Motion assistance apparatus

Patent metadata

Field	Value
Publication number	US-10688009-B2
Application number	US-201715426463-A
Country	US
Kind code	B2
Filing date	Feb 7, 2017
Priority date	Aug 26, 2016
Publication date	Jun 23, 2020
Grant date	Jun 23, 2020

Abstract

A motion assistance apparatus includes a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, and a rotary frame connected to the distal support, and configured to simultaneously perform a translational motion and a rotational motion relative to the proximal support.

First claim

What is claimed is:

1. A motion assistance apparatus comprising:
a power distributor including a first output terminal, a second output terminal and a connecting member configured to connect the first output terminal and the second output terminal;
a proximal support configured to support a proximal part of a user;
a distal support configured to support a distal part of the user;
a rotary frame connected to the distal support and connected to the second output terminal of the power distributor via a connecting rod; and
a sliding frame connected to the rotary frame and to the first output terminal of the power distributor, the sliding frame configured to perform a translational motion relative to the proximal support to rotate the rotary frame such that the rotary frame is configured to simultaneously perform the translational motion and a rotational motion relative to the proximal support.

2. The motion assistance apparatus of claim 1 , wherein
the proximal support is configured to support a calf of the user,
the distal support is configured to support a foot of the user, and
the rotary frame is on an anterior of an ankle of the user while the user is wearing the motion assistance apparatus.

3. The motion assistance apparatus of claim 1 , wherein
the proximal support is configured to support a calf of the user,
the distal support is configured to support a foot of the user, and
the rotary frame is configured to connect to the distal support via a first portion thereof, the first portion of the rotary frame being between an ankle and a forefoot of the user while the user is wearing the motion assistance apparatus.

4. The motion assistance apparatus of claim 1 , wherein the first output terminal and the second output terminal have different translational speeds with respect to the proximal support.

5. The motion assistance apparatus of claim 4 , wherein
the power distributor further includes a power transmitting member, and
the power transmitting member is configured to directly transmit the power to one of the first output terminal, the second output terminal, and the connecting member.

6. The motion assistance apparatus of claim 5 , wherein the connecting member is rotatably connected to the proximal support.

7. The motion assistance apparatus of claim 1 , wherein
the second output terminal includes a protrusion configured to protrude toward the first output terminal, and
a first end portion of the connecting rod is configured to connect to the second output terminal via the protrusion.

8. The motion assistance apparatus of claim 7 , wherein
the sliding frame performs the translational motion relative to the proximal support, and
the first end portion of the connecting rod is configured to perform a translational motion relative to the sliding frame, if the power distributor receives the power.

9. The motion assistance apparatus of claim 1 , wherein the connecting rod comprises:
a rod body;
a first joint at a first end portion of the rod body, the first joint being rotatably connected to the second output terminal with at least two degrees of freedom; and
a second joint at a second end portion of the rod body, the second joint being rotatably connected to the rotary frame with at least two degrees of freedom.

10. The motion assistance apparatus of claim 1 , wherein the connecting member comprises:
a pair of parallel links each configured to connect the first output terminal and the second output terminal such that the first output terminal and the second output terminal are parallel to each other.

11. The motion assistance apparatus of claim 1 , wherein the rotary frame comprises:
a base link configured to rotate relative to the sliding frame in a yaw direction.

12. The motion assistance apparatus of claim 11 , wherein the rotary frame further comprises:
a support link connected to the distal support, the support link configured to rotate relative to the base link in a pitch direction; and
a pair of connecting links configured to connect the base link and the support link.

13. The motion assistance apparatus of claim 12 , wherein the pair of connecting links are connected to the support link by a first pair of rotational axes and to the base link by a second pair of rotational axes such that a distance between the first pair of rotation axes connected to the support link is greater than a distance between the second pair of rotation axes connected to the base link.

14. The motion assistance apparatus of claim 1 , further comprising:
a driving source configured to provide power to operate the rotary frame;
at least one pressure sensor associated with the distal support, the at least one pressure sensor configured to measure a pressure applied by the distal part of the user to the distal support; and
a controller configured to control the driving source based on data measured by the at least one pressure sensor.

15. The motion assistance apparatus of claim 14 , wherein
the proximal support is configured to support a calf of the user, and the distal support is configured to support a foot of the user, and
the controller is configured to control the driving source such that the distal support performs a dorsi-flexion motion, if the pressure measured by the at least one pressure sensor is less than or equal to a set pressure.

16. The motion assistance apparatus of claim 14 , wherein the proximal support is configured to support a calf of the user, and the distal support is configured to support a foot of the user, and the at least one pressure sensor comprises:
a forefoot sensor configured to sense a pressure at a forefoot of the user; and
a rearfoot sensor configured to sense a pressure at a rearfoot of the user.

17. The motion assistance apparatus of claim 16 , wherein the controller is configured to control the driving source such that the distal support performs a plantar-flexion motion, if the pressure measured by the forefoot sensor is greater than or equal to a first set pressure.

18. The motion assistance apparatus of claim 16 , wherein the controller is configured to control the driving source such that the distal support performs a plantar-flexion motion, if a difference between the pressure measured by the rearfoot sensor and the pressure measured by the forefoot sensor is greater than or equal to a second set pressure.

19. A motion assistance apparatus comprising:
a power distributor including a first output terminal, a second output terminal and a connecting member, the connecting member configured to connect the first output terminal and the second output terminal;
a proximal support configured to attach to a portion of a shank below a knee of a user;
a distal support configured to attached to a foot on a front side of the user on an ankle of the user; and
a frame structure connected between the proximal support and the distal support such that the frame structure is configured to sit between the knee and the foot on the front side of the user, if the proximal support and the distal support are attached to the user, the frame structure configured to provide an assistance force to assist the user with a movement of the ankle, the frame structure including,
a rotary frame connected to the distal support and connected to the second output terminal of the power distributor via a connecting rod; and
a sliding frame connected to the first output terminal of the power distributor, the sliding frame configured to slide relative to the proximal support to rotate the rotary frame su

Assignees

• Samsung Electronics Co Ltd

Inventors

• Choi Hyun Do
• Lee Youn Baek
• Kim Jeonghun
• Roh Se-Gon
• Lee Minhyung
• Lee Jongwon
• Choi Byungjune
• Choi Jung-Yun

Classifications

• B25J13/04

  Foot-operated control means · CPC title

• B25J9/106

  with articulated links · CPC title

• A61H3/00 Primary

  Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) · CPC title

• B25J19/02

  Sensing devices · CPC title

• B25J9/0006 Primary

  Exoskeletons, i.e. resembling a human figure · CPC title