Supporting frame and motion assistance apparatus including the same

Patent metadata

Field	Value
Publication number	US-2016015589-A1
Application number	US-201514596719-A
Country	US
Kind code	A1
Filing date	Jan 14, 2015
Priority date	Jul 17, 2014
Publication date	Jan 21, 2016
Grant date	—

Abstract

A supporting frame and a motion assistance apparatus including the same may be provided. In particular, the supporting frame including a first frame including a hinge connecting portion, a second frame configured to slidingly move with respect to the first frame, and an assistance force sensing portion on at least one of the first frame and the second frame may be provided.

First claim

What is claimed is:

1 . A supporting frame comprising:
a first frame including a hinge connecting portion; a second frame configured to slidingly move with respect to the first frame; and an assistance force sensing portion on at least one of the first frame and the second frame.

2 . The supporting frame of claim 1 , wherein a slidingly moving direction of the second frame intersects a hinge axis of the hinge connecting portion of the first frame.

3 . The supporting frame of claim 2 , wherein the assistance force sensing portion comprises a first strain gauge disposed lengthwise in the slidingly moving direction of the second frame.

4 . The supporting frame of claim 3 , wherein the assistance force sensing portion comprises at least one pair of the first strain gauge and a second strain gauge disposed on an upper side and a lower side of the at least one of the first frame and the second frame, respectively.

5 . The supporting frame of claim 2 , wherein the at least one cross-section of the first frame and the second frame taken in a direction of the hinge axis of the hinge connecting portion is elongated in the direction of the hinge axis of the hinge connecting portion.

6 . The supporting frame of claim 5 , wherein the assistance force sensing portion comprises a strain gauge disposed on the at least one of the first frame and the second frame, and
a portion of the at least one of the first frame and the second frame, on which the strain gauge is disposed, has a cross-sectional area in the direction of the hinge axis smaller than that of a remaining portion of the at least one of the first frame and the second frame.

7 . The supporting frame of claim 6 , wherein the at least one of the first frame and the second frame includes a deformed recess defined therein to accommodate the strain gauge.

8 . The supporting frame of claim 1 , wherein the second frame comprises:
a second guide portion configured to slidingly couple to a first guide portion of the first frame; an extending portion extending from the second guide portion; and an applying portion extending from the extending portion and configured to transmit an assistance force to an object.

9 . The supporting frame of claim 8 , wherein the applying portion includes a face orthogonal to a hinge axis of the hinge connecting portion.

10 . The supporting frame of claim 8 , wherein the applying portion include a face parallel to a slidingly moving direction of the first guide portion and the second guide portion.

11 . The supporting frame of claim 8 , wherein the applying portion comprises a face orthogonal to a face of the second guide portion.

12 . A supporting frame for transmitting power to an object, the supporting frame comprising:
a first frame including a hinge connecting portion, the hinge connecting portion configured to rotate on an axis corresponding to a power transmitting direction of the supporting frame; a second frame configured to slidingly move with respect to the first frame in a direction intersecting the power transmitting direction; and a tensile force measuring sensor on at least one of the first frame and the second frame.

13 . The supporting frame of claim 12 , wherein the supporting frame includes a plurality of tensile force measuring sensors, and
at least one pair of the plurality of tensile force measuring sensors are disposed to face each other in the power transmitting direction.

14 . The supporting frame of claim 13 , wherein the plurality of tensile force measuring sensors includes two pairs of tensile force measuring sensors disposed to face each other in the power transmitting direction.

15 . The supporting frame of claim 12 , wherein the at least one of the first frame and the second frame includes a deformation resistant rib.

16 . The supporting frame of claim 15 , wherein the deformation resistant rib includes a deformed recess defined therein, and
the tensile force measuring sensor is disposed to overlap the deformed recess in the power transmitting direction.

17 . A motion assistance apparatus comprising:
a fixing member configured to be fixed to an object; a driving module on one side of the fixing member; a joint member rotatably connected to the fixing member, the joint member configured to be driven by the driving module; a first frame rotatably coupled to the joint member; a second frame configured to slidingly couple to the first frame; a supporting member coupled to the second frame to support a portion of the object; and a tensile force measuring sensor on at least one of the first frame and the second frame.

18 . The motion assistance apparatus of claim 17 , wherein an axis of rotation of the first frame is orthogonal to an axis of rotation of the joint member.

19 . The motion assistance apparatus of claim 17 , wherein a slidingly moving direction of the first frame and the second frame is orthogonal to an axis of rotation of the joint member.

20 . The motion assistance apparatus of claim 17 , further comprising:
an encoder configured to measure an angle of rotation of the joint member, wherein deformed recesses are provided to be symmetric with respect to each other on an upper side and a lower side of the at least one of the first frame and the second frame, respectively.

Assignees

• Samsung Electronics Co Ltd

Inventors

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

Classifications

• A61H1/0255

  Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane (A61H1/0214 takes precedence) · CPC title

• A61H1/0262 Primary

  Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence) · CPC title

• B25J9/0006

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

• A61F5/01

  Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces · CPC title

• A61H2201/1628

  Pelvis · CPC title