Driving module and motion assistance apparatus including the same

A driving module comprising:

• a driving source configured to transmit power;
• a power transmitting rotary body configured to rotate by the power transmitted from the driving source;
• a first decelerator configured to transmit power between the driving source and the power transmitting rotary body, the first decelerator including,
• an input side rotary body configured to receive power from the driving source, and
• an output side rotary body configured to transmit power to the power transmitting rotary body;
• and
• a second decelerator between the first decelerator and the power transmitting rotary body, the second decelerator including,
• a central rotary body configured to receive power transmitted from the first decelerator,
• a connecting rotary body coupled to an outer circumferential surface of the central rotary body, and
• a ring member surrounding the central rotary body and the connecting rotary body, and coupled to the connecting rotary body.

A driving module comprising:

• a driving source configured to transmit power;
• a power transmitting rotary body configured to rotate by the power transmitted from the driving source;
• a first decelerator configured to transmit power between the driving source and the power transmitting rotary body, the first decelerator including,
• an input side rotary body configured to receive power from the driving source, and
• an output side rotary body configured to transmit power to the power transmitting rotary body;
• a power transmitting member configured to be driven by rotation of the power transmitting rotary body;
• and
• a tensile force adjusting device configured to adjust a tensile force of the power transmitting member.

A motion assistance apparatus comprising:

• a fixing member configured to be attached to a user;
• a driving module on one side of the fixing member, the driving module including a driving source, a power transmitting rotary body, and a parallel shaft decelerator, the power transmitting rotary body configured to rotate by power transmitted from the driving source, the parallel shaft decelerator configured to transmit power between the driving source and the power transmitting rotary body, the parallel shaft decelerator including an input side rotary body and an output side rotary body, the input side rotary body configured to receive power from the driving source, the output side rotary body configured to transmit power to the power transmitting rotary body;
• a supporting module configured to support a portion of the user;
• and
• a power transmitting member configured to transmit power between the power transmitting rotary body and the supporting module,
• wherein the driving module further comprises a tensile force adjusting device configured to adjust a tensile force of the power transmitting member.