Fixing module and motion assistance apparatus including the same

0001Example embodiments relate to a fixing module and/or a motion assistance apparatus including the same.

0002With the onset of an aging society, an increased number of people may experience inconvenience and/or pain from joint problems. Therefore, there is increased interest in motion assistance apparatuses that may enable the elderly or patients with joint problems to walk with less effort. The motion assistance apparatuses may include active joint structures including hydraulic systems and/or driving motors to drive each joint portion to improve muscular strength of legs of users. However, conventionally a motion assistance apparatus may come in various fixed sizes according to a waist of the user. Further, conventionally, a motion assistance apparatus may shake due to torsional forces applied thereto while assisting the user with walking.

SUMMARY

0003At least one example embodiment relates to a fixing module.

0004According to some example embodiments, the fixing module may include a first side frame including a first central portion on one side of a user, a first front extending portion configured to extend from the first central portion along a front side of the user, and a first rear extending portion configured to extend from the first central portion along a rear side of the user, and a second side frame including a second central portion on another side of the user, a second front extending portion configured to extend from the second central portion along the front side of the user, and a second rear extending portion configured to extend from the second central portion along the rear side of the user. The first central portion and the second central portion may be disposed to face each other, and a distance between the first central portion and the second central portion may be adjustable.

0005Example embodiments provide that the first front extending portion and the second front extending portion may be detachable, and the first rear extending portion and the second rear extending portion may be detachable.

0006Example embodiments provide that an overlapping area of the first front extending portion and the second front extending portion may be adjustable.

0007Example embodiments provide that the first front extending portion may include a binding portion configured to be bound to the second front extending portion, and a connecting portion configured to rotatably connect the binding portion to the first central portion.

0008Example embodiments provide that an overlapping area of the first rear extending portion and the second rear extending portion may be adjustable.

0009Example embodiments provide that the first rear extending portion may be configured to slide with respect to the second rear extending portion.

0010Example embodiments provide that the fixing module further includes a fastening member configured to penetrate through a first guide hole and a second guide hole to prevent relative movements of the first rear extending portion and the second rear extending portion. The first rear extending portion may include the first guide hole, and the second rear extending portion may include the second guide hole corresponding to the first guide hole.

0011Example embodiments provide that at least one of the first side frame and the second side frame may further include a supporting member configured to extend from a rear extending portion of the at least one side frame in a direction.

0012Example embodiments provide that the first side frame may further include a first upper supporting member configured to extend from the first rear extending portion in an upward direction, the second side frame may further include a second upper supporting member configured to extend from the second rear extending portion in an upward direction, and the first upper supporting member and the second upper supporting member may be disposed on both sides based on a spine of the user, respectively, to support erector spinae muscles of the user.

0013Example embodiments provide that the first side frame may further include a first lower supporting member configured to extend from the first rear extending portion toward a lower side, the second side frame may further include a second lower supporting member configured to extend from the second rear extending portion toward the lower side, and the first lower supporting member and the second lower supporting member may be disposed to support hip muscles of the user.

0014Example embodiments provide that the supporting member may include a plate disposed to be orthogonal to a longitudinal direction of the rear extending portion, and a plurality of protruding portions configured to protrude from the plate.

0015Example embodiments provide that the plurality of protruding portions may be disposed to be spaced apart from one another in a longitudinal direction of the plate.

0016Example embodiments provide that the supporting member may further include a stiffener configured to penetrate through the plurality of protruding portions.

0017Example embodiments provide that the supporting member may include a plate disposed to be orthogonal to a longitudinal direction of the rear extending portion, and a stiffener of which portions to be disposed at both end portions of the plate are to be fixed, and of which a portion to be disposed at a central portion of the plate is to be unfixed.

0018Example embodiments provide that the supporting member may include a plate disposed to be orthogonal to a longitudinal direction of the rear extending portion, and a stiffening wire configured to be embedded at an end portion of the plate in a width direction of the plate, and to extend in a longitudinal direction of the plate.

0019Example embodiments provide that the supporting member may be provided to have a length longer than a width, and a stiffness of both end portions of the supporting member may be greater than a stiffness of a central area of the supporting member in a longitudinal direction of the supporting member.

0020According to other example embodiments, the fixing module may include a first side frame configured to cover one side surface of a user, and of which both end portions are configured to extend along a front surface and a rear surface of the user, a second side frame configured to cover another side surface of the user, and of which both end portions are configured to extend along the front surface and the rear surface of the user, and a supporting member to which the first side frame and the second side frame are slidingly connected, and configured to support the rear surface of the user.

0021Example embodiments provide that a front end portion of the first side frame and a front end portion of the second side frame may be configured to be detachable from each other, and a rear end portion of the first side frame and a rear end portion of the second side frame may be respectively configured to be detachable from the supporting member.

0022At least one example embodiment relates to a motion assistance apparatus.

0023According to an example embodiment, the motion assistance apparatus may include a fixing module including a first separable frame on one side surface of a user, and a second separable frame on another side surface of the user, a distance between the first separable frame and the second separable frame being adjustable, a driving module provided in the fixing module, and a joint assembly configured to rotate by the driving module, and assist a rotary motion of a joint portion of the user.

0024Example embodiments provide that the first separable frame and the second separable frame may include a flexible material, the fixing module may further include an upper supporting member and a lower supporting member configured to extend toward an upper side and a lower side of the user, respectively, and the upper supporting member may be configured to pressurize the upper side of the user when the joint assembly rotates in a direction, and the lower supporting member may be configured to pressurize the lower side of the user when the joint assembly rotates in another direction.

0025In some example embodiments, the motion assistance apparatus may include a fixing device configured to attach to a waist of a wearer thereof, the fixing module including a plurality of interlocking frames separated by a distance, the fixing device configured to adjust the distance between the interlocking frames to secure the motion assistance apparatus onto a waist of the wearer; a plurality of attachment devices configured to attach to thighs of the wearer; and a plurality of joint assemblies mounted to respective ones of the plurality of side frames, the joint assemblies configured to apply a torque to the plurality of attachment devices to assist the user with movement of their hip joints.

0026In some example embodiments, the plurality of interlocking frames includes a first interlocking frame and a second interlocking frame, the first interlocking frame configured detach from the second interlocking frame to allow the user to remove the fixing device.

0027In some example embodiments, the plurality of interlocking frames include rear portions configured to contact a respective side of a lower back of the wearer and front portions configured to contact a respective side of a lower abdomen of the wearer, and a first one of the rear portions and the front portions of the plurality of interlocking frames is configured to allow a fastening member to penetrate through a guide slot therein to allow a first one of the plurality of interlocking frames to slide relative to a second one of the plurality of interlocking frames; and a second one of the rear portions and the front portions of the plurality of interlocking frames include a clasp configured to selectively fasten the first interlocking frame to the second interlocking frame.

0028In some example embodiments, the fixing device includes a supporting device extending in one or more of a cranial or caudal direction from the fixing device, the supporting device configured to offset a torsional force generated when the plurality of joint assemblies applies the torque to the attachment devices.

0029In some example embodiments, the supporting device has a shape such that a stiffness of the supporting device decreases towards distal ends thereof.

0030In some example embodiments, the fixing device is configured to adjust the distance between the plurality of interlocking frames in a first direction and move the supporting device in a second direction perpendicular to the first direction.

0031In some example embodiments, the plurality of interlocking frames are symmetric with respect to the supporting device.

0032Additional aspects of example embodiments will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

0033These and/or other aspects will become apparent and more readily appreciated from the following description of some of the example embodiments, taken in conjunction with the accompanying drawings of which: <ul id="ul0001" list-style="none" compact="compact"><li><figref idref="f0001">FIG. 1</figref> is a front view illustrating a motion assistance apparatus according to some example embodiments;</li><li><figref idref="f0002">FIG. 2</figref> is a side view illustrating a motion assistance apparatus according to some example embodiments;</li><li><figref idref="f0003">FIG. 3</figref> is a rear view illustrating a fixing module according to some example embodiments;</li><li><figref idref="f0004">FIG. 4</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments;</li><li><figref idref="f0005">FIG. 5</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments;</li><li><figref idref="f0006">FIG. 6</figref> is a perspective view illustrating a supporting member according to some example embodiments;</li><li><figref idref="f0007">FIG. 7</figref> is a perspective view illustrating a supporting member according to some example embodiments;</li><li><figref idref="f0008 f0009 f0010">FIGS. 8A through 8C</figref> illustrate a supporting member deformed when an external force is applied to the supporting member according to some example embodiments; and</li><li><figref idref="f0011">FIG. 9</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments.</li></ul>

DETAILED DESCRIPTION

0034Some example embodiments will now be described more fully with reference to the accompanying drawings. Embodiments, however, may be embodied in many different forms and should not be construed as being limited to the embodiments set forth herein. Rather, these example embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope to those skilled in the art. In the drawings, the thicknesses of layers and regions may be exaggerated for clarity.

0035It will be understood that when an element is referred to as being "on," "connected to," "electrically connected to," or "coupled to" to another component, it may be directly on, connected to, electrically connected to, or coupled to the other component or intervening components may be present. In contrast, when a component is referred to as being "directly on," "directly connected to," "directly electrically connected to," or "directly coupled to" another component, there are no intervening components present. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

0036It will be understood that although the terms first, second, third, etc., may be used herein to describe various elements, components, regions, layers, and/or sections, these elements, components, regions, layers, and/or sections should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, and/or section from another element, component, region, layer, and/or section. For example, a first element, component, region, layer, and/or section could be termed a second element, component, region, layer, and/or section without departing from the teachings of example embodiments.

0037Spatially relative terms, such as "beneath," "below," "lower," "above," "upper," and the like may be used herein for ease of description to describe the relationship of one component and/or feature to another component and/or feature, or other component(s) and/or feature(s), as illustrated in the drawings. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures.

0038The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of example embodiments. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and/or "including," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

0039Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

0040Reference will now be made to example embodiments, some which are illustrated in the accompanying drawings, wherein like reference numerals may refer to like components throughout.

0041<figref idref="f0001">FIG. 1</figref> is a front view illustrating a motion assistance apparatus according to some example embodiments, and <figref idref="f0002">FIG. 2</figref> is a side view illustrating the motion assistance apparatus according to some example embodiments.

0042Referring to <figref idref="f0001">FIGS. 1</figref> and <figref idref="f0002">2</figref>, a motion assistance apparatus 10 may be worn by a user to assist a motion of the user.

0043The user may correspond to a human, an animal, or a robot. However, the user is not limited thereto. In addition, although <figref idref="f0001">FIG. 1</figref> illustrates a case in which the motion assistance apparatus 10 assists motions of thighs of the user, the motion assistance apparatus 10 may also assist a motion of an upper body, for example, a hand, an upper arm, and a lower arm of the user. Further, the motion assistance apparatus 10 may assist a motion of another part of a lower body, for example, a foot, and a calf of the user. The motion assistance apparatus 10 may assist a motion of a part of the user.

0044Hereinafter, a case in which the motion assistance apparatus 10 assists motions of thighs of a human will be described. However, example embodiments are not limited thereto.

0045The motion assistance apparatus 10 may include a fixing module 20, a driving module 30, a joint assembly 40, and a supporting module 50.

0046The fixing module 20 may be fixed to the user. The fixing module 20 may be provided in a form of covering an outer surface of the user. For example, the fixing module 20 may be fixed to the sides of a waist of the user, and include a curved surface corresponding to a contact portion of the user. The fixing module 20 includes a first side frame 100 disposed on one side of the waist of the user, and a second side frame 200 disposed on another side of the waist of the user.

0047The driving module 30 may provide power that is transmitted to the joint assembly 40. For example, the driving module 30 may be disposed in a lateral direction of the joint assembly 40, in detail, such that an axis of rotation of the diving module 30 may be spaced apart from an axis of rotation of the joint assembly 40. Therefore, when compared to a case in which the driving module 30 and the joint assembly 40 share an axis of rotation, a protruding height from the user may relatively decrease. In other example embodiments, the driving module 30 may be more spaced apart from the joint assembly 40. Therefore, a power transmitting module may be additionally provided to transmit power from the driving module 30 to the joint assembly 40. The power transmitting module may be a rotary body such as, for example, a gear, or a longitudinal member such as, for example, a wire, a cable, a string, a rubber band, a spring, a belt, and a chain.

0048The joint assembly 40 may receive power from the driving module 30, and assist a motion of a joint portion of the user. The joint assembly 40 may be disposed on one side of the fixing module 20 at a position corresponding to the joint portion of the user, for example, at a hip joint of the user. One side of the joint assembly 40 may be connected to the driving module 30, and another side of the joint assembly 40 may be connected to the supporting module 50.

0049The joint assembly 40 includes a rotating member 42, and a connecting member 44. The rotating member 42 may rotate using power received from the driving module 30. For example, the rotating member 42 may be disposed on one side of the hip joint of the user. The connecting member 44 may connect the rotating member 42 to the supporting module 50, and rotate using torque of the rotating member 42. The connecting member 44 may be provided, for example, in a hinge connection structure. By a hinge axis of the hinge connection structure and an axis of rotation of the rotating member 42, the supporting module 50 may perform a two degree of freedom (DOF) motion with respect to the fixing module 20.

0050The supporting module 50 may support a portion of the user, and assist a motion of the portion of the user. The supporting module 50 may be configured to rotate using torque of the joint assembly 40. The supporting module 50 may include a supporting frame 52, an applying member 54, and a supporting band 56.

0051The supporting frame 52 may transmit force to a portion of the user, for example, to the thighs of the user to assist the user in rotating their hip joints. One end portion of the supporting frame 52 may be rotatably connected to the joint assembly 40, and another end portion of the supporting frame 52 may be connected to the supporting band 56 to transmit force to a portion of the user. For example, the supporting frame 52 may push or pull a thigh of the user. The supporting frame 52 may extend and be bent in a longitudinal direction of the thigh of the user to cover at least a portion of the circumference of the thigh of the user. The one end portion of the supporting frame 52 may be disposed on a side surface of the thigh of the user, and the other portion of the supporting frame 52 may be disposed on a front surface of the thigh of the user. A surface on the side of the one end portion of the supporting frame 52 may be orthogonal to a surface on the side of the other end portion of the supporting frame 52.

0052The supporting frame 52 may be movably connected to the connecting member 44. By relative motions of the supporting frame 52 and the connecting member 44, a total length from the joint assembly 40 to the supporting band 56 may be variable. In this example, the supporting module 50 may perform a three degree of freedom (DOF) motion with respect to the fixing module 20.

0053The applying member 54 may be connected to the other end portion of the supporting frame 52 to apply force to a portion of the user. For example, the applying member 54 may be disposed along the front surface of the thigh of the user, or in a circumferential direction of the thigh of the user to push or pull the thigh of the user. The applying member 54 may include a curved surface corresponding to the thigh of the user, and configured to extend from the other end portion of the supporting frame 52 toward both sides of the supporting frame 52.

0054The supporting band 56 may be connected to one side of the applying member 54. For example, the supporting band 56 may be disposed to cover a circumference of at least a portion of the thigh of the user, thereby preventing separation between the thigh of the user and the supporting frame 52.

0055<figref idref="f0003">FIG. 3</figref> is a rear view illustrating a fixing module according to some example embodiments, and <figref idref="f0004">FIG. 4</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments.

0056Referring to <figref idref="f0003">FIGS. 3</figref> and <figref idref="f0004">4</figref>, the fixing module 20 may include the first side frame 100, the second side frame 200, and a fastening member 300. As discussed above, the first side frame 100 and the second side frame 200 may be configured to attach to opposite sides of the waist of the user. The first side frame 100 and the second side frame 200 may be connected to each other to form a single closed curve, for example, around the waist of the user.

0057The first side frame 100 and the second side frame 200 may be detachable from each other. Therefore, the first side frame 100 and the second side frame 200 may also be referred to as a "first separable frame" and a "second separable frame", respectively.

0058The first side frame 100 may cover one side surface of the waist of the user, a portion of a front surface of the waist of the user, and a portion of a rear portion of the waist of the user. For example, the first side frame 100 may fit around half of the pelvis of the user. The first side frame 100 may be provided roughly in a U-shape. The first side frame 100 may be provided using a relatively thin board. The first side frame 100 may be provided using a flexible material to improve a degree of contact with the user. In this example, the first side frame 100 may be deformed based on a shape of the user to be in close contact with the user. The first side frame 100 includes a first central portion 110, a first front extending portion 120, and a first rear extending portion 130.

0059The first central portion 110 may include a curved surface corresponding to one side surface of the user, and be disposed on the one side surface of the user. The first central portion 110 includes a joint mounting portion 115 configured to extend toward a hip joint portion of the user. The joint mounding portion 115 may be provided to cover the hip joint portion. The rotating member 42 of <figref idref="f0001">FIG. 1</figref> may be provided on the joint mounting portion 115.

0060The first front extending portion 120 may extend from the first central portion 110 to cover at least a portion of the front surface of the user. The first front extending portion 120 may be provided to be detachable from the second side frame 200. For example, the first front extending portion 120 includes a first binding portion 122, and a first connecting portion 124.

0061The first binding portion 122 may be provided to be detachable from the second side frame 200. For example, the first binding portion 122 may include a base plate having a shape of a board, and a hook and loop fastener provided on the base plate. The first binding portion 122 may also be fastened with the second side frame 200 in a structure of a buckle. However, the shape of the first binding portion 122 is not limited thereto. For example, the first and second binding portions 122, 22 may be series of buttons, tabs or posts that are adjustable, and/or form an adjustable belt like loop that is secured via pressure provided thereto. Further, the fixing module 20 may include a stretchable fabric such that the fixing module 20 may be warm as clothing. The first connecting portion 124 may rotatably connect the first binding portion 122 to the first central portion 110. For example, the first connecting portion 124 may be a ring or a hinge.

0062The first rear extending portion 130 may extend from the first central portion 110 to cover at least a portion of the rear surface of the user. The first rear extending portion 130 may extend toward an opposite side of the first front extending portion 120 based on the first central portion 110. The first rear extending portion 130 may be disposed on the opposite side of the first front extending portion 120 based on the user. The first rear extending portion 130 may be provided to be detachable from the second side frame 200.

0063The first rear extending portion 130 includes a first guide portion 132. The first guide portion 132 may guide the second side frame 200 to slide with respect to the first rear extending portion 130. The first guide portion 132 may be a slot provided lengthwise in an extending direction of the first rear extending portion 130. In this example, the first guide portion 132 may be referred to as a "guide slot". A plurality of first guide portions 132 may be provided. The plurality of first guide portions 132 may be provided in parallel. The fastening member 300 may be connected to the first guide portion 132.

0064Although <figref idref="f0003">FIG. 3</figref> illustrates a manual adjustment of the distance between the first side frame 100 and the second side frame 200, in other example embodiments the distance between the first side frame 100 and the second side frame 200 may be electronically adjusted. For example, in other example embodiments, the fixing module 20 may include a motor (not shown). The first and second side frames may be connected in a rack and pinion design such that, in response to instructions generated by a controller (not shown), the motor generates a force that causes the pinion to rotate on the rack and adjust the distance between the first side frame 100 and the second side frame 200.

0065The controller (not shown) may include a processor and a memory storing computer readable code, that when executed by the processor, configures the controller as a special purpose computer that is configured to control the motion assistance apparatus 10.

0066The first side frame 100 may further include a first supporting member 140. The first supporting member 140 may include one or more of a first upper supporting member 142 and a first lower supporting member 144. The first supporting member 140 may stabilize the fixing member 20 when a force is applied thereto. Further, in some example embodiments, the first supporting member 140 may further include an internal pad (not shown) to further stabilize the fixing member 20 and also provide comfort to the user.

0067The first upper supporting member 142 may extend from the first rear extending portion 130 in an upward direction to support a lower back of the user. The first side supporting member 142 may extend in a direction orthogonal to a longitudinal direction of the first rear extending portion 130. For example, the first upper supporting member 142 may support a dorsal portion of the user. The first upper supporting member 142 may extend from the first rear extending portion 130 to a portion corresponding to about a midpoint of the dorsal portion of the user. As illustrated in <figref idref="f0003">FIG. 3</figref>, the first upper supporting member 142 may include a first extension 141 whose width increases in a direction of the first rear extending portion 130 near the waist of the user.

0068The first lower supporting member 144 may extend from the first rear extending portion 130 in a downward direction to support a lower side of the user. The first lower supporting member 144 may extend in a direction orthogonal to the longitudinal direction of the first rear extending portion 130. For example, the first lower supporting member 144 may support a hip portion of the user.

0069The first side frame 100 may include a reinforcing material (not shown), for example a pad, on an interior surface thereof. The reinforcing material may stabilize the fixing member 20 and also provide comfort to the user.

0070The second side frame 200 may be provided in a shape symmetrical to the first side frame 100. Hereinafter, the same names may be used to describe the elements included in the first side frame 100 described above and elements having common functions. Unless otherwise mentioned, the descriptions on the first side frame 100 may be applicable to the second side frames 200.

0071The second side frame 200 may cover a remaining portion of the waist of the user yet to be covered by the first side frame 100. The second side frame 200 may covering another side of the waist of the user, a remaining portion of the front surface of the waist user, and a remaining portion of the rear portion of the waist of the user. At least a portion of the second side frame 200 may overlap the first side frame 100. The second side frame 200 may include a second central portion 210, a second front extending portion 220, and a second rear extending portion 230.

0072The second central portion 210 may include a curved surface corresponding to one of the side surfaces of the waist of the user, and configured to attach to this side surface of the waist of the user. The second central portion 210 may be disposed to face the first central portion 110. The second central portion 210 may include a joint mounting portion 215 configured to extend toward a hip joint portion of the user. The joint mounting portion 215 may be provided to cover the hip joint portion.

0073The second front extending portion 220 may extend from the second central portion 210 to cover at least a portion of the front surface of the waist of the user. The second front extending portion 220 may be provided to be detachable from the first binding portion 122. For example, the second front extending portion 220 includes a second binding portion 222, and a second connecting portion 224.

0074The second binding portion 222 may be provided to be detachable from the first binding portion 122. For example, the second binding portion 222 may include a hook and loop fastener corresponding to the first binding portion 122. The second binding portion 222 may also be provided in a structure of a buckle corresponding to the first binding portion 122.

0075The second connecting portion 224 may rotatably connect the second binding portion 222 to the second central portion 210.

0076The second rear extending portion 230 may extend from the second central portion 210 to cover at least a portion of the rear surface of the user. The second rear extending portion 230 may extend towards an opposite side of the second front extending portion 220 based on the second central portion 210. The second rear extending portion 230 may be disposed on the opposite sides of the second front extending portion 220 based on the user. The second rear extending portion 230 may be provided to be detachable from the first rear extending portion 130.

0077The second rear extending portion 230 may include a second guide portion 232. The second guide portion 232 may guide the first rear extending portion 130 to slide with respect to the second rear extending portion 230. The second guide portion 232 may be a slot provided lengthwise in an extending direction of the second rear extending portion 230. The second guide portion 232 may be provided in a shape corresponding to the first guide portion 132. When the second rear extending portion 230 overlap the first rear extending portion 130, the second guide portion 232 may overlap at least a portion of the first guide portion 132. The fastening member 300 may be connected to the overlapping portion between the second guide portion 232 and the first guide portion 132. The fastening member 300 may fasten the second rear extending portion 230 with the first rear extending portion 130.

0078The second side frame 200 may further include a second supporting member 240. The second supporting member 240 may stabilize the fixing member 20 when a force is applied thereto. Further, in some example embodiments, the second supporting member 240 may further include an internal pad (not shown) to further stabilize the fixing member 20 and also provide comfort to the user.

0079The second supporting member 240 includes a second upper supporting member 242, and a second lower supporting member 244. While <figref idref="f0004">FIG. 4</figref> illustrates that both the first side frame 100 and the second side frame 200 each include a supporting member 140, 240, in other example embodiments, only one of the first side frame 100 and the second side frame 200 may include a supporting member. For example, a single supporting member may be attached to one of the side frames in relatively closer contact to the user when the two side frames 100, 200 overlap around the user.

0080The second upper supporting member 242 may be provided in a shape symmetrical to the first upper supporting member 142. The second upper supporting member 242 may include a second extension 241. The second upper supporting member 242 and the first upper supporting member 142 may be disposed on both sides based on a spine of the user, respectively, to support erector spinae muscles of the user.

0081The second lower supporting member 244 may be provided in a shape symmetrical to the first lower supporting member 144. The second lower supporting member 244 and the first lower supporting member 144 may be disposed to support hip muscles of the user.

0082The second side frame 200 may include a reinforcing material (not shown), for example a pad, on an interior surface thereof. The reinforcing material may stabilize the fixing member 20 and also provide comfort to the user.

0083The fastening member 300 may fasten the first side frame 100 with the second side frame 200. The fastening member 300 may penetrate through the first guide portion 132 and the second guide portion 232, and prevent relative movements of the first rear extending portion 130 and the second rear extending portion 230. In an example, the fastening member 300 may include a bolt and a nut configured to pressurize the first rear extending portion 130 and the second rear extending portion 230 simultaneously. In an example, one of the first guide portion 132 or the second guide portion 232 may be provided in a form of a threaded hole, and the fastening member 300 may be a bolt having threads corresponding to the hole.

0084Hereinafter, the same name may be used to describe an element included in the example embodiments described above and an element having a common function. Unless otherwise mentioned, the descriptions on the example embodiments may be applicable to the following example embodiments and thus, duplicated descriptions will be omitted for conciseness.

0085<figref idref="f0005">FIG. 5</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments.

0086Referring to <figref idref="f0005">FIG. 5</figref>, the fixing module 20 may include the first side frame 100, the second side frame 200, the fastening member 300, and a supporting member 400. The supporting member 400 may include a fixing portion 410, an upper supporting member 420, and a lower supporting member 430.

0087The fixing portion 410 may overlap the first side frame 100 and the second side frame 200. The first rear extending portion 130 may be fixed to one side of the fixing portion 410, and the second rear extending portion 230 may be fixed to another side of the fixing portion 410. A third guide portion 412 may be provided in the fixing portion 410. The third guide portion 412 may be provided in a shape corresponding to the first guide portion 132 and the second guide portion 232.

0088The upper supporting member 420 may extend from the fixing portion 410 in an upward direction to support an upper side of the user. The upper supporting member 420 may extend in a direction orthogonal to a longitudinal direction of the fixing portion 410. For example, the upper supporting member 420 may support a dorsal portion of the user. The upper supporting member 420 may extend from the fixing portion 410 to a portion corresponding to a midpoint of the dorsal portion of the user.

0089The lower supporting member 430 may extend from the fixing portion 410 in a downward direction to support a lower side of the user. The lower supporting member 430 may extend in a direction orthogonal to the longitudinal direction of the fixing portion 410. For example, the lower supporting member 430 may support a hip portion of the user.

0090The fastening member 300 may include a first fastening member configured to fasten the first rear extending portion 130 with the fixing portion 410, and a second fastening member configured to fasten the second rear extending portion 230 with the fixing portion 410. While <figref idref="f0005">FIG. 5</figref> illustrates two fastening members, the number of fastening members may vary. For example, in other example embodiments a single fastening member may be used to fasten the first rear extending portion 130 and the second rear extending portion 230 with the fixing portion 410.

0091<figref idref="f0006">FIG. 6</figref> is a perspective view illustrating a supporting member according to some example embodiments.

0092Referring to <figref idref="f0006">FIG. 6</figref>, in some example embodiments a supporting member 500 may be applicable to at least one of the supporting members described above to provide increased flexibility in a central portion and increased stiffness in an end portion thereof.

0093The supporting member 500 may include a fixing portion 510 in which a guide portion 512 is provided, an upper supporting member 520, a lower supporting member 530, and a stiffening device 550.

0094The upper supporting member 520 includes an upper plate 521 provided in a shape of a board extending from the fixing portion 510 in an upward direction, and a plurality of upper protruding portions 522 configured to protrude from the upper plate 521 such that the upper plate 521 is ribbed. The plurality of upper protruding portions 522 may be disposed to be spaced apart from each other in a longitudinal direction of the upper plate 521. The plurality of upper protruding portions 522 may be disposed in parallel. Through the foregoing structure, a flexibility of a central area of the upper supporting member 520 may increase.

0095The lower supporting member 530 may include a lower plate 531 provided in a shape of a board extending from the fixing portion 510 in a downward direction, and a plurality of lower protruding portions 532 configured to protrude from the lower plate 531 such that the lower plate 531 is ribbed. The plurality of lower protruding portions 532 may be disposed to be spaced apart from each other in a longitudinal direction of the lower plate 531. The plurality of lower protruding portions 532 may be disposed in parallel. Through the foregoing structure, a flexibility of a central area of the lower supporting member 530 may increase.

0096The stiffening device 550 may reinforce a stiffness of the upper supporting member 520 or the lower supporting member 530. For example, the stiffener 550 may increase a stiffness of both end portions of the upper supporting member 520 or the lower supporting member 530 to be greater than a stiffness of the central area of the upper supporting member 520 or the lower supporting member 530. The stiffener 550 may be disposed to penetrate through the plurality of upper protruding portions 522 and the plurality of lower protruding portions 532. The stiffening device 550 may be embedded in width directions of the upper plate 521 and the lower plate 531, and extend in longitudinal directions of the upper plate 521 and the lower plate 531. The stiffening device 550 may be a linear material such as, for example, a wire. The ends of the stiffening device 550 may be fixed to the ends of the upper plate 521 and/or the lower plate 531, and a center portion of the stiffening device 550 may be unfixed from a central portion of the upper plate 521 and/or the lower plate 531.

0097<figref idref="f0007">FIG. 7</figref> is a perspective view illustrating a supporting member according to example embodiments.

0098Referring to <figref idref="f0007">FIG. 7</figref>, a supporting member 620 may be applicable to at least one of the upper supporting member and the lower supporting member described above to provide increased flexibility in a central portion and increased stiffness in the end portions thereof.

0099The supporting member 620 may include a first frame 630, a second frame 640, a connecting end portion 650, and an applying end portion 660.

0100The first frame 630 may include a first plate 632, a first protruding portion 634, and a first hanging portion 636.

0101The first plate 632 may be formed using a thin elastic board, for example, a material such as plastic, and steel.

0102The first protruding portion 634 may protrude from the first plate 632 toward the second frame 640. A plurality of first protruding portions 634 may be disposed to be spaced apart from each other in a longitudinal direction of the first plate 632. The first protruding portion 634 may be provided lengthwise in a direction orthogonal to the longitudinal direction of the first plate 632. A cross-section area of the first protruding portion 634 may decrease as a distance from the first plate 632 increases. A width of an upper side of the first protruding portion 634 may be smaller than a width of a lower side of the first protruding portion 634. The first protruding portion 634 may have an inclined surface in a shape of a taper. Through the foregoing structure, in a case in which a second protruding portion 644 is inserted into a space between two adjacent first protruding portions 634, the second protruding portion 644 may move along inclined surface without being obstructed by the first protruding portions 634.

0103The first hanging portion 636 may prevent a separation of the second frame 640 from the first frame 630. The first hanging portion 636 may be provided in a form of a groove including side surfaces of the first protruding portion 634 and an inner surface of the first plate 632. As shown in <figref idref="f0007">FIG. 7</figref>, the first hanging portion 636 may be provided in a form of a trapezoidal groove. To have a form of such a groove, a side surface of the first protruding portion 634 may protrude toward an inner side as a distance from the first plate 632 increases. For example, when first protruding portions 634 are arranged in two rows along both edges of the first plate 632, side surfaces of the first protruding portions 634 may be provided to protrude toward a center as a distance from the first plate 632 increases. These side surfaces of the first protruding portions 634 and the inner surface of the first plate 632 may be combined with a second hanging portion 646 of the second frame 640 to form a groove that prevents a separation.

0104The second frame 640 may be provided in a shape corresponding to the first frame 630. The second frame 640 includes a second plate 642, the second protruding portion 644, and the second hanging portion 646.

0105The second plate 642 may be provided in a shape corresponding to the first plate 632, and disposed to be spaced apart from the first plate 632. The second plate 642 may be formed using a thin elastic board, for example, a material such as plastic, and steel.

0106A space between the second plate 642 and the first plate 632 may increases from the applying end portion 660 toward the connecting end portion 650. A distance between the second plate 642 and the first plate 632 may increase as a distance from the applying end portion 660 increases.

0107The second protruding portion 644 may protrude from the second plate 642 toward the first plate 632. A plurality of second protruding portions 644 may be disposed to be spaced apart from each other in a longitudinal direction of the second plate 642. The second protruding portion 644 may be provided lengthwise in a direction orthogonal to the longitudinal direction of the second plate 642.

0108The second hanging portion 646 may prevent a separation of the first frame 630 from the second frame 640. As shown in <figref idref="f0007">FIG. 7</figref>, a cross-section of the second hanging portion 646 may be provided in a shape of a reversed trapezoidal dove tail. The second hanging portion 646, of which a width increases from the second plate 642 toward the first plate 632, may be combined with the first hanging portion 636 provided in a trapezoidal shape to prevent a separation of the second plate 642.

0109The connecting end portion 650 may be connected to the first rear extending portion 130 or the second rear extending portion 230 of <figref idref="f0001 f0002 f0003 f0004">FIGS. 1 through 4</figref>, or the fixing portion 410 of <figref idref="f0005">FIG. 5</figref>.

0110The applying end portion 660 may apply force to a user to offset a torsional moment when the torsional moment is applied to the fixing module 20 due to a reaction resulting from rotation of the joint assembly 40. The applying end portion 660 may apply force to an upper side or a lower side of the user, for example, a back or hips. Thus, the torsional moment resulting from the rotation of the joint assembly 40 and a torsional moment resulting from force received by the applying end portion 660 from the user may cancel each other out, whereby deformation of the fixing module 20 may be prevented. Dissimilar to the drawings, a thickness of the applying end portion 660 may be set to be greater than a sum of a thickness of the first frame 630 adjacent to the applying end portion 660 and a thickness of the second frame 640 adjacent to the applying end portion 660.

0111By the connecting end portion 650 and the applying end portion 660, end portions of a power transmitting frame, for example, the first side frame 100, to which both end portions of the first frame 630 and the second frame 640 are fixed, respectively, may have a relatively great stiffness resistant to a torsion. Dissimilar to both end portions restricted by each other, a central portion of the first frame 630 may relatively move with respect to a central portion of the second frame 640. Thus, a central portion of the power transmitting frame, for example, the first side frame 100 may have a greater flexibility than an end portion thereof. Conversely, a stiffness of both end portions of the power transmitting frame, for example, the first side frame 100 may be greater than a stiffness of a central portion thereof.

0112Through an interaction between the first hanging portion 636 and the second hanging portion 646, a separation between the first frame 630 and the second frame 640 may be prevented. Thus, the central portion of the first frame 630 may slide with respect to the central portion of the second frame 640. Thus, the power transmitting frame, for example, the first side frame 100 may prevent buckling of the first frame 630 or the second frame 640 while maintaining a flexibility of the central portion of the first frame 630 or the second frame 640.

0113<figref idref="f0008 f0009 f0010">FIGS. 8A through 8C</figref> illustrate a supporting member deformed when an external force is applied to the supporting member according to example embodiments.

0114In detail, <figref idref="f0008">FIG. 8A</figref> illustrates a state in which a load is not applied to the supporting member, <figref idref="f0009">FIG. 8B</figref> illustrates a state in which a load F is applied to an end portion of the supporting member, and <figref idref="f0010">FIG. 8C</figref> illustrates a state in which a load F is applied to a central portion of the supporting module.

0115As described above, a stiffness of an end portion of the supporting member may be greater than a stiffness of the central portion thereof. Thus, as shown in <figref idref="f0009">FIG. 8B</figref>, when the load F is applied to the end portion of the supporting member, the end portion of the supporting member may resist the load F and thus may not experience little deformation. However, as shown in <figref idref="f0010">FIG. 8C</figref>, when the identical load F is applied to the central portion of the supporting member, due to the flexibility of the central portion of the supporting member, the central portion may experience greater deformation.

0116A conventional longitudinal member made of a flexible material may be weaker as a distance from a fixing end increases. Thus, force may not be transmitted properly at an end portion of the longitudinal member including the flexible material. Furthermore, a conventional longitudinal member may instead be made from a stiff material to transmit force properly at an end portion thereof. However, a flexibility of the longitudinal member including the stiff material may decrease at a central portion thereof. Thus, the longitudinal member including the stiff material may have difficulty in handling changes in a volume of a user with respect to various motion states. In this example, a frictional force with the user may increase.

0117In contrast, in one or more example embodiments, a supporting member may include a flexible central portion and a stiff end portion and thus, the supporting member may apply sufficient supporting force corresponding to a reaction resulting from rotation of the joint assembly 40 while reducing frictional force with the user.

0118<figref idref="f0011">FIG. 9</figref> is an exploded perspective view illustrating a fixing module according to some example embodiments.

0119Referring to <figref idref="f0011">FIG. 9</figref>, the fixing module 20 may include the first side frame 100, the second side frame 200, the fastening member 300, and a supporting member 700 that is adjustable.

0120For example, the supporting member 700 may include a fixing portion 710, an upper supporting member 720, and a lower supporting member 730.

0121The fixing portion 710 may overlap the first side frame 100 and the second side frame 200. The first rear extending portion 130 may be fixed to one side of the fixing portion 710, and the second rear extending portion 230 may be fixed to another side of the fixing portion 710. A third guide portion 712 may be provided in the fixing portion 710.

0122The third guide portion 712 may include one or more slots provided in a direction perpendicular to the first guide portion 132 of the first side frame 100 and the second guide portion 232 of the second side frame 200. For example, the third guide portion 712 may include two parallel slots that extend in a direction perpendicular to the first and second guide portions 132, 232. By the third guide portion 712, a position of the supporting member 700 may be adjusted in a vertical direction with respect to the first side frame 100 or the second side frame 200.

0123The fastening member 300 may include a first fastening member configured to fasten the first rear extending portion 130 with the fixing portion 710, and a second fastening member configured to fasten the second rear extending portion 230 with the fixing portion 710. While <figref idref="f0011">FIG. 9</figref> illustrates two fastening members, the number of fastening members may vary. For example, in other example embodiments a single fastening member may be used to fasten the first rear extending portion 130 and the second rear extending portion 230 with the fixing portion 710.

0124A number of example embodiments have been described above. Nevertheless, it should be understood that various modifications may be made. For example, suitable results may be achieved if the described techniques are performed in a different order and/or if components in a described system, architecture, device, or circuit are combined in a different manner and/or replaced or supplemented by other components or their equivalents. Accordingly, other implementations are within the scope of the following claims.