Abstract: A frame module includes a frame configured to enclose a portion of a user, and at least one reinforcement belt of which both end portions are connected to both sides of the frame, thereby restricting a splaying level of the frame in a predetermined direction.

Abstract: A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

Abstract: A supporting module including a supporting frame including a proximal end and a distal end a connecting plate connected with the distal end of the supporting frame, a sliding plate in contact with one face of the connecting plate, a supporting band connected to both ends of the connecting plate, and an elastic strip configured to connect the sliding pate and the connecting plate is disclosed.

Abstract: Provided is a pelvis fixing device including a rear fixing module including a driving module mounting portion, the rear fixing portion configured to enclose a side surface and a rear surface of a waist of a user, and a front fixing module including a soft layer and a hard layer configured to enclose a front surface of the waist of the user, wherein the hard layer is connected to the rear fixing module to form a closed loop around the waist of the user.

Abstract: A motion assistance apparatus includes a proximal frame configured to support a proximal part of a user, a connecting frame rotatably connected to the proximal frame, a distal frame rotatably connected to the connecting frame and configured to support a distal part of the user, and a power transmitter including a slider configured to slide along the proximal frame, a pusher rotatably connected to the distal frame and the slider, and a coupler configured to connect the slider and the pusher and positioned closer to the proximal part of the user than a rotation axis of the connecting frame in the whole range of motion.

Abstract: A locking device including a first frame including an insert hole and a first magnetic body, a second frame including an insert recess communicating with the insert hole, and a second magnetic body disposed to face the first magnetic body with a polarity opposite to a polarity of the first magnetic body, and an insert member including a slider inserted into the insert hole and configured to slide relative to the first frame, and a third magnetic body disposed on one side of the slider is provided.

Abstract: Driving modules, motion assistance apparatuses including at least one of the driving modules, and methods of controlling at least one of the motion assistance apparatuses may be provided. For example, a driving module including a driving source on one side of a user and configured to transmit power, an input side rotary body coupled to the driving source and configured to rotate, first and second decelerators configured to operate using the power respectively received from the driving source through the input side rotary body, and a first stopper and a second stopper configured to selectively enable or disable a transmission of the power between the input side rotary body and respective output terminals of the first and second decelerators may be provided.

Abstract: A supporting module including a supporting frame including a proximal end and a distal end, a connecting plate connected with the distal end of the supporting frame, a sliding plate in contact with one face of the connecting plate, a supporting band connected to both ends of the connecting plate, and an elastic strip configured to connect the sliding plate and the connecting plate is disclosed.

Abstract: A supporter for a wearable exercise apparatus may include a main body; a pair of main frames connected to the main body; a pair of straps connected to the pair of main frames, respectively; and a bistable spring which is provided inside each of the pair of the straps and maintained in one of two stable states by a restoring force. The two stable states include a first stable state in which the bistable spring has a shape extending straight along the longitudinal direction and a second stable state in which the bistable spring has a shape that is bent once. The shape of the strap may be determined according to the shape of the bistable spring.

Abstract: Provided is a smart insole including a support layer; a plurality of pressure sensors provided to the support layer and configured to sense a pressure; a plurality of vibrators provided to the support layer and configured to generate a vibration; and a controller configured to determine a center of pressure (COP) based on a pressure sensed by each of the plurality of pressure sensors and to control the plurality of vibrators based on a positional relationship between a setting point and the COP.

Abstract: A holder for a wearable device such as an exercise assistance device where the holder may include: a main rod; a sliding rod capable of sliding with respect to the main rod; a gripper including a gripper base, which is connected to the sliding rod and can support an exercise assistance device, a gripper head, which is connected to the upper side of the gripper base and can face the rear surface of the exercise assistance device, and a gripper arm rotatably connected to the gripper head; and a control unit for controlling the operation of the gripper, wherein the gripper base rotates with respect to the sliding rod and tilts forward if the exercise assistance device is put on the gripper base, and the control unit can move the gripper arm so that at least a portion of the gripper arm can cover the front surface of the exercise assistance device.

Abstract: A wearable module, for a wearable device, may include: a cover comprising a cover body and a cover hole penetratingly formed in the cover body; a support part including a support body made from a material that is more flexible than that of the cover, a support head that is connected to the support body and that can be attached/detached to/from the cover body, and an attachment part, which is connected to the support body, is positioned on the opposite side of the support head with respect to the support body, and passes through the cover hole to be attached to the outer surface of the support body; and an elastic layer of which a portion is fixed to the support part and which can move relative to the cover.

Abstract: A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

Abstract: A driving module including a driving source configured to generate power, a gear train including a decelerating gear set configured to receive driving power from the driving source and a ring gear attached to one side thereof, and a rotary joint including at least one planetary gear configured to rotate using power received from an output end of the decelerating gear set and to revolve along the ring gear is disclosed.

Abstract: A motion assistance apparatus includes a waist frame configured to support a waist of a user, and a proximal support configured to support a proximal part of the user. A pressure applied to a thigh of the user by the proximal support in a sitting state in which the user is sitting may be greater than a pressure applied to the thigh of the user by the proximal support in a standing state in which the user is standing upright.

Abstract: A method of manufacturing an insole may include providing an electronic element on a support layer; connecting a connector to the support layer; providing the support layer to a lower mold frame; covering the lower mold frame with an upper mold frame; and applying a foam material between the lower mold frame and the upper mold frame.

Abstract: An insole including a base; an electronic element provided to the base; a connection line configured to extend from the electronic element and to pass through the base; and a cover provided on a top surface of the base to cover the electronic element and configured to be separable from the base.

Abstract: A motion assistance apparatus includes a waist frame configured to support a waist of a user, and a proximal support configured to support a proximal part of the user. A pressure applied to a thigh of the user by the proximal support in a sitting state in which the user is sitting may be greater than a pressure applied to the thigh of the user by the proximal support in a standing state in which the user is standing upright.

Abstract: A motion assistance apparatus includes a force transmitting frame configured to support a distal part of a user, a slider configured to slide in the force transmitting frame, and a driving frame connected to the slider and configured to slide with respect to a proximal part of the user.

Abstract: A motion assistance apparatus including a first support configured to support a waist of a user, a side frame connected to the first support and configured to cover at least a portion of a side of the waist, and a joint assembly connected to the side frame such that a location of the joint assembly is adjustable in a longitudinal direction of the side frame, and configured to be located at a part of a hip joint of the user is disclosed.