hip of a user;
• a driving device, the driving device including:
• a driving source, comprising a motor and/or a shaft, on a 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 support device configured to support a portion of a body of the user, and to move in response to the driving power.