Abstract: In a joint assembly of a walking assistance robot that is capable of performing an operation with 3 degrees of freedom, similarly to a user's joint, a rolling motion and a sliding motion are simultaneously made, and a rotation center changes so that the joint assembly can make a similar motion to that of an actual knee joint of the user. Thus, when the user wears the walking assistance robot and walks, misalignment can be prevented from occurring in the knee joint.

Abstract: A motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a sensor configured to measure a width of the fixing module, and a controller configured to adjust the rotation power of the driving module based on the measured width.

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 including a proximal support configured to support a proximal part of a user, a first drive link and a second drive link configured to perform translational motions with respect to the proximal support at different velocities, a support link with both ends rotatably connected to the first drive link and the second drive link, respectively, the support link having a variable length, and a distal support connected to the support link, the distal support configured to support a distal part of the user is provided.

Abstract: Provided is a method and device for walking assistance that may estimate a state vector of a foot of a user and a variance matrix corresponding to the state vector, adjust a probability of a contact sensor based on at least one estimate included in the estimated state vector in response to receiving a contact signal from the contact sensor, calculate a combination rate between a measurement value of an acceleration sensor and the estimated state vector based on a measurement error matrix including the adjusted probability, update the estimated state vector and the estimated variance matrix based on the calculated combination rate, determine whether the foot lands on the ground based on the updated state vector and the updated variance matrix, and change an operation mode of a walking assistance device based on a result of the determination.

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: An actuator includes a plurality of power transmitters configured to transmit power sequentially, and an elastic element configured to connect a first power transmitter and a second power transmitter that are adjacent to each other and perform a coaxial rotation motion, among the plurality of power transmitters.

Abstract: A method and apparatus for supplying a power to a hardware module when the hardware module is mounted are provided. The method and apparatus may supply a power to a hardware module when both a mounting signal indicating that the hardware module is mounted in a module circuit and a trigger signal input by a user are received.

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: According to an aspect of the present invention, it is possible to implement a joint assembly operating similar to a user's actual ankle joint. An ankle joint included in a walking assistant robot is pivotable around a rotation axis located outside the ankle joint.

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

Abstract: A driving module and a motion assistance apparatus including the same may be provided. For example, the driving module including a driving source disposed on one side of a user, and configured to provide power, a first decelerator including a first input terminal coupled to the driving source, and a first output terminal and a second output terminal configured to receive power from the first input terminal, a second decelerator including a second input terminal coupled to the first output terminal, and a third output terminal and a fourth output terminal configured to receive power from the second input terminal, and a third decelerator including a third input terminal coupled to the second output terminal, and a fifth output terminal and a sixth output terminal configured to receive power from the third input terminal may be provided.

Abstract: Example embodiments relate to a link assembly and a leg supporting apparatus using the same. A top end of a frame mounted on a user's thigh can move along a downwardly-concave trajectory. A center of weight of the leg supporting apparatus placed on the top end of the frame converges on a lowest point of the downwardly-concave trajectory so that the user's weight can be stably supported.

Abstract: A motion assistance apparatus includes a proximal support configured to support a proximal part of a user, a first drive link and a second drive link configured to perform translational motions with respect to the proximal support at different velocities, a support joint rotatably connected to the second drive link, a support body connecting the first drive link and the support joint, the support body configured to simultaneously perform a translational motion and a rotational motion with respect to the proximal support, a distal support connected to the support body, the distal support configured to support a distal part of the user, and a torque providing device configured to provide a torque to rotate the support joint.

Abstract: Provided are a fixing module and a motion assistance apparatus including the fixing module including a first side frame including a first central portion on one side of a user, a first front extending portion configured to extend from the first central portion along a front side of the user, and a first rear extending portion configured to extend from the first central portion along a rear side of the user, and a second side frame including a second central portion on another side of the user, a second front extending portion configured to extend from the second central portion along the front side of the user, and a second rear extending portion.

Abstract: A motion assistance apparatus including 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 hollow actuator on the proximal support, a reducer inserted in the hollow actuator such that an input end of the reducer is connected to an output end of the hollow actuator, and a driving frame configured to connect an output end of the reducer to the distal support is disclosed.

Abstract: Provided are a connecting module and a motion assistance apparatus including the same, the connecting module including a case provided to incline downward from a space recessed between a waist and a hip of a user to a hip joint of the user, a power transmitting assembly disposed in an internal portion of the case, and a supporting module connecting portion disposed at an output terminal of the power transmitting assembly and to be fastened with a supporting module that supports a leg of the user.

Abstract: A driving module and a motion assistance apparatus including the same may be provided. For example, the driving module including a driving source disposed on one side of a user, and configured to provide power, a first decelerator including a first input terminal coupled to the driving source, and a first output terminal and a second output terminal configured to receive power from the first input terminal, a second decelerator including a second input terminal coupled to the first output terminal, and a third output terminal and a fourth output terminal configured to receive power from the second input terminal, and a third decelerator including a third input terminal coupled to the second output terminal, and a fifth output terminal and a sixth output terminal configured to receive power from the third input terminal may be provided.

Abstract: A walking assistance apparatus for preventing offset occurring in between a rotating axis of a hip joint of a user and a rotating shaft of the walking assistance apparatus may be provided. The walking assistance apparatus includes a waist fixing apparatus configured to be fixed to a waist of a user, a connecting guide mounted at the waist fixing apparatus and configured to slide in an extension direction of the waist fixing apparatus and rotate on a rotating shaft extending in a vertical direction perpendicular to the extension direction, a rail unit mounted at one side of the connecting guide, the rail unit extending in a vertical direction, and a hip joint configured to slide along the rail unit.

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.