Driving module and motion assistance apparatus including the same

{
  "publication_number": "US10426686B2",
  "country": "US",
  "kind": "B2",
  "title": "Driving module and motion assistance apparatus including the same",
  "abstract": "A driving device including a driving source configured to rotate forward or reversely, a first wire and a second wire connected to the driving source, a first joint connected to the first wire to rotate in a moving direction of the first wire, and a second joint connected to the second wire to rotate in a moving direction of the second wire is disclosed.",
  "claims": [
    "1. A driving device comprising: a driving source configured to rotate in a first direction and a second direction, the second direction being opposite the first direction; a first wire and a second wire connected to the driving source; a first joint connected to the first wire and not the second wire, the first joint corresponding to one joint of a limb of a user, the first joint configured to rotate in a moving direction of the first wire; and a second joint connected to the second wire and not the first wire, the second joint corresponding to another joint of the limb of the user, the second joint configured to rotate in the moving direction of the second wire.",
    "2. The driving device of claim 1, further comprising: a blocking device configured to selectively increase a tensile force applied to one of the first wire and the second wire in response to movement of another one of the first wire and the second wire.",
    "3. The driving device of claim 2, wherein the blocking device comprises: a moving body configured to move along a moving path to apply a pressure to one of the first wire and the second wire; and a guide configured to move the moving body along the moving path.",
    "4. The driving device of claim 3, wherein the moving body comprises: a main body; and push bars fixed to both ends of the main body, the push bars configured to contact the first wire and the second wire.",
    "5. The driving device of claim 4, wherein the push bars are each configured to accept one of the first wire and the second wire via a grove therein.",
    "6. The driving device of claim 5, wherein the push bars are pulleys that are rotatably attached to the main body.",
    "7. The driving device of claim 5, wherein a distance between the push bars is greater than a distance between the first wire and the second wire.",
    "8. The driving device of claim 4, wherein the blocking device further comprises: a spring configured to provide a restoring force in a direction opposite the tensile force.",
    "9. The driving device of claim 3, wherein the driving source comprises: a driving motor; a decelerating gear set connected to the driving motor; and a rotary body connected to an output end of the decelerating gear set, the rotary body having one or more start points on a circumferential surface thereon connected to the first wire and the second wire.",
    "10. The driving device of claim 9, wherein the rotary body is configured to pull a pulled one of the first wire and the second wire when the rotary body rotates, and when the rotary body pulls the pulled one of the first wire and the second wire, the moving body is configured to translationally move along the guide such that the moving body provides a tensile force to a non-pulled one of the first wire and the second wire.",
    "11. The driving device of claim 10, wherein the pulled one of the first wire and the second wire is configured to rotate a first one of the first joint and the second joint, and the non-pulled one of the first wire and the second wire is configured to rotate a second one of the first joint and the second joint.",
    "12. A motion assistance apparatus comprising: a fixing device configured to attach to a portion of a body of a user; a driving device including a driving source configured to generate forces by rotating in a first direction and a second direction, two wires extending in opposite directions from the driving source and two joints connected to respective ones of the two wires, the two joints including a first joint and a second joint associated with respective joints of a limb of the user, the first joint connected to a first wire of the two wires and not a second wire of the two wires, and the second joint connected to the second wire and not the first wire; and a support configured to move a the limb of the body of the user in response to the forces generated by the driving device.",
    "13. The motion assistance apparatus of claim 12, wherein the support includes a first support extending from the first joint and a second support extending from the second joint such that the first joint is configured to rotate the first support and the second joint is configured to rotate the second support.",
    "14. The motion assistance apparatus of claim 13, further comprising: a blocking device configured to selectively increase a tensile force applied to one of the two wires in response to movement of another one of the first wire and the second wire.",
    "15. The motion assistance apparatus of claim 14, wherein the blocking device comprises: a moving body configured to move along a moving path to apply a pressure to one of the two wires; and a guide configured to move the moving body along the moving path.",
    "16. The motion assistance apparatus of claim 15, wherein the moving body comprises: a main body and push bars associated with both ends of the main body, the push bars configured to contact the two wires, the push bars being separated by a distance greater than a distance between the two wires.",
    "17. The motion assistance apparatus of claim 15, wherein the blocking device further includes a spring configured to provide a restoring force to the moving body to move the moving body in a direction opposite the tensile force, the driving source is configured to pull a first one of the two wires and loosen a second one of the two wires, and when the driving source pulls the first one of the two wires, the moving body is configured to translationally move along the guide such that the moving body provides a tensile force to the second one of the two wires.",
    "18. The motion assistance apparatus of claim 17, wherein the support further comprises a third joint between the first support and the second support, the third joint corresponds to a knee joint of the user, the first joint corresponds to a hip joint of the user, and the second joint corresponds to an ankle joint of the user, the first support is rotatably connected between the first joint and the third joint of the user such that the first support is configured to support a thigh of the user, and the second support is rotatably connected between the third joint and the second joint such that the second support is configured to support a lower leg of the user.",
    "19. The motion assistance apparatus of claim 18, wherein when the driving device operates, the first support is configured to allow the user to freely move the third joint, and the second support is configured to assist the user to move the ankle joint.",
    "20. The motion assistance apparatus of claim 19, wherein when the driving source pulls the first wire, the second wire is configured to loosen to lift the thigh of the user and bend the ankle joint of the user, and when the driving source pulls the second wire, the first wire is configured to loosen to stretch the ankle joint of the user and lower the thigh of the user toward a ground."
  ],
  "description_excerpt": "1. Field\n\nAt least one example embodiment relates to a driving module and/or a motion assistance apparatus including the driving module.\n\n2. Description of the Related Art\n\nBiped walking may aid a human in performing various daily activities by freeing the hands of the human during walking. When experiencing difficulties in walking, a human body may be exposed to a number of issues. For example, a decrease in muscular strength may restrict physical activities and cause a reduction in muscle mass, energy consumption, and/or metabolism.\n\nWalking assistance robots/walking assistance devices are being developed to aid those people having difficulties in walking to be able to walk with less difficulty. Such robots/devices may be worn on/attached to a lower body of a user to intensify muscular strength and alleviate a burden of supporting their weight during standing or walking on a level ground, a slope, or stairs.\n\nIn general, the robots/devices may have a structure to assist motions of joints of a lower body, for example, hip joints, knee joints, and ankle joints using an actuator. In the past, such robots/devices were developed to assist walking/intensify muscular strength of a patient. However, recently, the robots/devices are being developed to improve walking abilities for military purposes, manufacturing purposes, and general walking assistance purposes.\n\nFor example, to transmit a force and a torque generated by the actuator to joints of a user, a wearable portion acting as an interface between joints of the user and the device may attach to or enclose a body of the user.",
  "cpc": [
    "A61H 1/0262",
    "A61H 1/0237",
    "A61H 1/0244",
    "A61H 1/0255",
    "A61H 1/0266",
    "A61H 2201/0192",
    "A61H 2201/1215",
    "A61H 2201/14",
    "A61H 2201/1472",
    "A61H 2201/1628",
    "A61H 2201/164",
    "A61H 2201/165",
    "A61H 2201/5007",
    "A61H 2201/5015",
    "A61H 3/00",
    "B25J 9/0006",
    "B25J 9/1045"
  ],
  "ipc": [
    "A61H 1/02",
    "A61H 3/00",
    "B25J 9/00",
    "B25J 9/10"
  ],
  "assignees": [
    "Samsung Electronics Co Ltd"
  ],
  "inventors": [
    "Se-Gon ROH",
    "Youn-Baek Lee",
    "Jeonghun Kim",
    "Minhyung Lee",
    "Byungjune CHOI"
  ],
  "filing_date": "2016-06-02",
  "publication_date": "2019-10-01",
  "grant_date": "2019-10-01",
  "priority_date": "2015-11-04",
  "application_number": "US-201615171334-A",
  "family_id": "58638492",
  "cited_by_count": 3,
  "citations": [
    "JP2001332752A",
    "KR20120082219A",
    "US20120271207A1",
    "CN102247260A",
    "US20140190289A1",
    "JP2014073199A",
    "JP2014073222A",
    "JP2014104185A"
  ]
}