MODULAR ACTUATOR AND WEARABLE EXERCISE APPARATUS COMPRISING SAME

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation application of International Application No. PCT/KR2024/012943, filed on Aug. 29, 2024, in the Korean Intellectual Property Receiving Office, and claiming priority to KR Application No. 10-2023-0127260 filed Sept. 22, 2023, the disclosures of which are all hereby incorporated by reference herein in their entireties.

TECHNICAL FIELD

Certain example embodiments may relate to a modular actuator and/or a wearable exercise apparatus including the modular actuator.

BACKGROUND

A user may perform various exercises while wearing a wearable exercise apparatus. In order to apply an appropriate load to the user, the position of an actuator may be properly adjusted according to an exercise objective.

SUMMARY

According to an example embodiment, a wearable exercise apparatus may include a wearing member, comprising a support, configured to be worn on a portion of a body of a user, a support frame disposed on, directly or indirectly, the wearing member, an actuator detachably connected, directly or indirectly, to the support frame, physically and electrically connected, directly or indirectly, to the support frame, and rotatable relative to the support frame, a cable connected, directly or indirectly, to the actuator, a controller disposed on, directly or indirectly, the wearing member, and a connection line configured to electrically connect the controller to the support frame.

According to an example embodiment, a modular actuator may include a support frame and an actuator detachably connected, directly or indirectly, to the support frame, physically and electrically connected to the support frame, and rotatable with respect to the support frame, wherein the actuator may include an actuator body connected, directly or indirectly, to the support frame, a motor disposed inside the actuator body and configured to generate power, a printed circuit board (PCB) disposed inside the actuator body and configured to receive a signal from the controller, and a battery disposed inside the actuator body and provided at a position spaced apart from the motor and a reducer.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view schematically illustrating a user wearing a wearable exercise apparatus, according to an example embodiment.

FIG. 2 is a front view schematically illustrating the user wearing the wearable exercise apparatus, according to an example embodiment.

FIG. 3 is a rear view schematically illustrating the user wearing the wearable exercise apparatus, according to an example embodiment.

FIG. 4 is a plan view schematically illustrating the wearable exercise apparatus according to an example embodiment.

FIG. 5 is a perspective view schematically illustrating the wearable exercise apparatus according to an example embodiment.

FIG. 6 is a plan view schematically illustrating an inside of the modular actuator according to an example embodiment.

FIG. 7 is a cross-sectional view schematically illustrating the modular actuator according to an example embodiment.

FIG. 8 is a cross-sectional view schematically illustrating the modular actuator according to an example embodiment.

FIG. 9 is a cross-sectional view schematically illustrating a frame protrusion according to an example embodiment.

FIG. 10 is a cross-sectional view schematically illustrating a modular actuator according to an example embodiment.

FIG. 11 is a cross-sectional view schematically illustrating a modular actuator according to an example embodiment.

FIG. 12 is a cross-sectional view schematically illustrating a modular actuator according to an example embodiment.

DETAILED DESCRIPTION

The following structural or functional descriptions of embodiments are provided as examples only, and various alterations and modifications may be made to the embodiments. Accordingly, the embodiments are not construed as limited to the disclosure and should be understood to include all changes, equivalents, and replacements within the idea and the technical scope of the disclosure.

Although terms, such as first, second, and the like, may be used herein to describe various components, these terms should be used only to distinguish one component from another component. For example, a first component may be referred to as a second component, and similarly the second component may also be referred to as the first component.

It should be noted that if it is described that one component is “connected,” “coupled,” or “joined” to another component, at least a third component may be “connected,” “coupled,” and “joined” between the first and second components, although the first component may be directly connected, coupled, or joined to the second component. Thus, for example, “connected” as used herein covers both direct and indirect connections.

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” and/or “includes/including” when used herein, specify the presence of stated features, integers, steps, operations, elements, components, or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or groups thereof.

The same name may be used to describe an element included in the embodiments described above and an element having a common function. Unless stated otherwise, the description of an embodiment may be applicable to other embodiments, and a repeated description related thereto is omitted.

Unless otherwise defined, all terms used herein including technical or scientific terms have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms, such as those defined in commonly used dictionaries, should be construed to have meanings matching with contextual meanings in the relevant art, and are not to be construed to have an ideal or excessively formal meaning unless otherwise defined herein.

Hereinafter, embodiments are described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, like reference numerals refer to like components and a repeated description related thereto will be omitted.

FIG. 1 is a perspective view schematically illustrating a user wearing a wearable exercise apparatus, according to an embodiment.

Referring to FIG. 1, a user H may be a person. It should also be noted that the user H may be an animal. A wearable exercise apparatus may include a wearing member 19, comprising a support, worn on a portion of a body of the user H, a modular actuator 100 that is easily attachable and detachable to the wearing member 19, at least one cable 13 and 14 that receives power from the modular actuator 100 and transmits the power to another portion of the body of the user, a first wearing band 81 worn on a first portion of the user, and a second wearing band 82 worn on a second portion of the user.

The wearing member 19 may be worn on an upper body of the user. It should be noted that a position at which the wearing member 19 is worn is not limited thereto. For example, the wearing member 19 may be disposed on, directly or indirectly, a lower body, an upper arm, a lower arm, or a foot of the user.

The wearing member 19 may include a plurality of wearing stations 19a. The wearing stations 19a may be regions where the modular actuator 100 is mounted. The wearing stations 19a may be provided with a fixing member (not shown) for fixing the modular actuator 100. For example, the modular actuator 100 may be screwed to the wearing stations 19a. In another example, the modular actuator 100 may be attached to the wearing stations 19a. The wearing stations 19a may be provided with a Velcro structure. The plurality of wearing stations 19a is illustrated as four on the back, but the number and position are not limited thereto.

The first portion and the second portion may be different portions from a portion on which the wearing member 19 is worn. For example, the first portion of the user may be a wrist of the user. For example, the second portion of the user may be a thigh of the user. It should be noted that the positions of the first portion and the second portion are not limited thereto.

FIG. 2 is a front view schematically illustrating the user wearing the wearable exercise apparatus, according to an embodiment. FIG. 3 is a rear view schematically illustrating the user wearing the wearable exercise apparatus, according to an embodiment.

Referring to FIGS. 2 and 3, the wearing member 19 may be worn by the user H. The wearing member 19 may include the plurality of wearing stations 19a provided at a front or rear portion with respect to the user H. The modular actuator 100 may be mounted on any one of the plurality of wearing stations 19a. FIG. 2 illustrates the modular actuator 100 mounted on the wearing stations 19a provided at the front portion relative to the user H. FIG. 3 illustrates the modular actuator 100 mounted on the wearing stations 19a provided at the rear portion relative to the user H. The cable 13 may transmit power generated from the modular actuator 100 to the first wearing band 81. For example, the cable 13 may not be elastic. In this case, the cable 13 may transmit most of the power output from the modular actuator 100 to the body of the user. In another example, the cable 13 may be elastic. In this case, the cable 13 may absorb some of the power output from the modular actuator 100.

FIG. 4 is a plan view schematically illustrating the wearable exercise apparatus according to an embodiment. FIG. 5 is a perspective view schematically illustrating the wearable exercise apparatus according to an embodiment. FIG. 6 is a plan view schematically illustrating an inside of the modular actuator according to an embodiment. FIG. 7 is a cross-sectional view schematically illustrating the modular actuator according to an embodiment. FIG. 8 is a cross-sectional view schematically illustrating the modular actuator according to an embodiment.

Referring to FIGS. 4 to 8, the wearable exercise apparatus may include the modular actuator 100, a wearing member (see FIG. 1), a controller 15 comprising circuitry, and a connection line 16. The modular actuator 100 may include a support frame 11 and an actuator 12. The modular actuator 100 may be mounted on the wearing member. The controller 15 may transmit a signal to the actuator 12. The controller 15 may transmit a signal to the actuator 12 through the connection line 16. In another example, the controller 15 may transmit a signal to the actuator 12 wirelessly via Bluetooth.

The actuator 12 may be detachably connected, directly or indirectly, to the support frame 11. The actuator 12 may rotate with respect to the support frame 11 while being connected, directly or indirectly, to the support frame 11. The direction in which the actuator 12 is coupled, directly or indirectly, to the support frame 11 and the direction of the rotation axis of the actuator 12 may be parallel to each other. The rotation axis of the actuator 12 may pass through the center of the actuator 12. The actuator 12 may have a shape that is radially symmetrical with respect to the central axis. For example, the actuator 12 may be roughly cylindrical in shape. Even when the actuator 12 rotates with respect to the support frame 11, the relative position of the actuator 12 with respect to the support frame 11 may not change.

The support frame 11 may include a frame base 111 disposed on, directly or indirectly, the wearing member, a frame protrusion 112 formed to protrude from the frame base 111, a contact terminal 113 disposed, directly or indirectly, on the frame base 111, and a frame hole 114 formed to penetrate the frame base 111. A screw (not shown) may be fastened to the frame hole 114.

The frame base 111 may have a plate shape.

At least a portion of the frame protrusion 112 may be inserted into and fixed to the actuator 12. The frame protrusion 112 may support a spring (not shown) provided in the actuator 12. The central axis of the frame protrusion 112 may be parallel to the rotation axis of the actuator 12. The frame protrusion 112 may have a roughly cylindrical shape.

The contact terminal 113 may be disposed on, directly or indirectly, the frame base 111. The contact terminal 113 may be physically and electrically connected, directly or indirectly, to a pogo pin 124 of the actuator 12. The contact terminal 113 may have a ring shape. The contact terminal 113 may continuously maintain contact with the pogo pin 124 provided on the actuator even when the actuator 12 rotates.

The actuator 12 may include an actuator body 121, a protrusion-accommodating portion 122, a spring 123, the pogo pin 124, a cable hole 125, a battery 126, a motor 127, a reducer 128, and a printed circuit board (PCB) 129.

The actuator body 121 may form the exterior of the actuator 12. The actuator body 121 may include a lower body 1211 and an upper body 1212 that are provided to be coupled to each other. The actuator body 121 may have a hollow therein.

The protrusion-accommodating portion 122 may be provided on one side of the actuator body 121. The protrusion-accommodating portion 122 may accommodate the frame protrusion 112. The protrusion-accommodating portion 122 may be formed in the central portion of the actuator body 121.

The spring 123 may be disposed in the protrusion-accommodating portion 122. The spring 123 may support the support frame 11. The spring 123 may have a ring shape. The spring 123 may surround the frame protrusion 112. The inner diameter of the spring 123 may be expanded while the frame protrusion 112 is inserted. For example, the inner diameter of the spring 123 may be expanded from a first length d1 to a second length d2. Since the spring 123 is deformed, the restoring force of the spring 123 may strongly support the support frame 11.

The pogo pin 124 may be provided to transmit power and data signals. Data signals may correspond to signal values from various sensors. The pogo pin 124 may be provided to be movable relative to the actuator body 121. The pogo pin 124 may be pressed by the support frame 11 while the support frame 11 and the actuator 12 are coupled to each other. In this case, the pogo pin 124 may move inward toward the actuator 12. The pogo pin 124 may be provided as a plurality of pogo pins. The plurality of pogo pins 124 may be arranged in parallel in a direction from the center of the actuator body 121 toward the edge of the actuator body 121.

The cable hole 125 may be formed through the actuator body 121. The cable hole 125 may accommodate the cables 13 and 14.

The battery 126 may be disposed inside the actuator body 121. The battery 126 may supply power to the motor 127.

The motor 127 may be disposed inside the actuator body 121. The motor 127 may generate power applied to the cables 13 and 14.

The reducer 128 may be disposed inside the actuator body 121. The reducer 128 may convert the intensity of the power transmitted to the cables 13 and 14. The reduction ratio of the reducer 128 may be controlled and adjusted by the controller 15.

The PCB 129 may be disposed inside the actuator body 121. The PCB 129 may receive a control signal from the controller 15. A processor mounted on the PCB 129 may output a signal for changing the reduction ratio of the reducer 128.

FIG. 9 is a cross-sectional view schematically illustrating a frame protrusion according to an embodiment.

Referring to FIG. 9, the frame protrusion 112 may include a protrusion base 1121, a protrusion body 1122 formed to protrude from the protrusion base 1121, and a protrusion groove 1123 formed to be recessed from a side surface of the protrusion body 1122. The protrusion body 1122 may include an inclined body surface 1122a at the upper end. The spring 123 may be linearly deformed while in contact with the inclined body surface 1122a. The protrusion groove 1123a may include a first inclined groove surface 1123a, a groove bottom surface 1123b, and a second inclined groove surface 1123b. The slope of the first inclined groove surface 1123a may be gentler than the slope of the second inclined groove surface 1123b.

FIG. 10 is a cross-sectional view schematically illustrating a modular actuator according to an embodiment. FIG. 11 is a cross-sectional view schematically illustrating a modular actuator according to an embodiment.

Referring to FIGS. 10 and 11, a modular actuator may include a support frame 21 and an actuator 22. The support frame 21 may include a frame base 211 and a frame groove 212 formed recessed into a side surface of the frame base 211. The support frame 21 may include a contact terminal 113. The contact terminal 113 may have a ring shape.

The actuator 22 may include an actuator body 221 and an actuator arm 222 extending from an edge portion of the actuator body 221. The frame groove 212 may accommodate at least a portion of the actuator arm 222. The actuator 22 may include a pogo pin 224 that is in contact with the contact terminal 113.

Even when the actuator 22 rotates, the contact terminal 113 and the pogo pin 224 may maintain a contact state.

FIG. 12 is a cross-sectional view schematically illustrating a modular actuator according to an embodiment.

Referring to FIG. 12, a wearable exercise apparatus may include a support frame 31, an actuator 32, a controller 35, a connection line 36, and a wearing member 39. The support frame 31 may include a frame base 311, a frame protrusion 312, and a pogo pin 313. The pogo pin 313 may be provided to be movable relative to the frame protrusion 312. The pogo pin 313 may be provided as a plurality of pogo pins. The actuator 32 may include an actuator body 321, a protrusion-accommodating portion 322, a spring 323, and a contact terminal 324. The contact terminal 324 may be provided on one side of the protrusion-accommodating portion 322.

According to an embodiment, a wearable exercise apparatus may include a wearing member worn on a portion of a body of a user, a support frame disposed on, directly or indirectly, the wearing member, an actuator detachably connected to the support frame, physically and electrically connected, directly or indirectly, to the support frame, and rotatable relative to the support frame, a cable connected, directly or indirectly, to the actuator, a controller, comprising processing circuitry, disposed on, directly or indirectly, the wearing member, and a connection line configured to electrically connect the controller to the support frame.

In an embodiment, the actuator may include an actuator body connected to the support frame, a motor disposed inside the actuator body and configured to generate power, a PCB disposed inside the actuator body and configured to receive a signal from the controller, and a battery disposed inside the actuator body and provided at a position spaced apart from the motor and a reducer.

In an embodiment, the actuator may further include a reducer disposed inside the actuator body, connected to the motor, and configured to convert an intensity of power transmitted to the cable, and a reduction ratio of the reducer is adjustable by the controller.

In an embodiment, the actuator may further include a pogo pin that is provided to be relatively movable with respect to the actuator body.

In an embodiment, the pogo pin may be provided as a plurality of pogo pins, and the plurality of pogo pins may be arranged in parallel in a direction from a center of the actuator body toward an edge of the actuator body.

In an embodiment, the support frame may include a frame base disposed on, directly or indirectly, the wearing member and a frame protrusion protruding from the frame base, wherein at least a portion of the frame protrusion may be inserted into and fixed to the actuator.

In an embodiment, the support frame may further include a contact terminal formed on the frame base and in contact with the pogo pin.

In an embodiment, the contact terminal may have a ring shape surrounding the frame protrusion with the frame protrusion as a center.

In an embodiment, the contact terminal and the pogo pin may always maintain a contact state while the actuator rotates 360 degrees with respect to the support frame.

In an embodiment, the actuator may further include a protrusion-accommodating portion formed on the actuator body and configured to accommodate at least a portion of the frame protrusion and a spring disposed in the protrusion-accommodating portion and configured to support the protrusion-accommodating portion.

In an embodiment, the spring may have a ring shape and surround the frame protrusion.

In an embodiment, the frame protrusion may include a protrusion base protruding from the frame base and in contact with the actuator body, a protrusion body protruding from the protrusion base and inserted into the protrusion-accommodating portion, and a protrusion groove recessed into an outer surface of the protrusion body and configured to accommodate at least a portion of the spring.

In an embodiment, the actuator may include an actuator body and an actuator arm extending from an edge portion of the actuator body, and the support frame may include a frame base and a frame groove recessed into a side surface of the frame base and configured to accommodate at least a portion of the actuator arm.

In an embodiment, the actuator may include an actuator body, a protrusion-accommodating portion formed on the actuator body, and a plurality of contact terminals arranged on one side of the protrusion-accommodating portion, and the support frame may include a frame base, a frame protrusion formed to protrude from the frame base, and a pogo pin that is provided to be relatively movable with respect to the frame protrusion and in contact with the plurality of contact terminals.

In an embodiment, a rotation axis of the actuator may pass through a center of the actuator.

According to an embodiment, a modular actuator may include a support frame and an actuator detachably connected to the support frame, physically and electrically connected to the support frame, and rotatable with respect to the support frame, wherein the actuator may include an actuator body connected to the support frame, a motor disposed inside the actuator body and configured to generate power, a PCB disposed inside the actuator body and configured to receive a signal from the controller, and a battery disposed inside the actuator body and provided at a position spaced apart from the motor and a reducer.

In an embodiment, the actuator may further include a pogo pin that is provided to be relatively movable with respect to the actuator body.

In an embodiment, the pogo pin may be provided as a plurality of pogo pins, and the plurality of pogo pins may be arranged in parallel in a direction from a center of the actuator body toward an edge of the actuator body.

In an embodiment, the support frame may include a frame base disposed on, directly or indirectly, the wearing member and a frame protrusion protruding from the frame base, wherein at least a portion of the frame protrusion may be inserted into and fixed to the actuator.

In an embodiment, the support frame may further include a contact terminal formed on the frame base and in contact with the pogo pin.

In an embodiment, the features of the embodiments described above may be combined unless clearly technically impossible.

Although the embodiments are described with reference to the limited drawings, one of ordinary skill in the art may apply various technical modifications and variations based thereon. 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, or replaced or supplemented by other components or their equivalents.

Therefore, other implementations, other embodiments, and equivalents of the claims are within the scope of the following claims.