KR102490439B1 - Wearable Assistance Device - Google Patents

Abstract

The present invention provides a lower leg or foot support unit constituting a wearable assistive device with various degrees of freedom corresponding to the movements of the ankle and foot of the body, thereby providing various movements required for the feet and ankles in various body motions such as running of the wearer. It relates to a wearable assistive device that can be performed.

Description

Wearable Assistance Device {Wearable Assistance Device}

The present invention relates to a wearable assistive device. More specifically, the present invention provides a lower leg or foot support unit constituting a wearable assistive device with various degrees of freedom corresponding to the movements of the ankle and foot of the body, so that the foot and ankle are required in various body motions such as running of the wearer. It relates to a wearable assistive device capable of performing various movements.

Recently, development of wearable assistive devices for the disabled, patients, or the elderly who have physical abilities that make daily life impossible, or industrial or military wearable assistive devices for strengthening physical strength or physical ability is in progress.

In the case of such a wearable assistive device, a main body equipped with a battery, a controller, and the like, mounted on the wearer's back, a joint actuator for driving each joint, and a support unit connected to each joint actuator and supporting the wearer's thigh or lower leg Forms containing are the main ones.

In the case of such a wearable assistive device, a joint actuator may be disposed near a wearer's joint, and an assistive force in the form of an auxiliary torque may be provided to the wearer's thigh or lower leg according to the wearer's gait motion to assist the wearer's walking.

Assuming that the wearer walks in the x-axis direction in a 3-dimensional coordinate space, each joint actuator rotates around the y-axis parallel to the x-axis direction, which is the walking direction of the hip and knee joints, and the z-axis direction, which is the vertical direction, and the assisting force can be designed to provide

The ankles and feet of the body are capable of various joint degrees of freedom and bending motions, but conventionally introduced exoskeleton-type wearable assistive devices do not provide degrees of joint freedom to the feet and ankles, or allow rotation only at the degree of flexion or extension of the ankles. It is often allowed to

The joint freedom of the ankle or foot of this level of wearable assistive device does not pose a problem for basic movements such as walking slowly, but assists the wearer's movement when various joint degrees of freedom are premised, such as running, going up or down an inclined surface, etc. Hard to do.

However, since wearable assistive devices are being studied to be widely applied to the military or industrial fields for physical ability reinforcement in addition to the disabled or patients, there is a demand for wearable assistive devices having joint freedom corresponding to various movements of the ankle or foot of the body. is big

The present invention provides a lower leg or foot support unit constituting a wearable assistive device with various degrees of freedom corresponding to the movements of the ankle and foot of the body, thereby providing various movements required for the feet and ankles in various body motions such as running of the wearer. It is a task to be solved to provide a wearable assistive device that can be performed.

In order to solve the above problems, the present invention is mounted to surround the wearer's waist region, the body unit extending to the side region of the wearer's hip joint; a pair of hip joint actuators mounted on both ends of the body unit; a thigh support unit that is driven by the hip joint actuator and provides a rotational assisting force to the wearer's thigh; a lower leg support unit rotatably connected to the thigh support unit via an ankle joint unit and providing a rotational assisting force to the wearer's lower leg; and a foot support unit rotatably connected with respect to the lower leg support unit around a rotation axis of the foot support unit that is not parallel to the rotation axis of the hip joint drive unit, wherein the foot support unit is configured to flex the foot with respect to the wearer's lower leg or It is possible to provide a wearable assistive device comprising an ankle joint axis for allowing an extension motion and an ankle torsion axis for allowing twisting of the foot with the lower leg of the wearer as a rotation center.

In addition, the foot support unit includes a horizontal frame wrapping across the front upper portion of the ankle joint, a connecting frame rotatably connected at both ends of the horizontal frame via the ankle joint axis, and a footrest for supporting the wearer's plantar surface or the lower surface of a shoe. unit; may be configured to include.

In addition, the connection frame is configured in a 'c'-shaped cross section including a pair of vertical parts and a horizontal part connected to the vertical part in a bent state, and the horizontal part of the connection frame mediates the foothold unit and the ankle torsion axis. can be rotatably connected to

Here, the footrest unit may be configured to be bendable for flexion and extension of the wearer's foot or the forefoot of the shoe.

In this case, the rotational axis of the foot support unit may be inclined from the front upper portion to the lower rear side of the horizontal frame of the foot support unit.

And, the rotation shaft of the foot support unit may be provided to provide a degree of freedom of rotation of the subtalar joint of the body ankle.

In addition, the transverse frame of the foot support unit and the lower leg support unit are connected by a connecting member, and a lower end of the connecting member may be rotatably fastened to the transverse frame via a rotating shaft of the foot support unit.

And, the connection member may be provided with at least one bent portion.

Here, the scaffolding unit may include an upper plate member and a lower plate member which are rotatably interposed with the horizontal portion of the connecting frame around the ankle torsion axis and stacked vertically.

In this case, the rear end may be interposed and mounted between the upper plate member and the lower plate member, and may include a bending member made of a flexible material in order to allow a bending motion of the forefoot of the wearer's foot.

In addition, a front plate member may be mounted on an upper portion of the bent member exposed to the front of the upper plate member and the lower plate member.

In addition, an axis portion serving as the ankle twist axis may be provided on a lower surface of the upper plate member or an upper surface of the lower plate member.

Here, a plurality of connectors may be provided to connect the wearing member that surrounds the foot to the front plate member and the top plate member.

In this case, the shaft portion may be configured in the form of a circular ring, a disc or a disc-shaped groove.

In addition, at least one slip member for reducing friction may be provided between the upper plate member or the lower plate member and the horizontal portion of the connecting frame.

According to the wearable assistive device according to the present invention, it is possible to assist various body movements other than basic motions such as walking by providing various degrees of joint freedom to the lower leg support unit or foot support unit constituting the wearable assistive device.

In addition, according to the wearable assistive device according to the present invention, since the degree of freedom of the joint provided by the lower leg support unit or the foot support unit simulates the movement of the body's ankle and foot joints, the wearer's sense of heterogeneity in wearing the wearable assistive device is minimized. can do.

1 shows a front perspective view of a wearable auxiliary device according to the present invention, and FIG. 2 shows a rear perspective view of the wearable auxiliary device shown in FIG.
Figure 3 shows various movements of the ankle of the body.
Figure 4 shows a perspective view of a state in which the lower leg support unit and the foot support unit are connected via an ankle joint unit according to the present invention.
FIG. 5 shows a disassembled state based on the ankle joint unit in FIG. 4 .
Figure 6 shows an exploded perspective view of the foot support unit according to the present invention.
7 shows an operating state of the foot support unit according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content will be thorough and complete, and the spirit of the invention will be sufficiently conveyed to those skilled in the art. Like reference numbers indicate like elements throughout the specification.

1 shows a front perspective view of a wearable auxiliary device 1000 according to the present invention, and FIG. 2 shows a rear perspective view of the wearable auxiliary device 1000 shown in FIG.

1 and 2, in the present specification, the wearable assistive device 1000 is worn on the lower body of a disabled person, the elderly, a patient, a soldier or a worker (hereinafter referred to as a 'wearer') to assist walking motion. could be a robot Here, the meaning of assisting walking motion is to provide a driving force to preserve muscle strength lacking in the hip joint and knee joint so that the wearer with some lower body motor function can walk independently, or to provide a driving force for a worker or soldier to exceed his or her physical ability. This means that you can move with greater strength and speed.

The wearable auxiliary device includes a main body portion 500 including a controller for providing a control signal and a battery for providing power; a body unit (400) mounted on the rear side of the main body, wrapped around a wearer's waist area, and extending to a side area of the wearer's hip joint; a pair of hip joint actuators 100a and 100b mounted on both ends of the body unit 400 extending to the wearer's hip joint side area; It may be configured to include thigh support units 210a and 210b that are driven by the hip joint actuator and provide a rotational assisting force to the wearer's thigh.

In addition, in order to assist the wearer's hip joint as well as the knee joint, a pair of knee joint actuators (100c, 100d) mounted on the thigh support unit; lower leg support units 230a and 230b driven by the knee joint actuator and the link member and providing a rotational assisting force to the wearer's lower leg; And, a pair of foot support units (300a, 300b) mounted on the ends of the lower leg support unit to support the feet of the wearer; may be configured to further include.

The main body part 500 is mounted on the body unit 400, and a pair of leg units may also be mounted on the upper part of the body unit 400.

The body unit 400 may be connected to a body frame 510 having a frame shape extending in the direction of the wearer's spine, and the body may be mounted on the body frame 510.

Here, the leg unit may be provided with a joint actuator that provides a rotation assisting force to each of the hip joint and the knee joint.

The hip joint actuator may be mounted on the wearer's hip joint region, and the knee joint actuator may be mounted on the thigh support unit instead of the knee joint region to provide a rotation assisting force to the wearer's knee joint via a link member.

The torque load of the hip joint actuator can be lowered by mounting the knee joint actuator on the femoral support unit instead of the knee joint area. There are also advantages to reducing it.

In summary, each leg unit is connected to a pair of hip joint actuators 100a and 100b provided in the hip joint region, which are both ends of the body unit 400, and to a pair of hip joint actuators 100a and 100b, respectively, to support the wearer's thigh. A pair of thigh support units (210a, 210b) that support or assist, a pair of lower leg support units (230a, 230b) that support or assist the lower leg of the wearer, a pair of thigh support units (210a, 210b) and one A pair of knee joint structures 700a and 700b connecting the pair of lower leg support units 230a and 230b, respectively, mounted on the pair of thigh support units 210a and 210b, using a link member to A pair of foot support units (300a, 300b); may be configured to further include.

Although the wearable auxiliary device 1000 shown in FIGS. 1 and 2 shows an example in which the joint actuator 100 for driving the wearer's hip joint and knee joint is provided, a separate driving device may be provided for the ankle joint as necessary. there is.

In addition, each of the thigh support units 210a and 210b and the lower leg support units 230a and 230b includes at least one device for fixing the wearer's thigh and lower leg to the thigh support unit 210a and 210b and the lower leg support unit 230a and 230b. It may be provided with a wearing unit (not shown) in the form of a band or belt or other wearing member, and the driving force provided by each joint actuator 100 is eventually transmitted to the thigh or lower leg of the wearer through the wearing unit to enable independent walking. can assist

Such a pair of leg units are disposed along the side of the wearer, but the knee joint structure may have a structure that surrounds the entire knee joint.

Since the body part 500 described above is disposed behind the back of the wearer's upper body, the body part is mounted to the rear through the body unit 400, and the body unit 400 surrounds the wearer's waist area and is mounted, Both ends of the body unit 400 may extend to the side of the wearer's waist.

Figure 3 shows various movements of the feet of the body.

The ankle of the body is an operation of flexing and extending the toe of the foot (f) as shown in Figure 3a, an operation of flexing and extending the ankle (a) around the y-axis as shown in Figure 3b, as shown in Figure 3c Similarly, an operation of rotating the ankle (a) around a rotation axis other than the y-axis, and an operation of twisting and rotating the foot (f) around the z-axis as shown in FIG. 3D may be possible.

Conventional wearable assistive devices generally provide only a joint structure capable of rotating the ankle joint around the y-axis as shown in FIG. 3 (b) in order to allow movement of the body's foot (f) or ankle (a) It was common to do

However, the feet or ankles are capable of various movements as shown in FIG. 3 , and accordingly, various joint degrees of freedom are required in the wearable auxiliary robot. As shown in FIG. 3, the wearable assistive device according to the present invention aims to provide a joint degree of freedom for movement of various feet or ankles. It will be described in detail with reference to FIG. 4 below.

4 is a perspective view of a state in which the lower leg support unit 230 and the leg support unit 300 according to the present invention are connected via the ankle joint unit 800, and FIG. 5 is based on the ankle joint unit 800 in FIG. shows the decomposed state.

A wearable assistive device according to the present invention includes a body unit mounted to surround a wearer's waist region and extending to a side region of the wearer's hip joint; a pair of hip joint actuators mounted on both ends of the body unit; a thigh support unit that is driven by the hip joint actuator and provides a rotational assisting force to the wearer's thigh; a lower leg support unit 230 rotatably connected via the thigh support unit and the knee joint unit and providing a rotational assisting force to the wearer's lower leg; And, a foot support unit 300 rotatably connected with respect to the lower leg support unit 230 around a rotation shaft 810 of the foot support unit that is not parallel to the rotation axis of the hip joint actuator; 300 may include an ankle joint axis 371 for allowing the wearer's lower leg to flex or extend, and an ankle torsion axis 341 for allowing the wearer's lower leg to rotate as the center of rotation of the foot. can

The lower leg support unit 230 and the foot support unit 300 of the wearable assistive device shown in FIG. 4 may be connected via an ankle joint unit 800, and the ankle joint unit 800 is connected to the lower leg support unit 230. And the foot support unit 300 can be rotatably connected about a rotation shaft 810 of the foot support unit that is not parallel to the rotation shaft of the hip joint actuator.

In addition, the ankle joint unit 800 is fastened to the lower end of the lower leg support unit 230, and includes a connecting member 830 for rotatably fastening the rotation shaft 810 of the foot support unit to the foot support unit 300. can be configured.

Therefore, as shown in FIGS. 4 and 5, a connecting member 830 having at least one bent portion is mounted at the lower end of the lower leg support unit 230, and the connecting member 830 is attached to the foot support unit. It can be rotatably fastened via the horizontal frame 390 constituting the 300 and the rotation shaft 810 of the foot support unit.

Specifically, the rotation shaft 810 of the foot support unit may be an axis inclined from the front upper part to the lower rear side of the horizontal frame 390 of the foot support unit 300, and the rotation shaft 810 of the foot support unit may be a part of the ankle of the body. It may be provided to provide rotational freedom of the subtalar joint.

For example, the rotational shaft 810 of the foot support unit may be installed so as to face the horizontal frame of the foot support unit 300 in an inclined direction from the front upper part to the rear lower part, more specifically, from the front upper part toward the inside of the body. can

As shown in FIG. 5 , the ankle joint unit 800 rotates the connecting member 830, the foot support unit rotating shaft 810, and the foot supporting unit rotating shaft 810 to the connecting member 830. It may comprise at least one bearing (b) for mounting.

And, as shown in FIG. 4, the foot support unit 300 is rotatably connected to the lower leg support unit 230 through the rotation shaft 810 of the foot support unit, and furthermore, the foot for the wearer's lower leg. An ankle joint axis 371 for allowing flexion or extension motion and an ankle twist axis 341 for allowing twisting of the foot with the wearer's lower leg as the center of rotation may be included.

The ankle joint axis 371 may be provided for a flexion motion or extension motion centered on the y-axis of the ankle of a normal body, and the ankle torsion axis 341 may be provided to allow twisting of the wearer's foot centered on the z-axis. there is.

In addition, the foot support unit 300 includes a horizontal frame 390 rotatably connected to the connecting member 830 while crossing the front upper portion of the ankle joint, and the ankle joint shaft 371 at both ends of the horizontal frame 390. It may be configured to include; a connecting frame 350 rotatably connected via a) and a footrest unit 380 for supporting the wearer's foot surface or the lower surface of a shoe.

The ankle joint axis 371 may be a joint axis for flexion or extension of the entire foot with respect to the ankle.

As shown in FIGS. 4 and 5, the connecting frame 350 is rotatably fastened via the horizontal frame 390 and the ankle joint shaft 371, and the connecting frame 350 is a scaffolding unit ( 380) and the ankle torsion axis 341 may be rotated.

In this case, the rotation range of the torsion shaft 341 is the rotation blocking range of the horizontal portion 353 of the connection frame 350 and a fastening member such as a bolt for fastening the upper plate member 320 and the lower plate member 340. can be determined

The ankle torsion shaft 341 is provided in the scaffolding unit 380 to rotatably connect the connection frame 350 and the scaffolding unit 380 .

And, as will be described later, the footrest unit 380 can be rotatably connected to the connection frame 350 constituting the foot support unit 300 around the z-axis, and the footrest unit 380 can be rotatably connected to the foot of the wearer. The front plate member 310 in the area corresponding to the forefoot may be configured to be capable of flexion or extension. A detailed description of the scaffolding unit 380 is deferred.

As described above, the foot support unit 300 of the wearable assistive device according to the present invention is a rotation shaft 810 of the foot support unit in order to provide a degree of freedom of rotation of the subtalar joint of the ankle with respect to the lower leg support unit 230. ), and the foot support unit 300 has an ankle joint axis 371 and an ankle torsion axis 341, allowing rotation around the y-axis and twisting around the z-axis of the ankle, footrest The unit 380 may have a structure in which the front plate member 310 is bent or extended for flexion and extension of the forefoot area.

6 shows an exploded perspective view of the foot support unit 300 according to the present invention, and FIG. 7 shows an operating state of the foot support unit 300 according to the present invention.

As described above, the foot support unit 300 constituting the wearable assistive device according to the present invention includes a horizontal frame 390 that wraps across the front upper part of the ankle joint, and the ankle joint shaft 371 at both ends of the horizontal frame 390. ) It is configured to include a connecting frame 350 rotatably connected via a medium and a footrest unit 380 for supporting the wearer's plantar surface or the lower surface of a shoe, and the horizontal frame 390 is the connecting member 830 ) may be rotatably connected to the lower leg support unit 230 about the subtalar joint.

In addition, the foot support unit 300 may provide a degree of freedom of rotation centered on the ankle joint axis 371 and the ankle torsion axis 341 and a degree of freedom of flexion or extension of the foot.

To this end, the connection frame 350 is composed of a horizontal portion 353 and a vertical portion 351, and the footrest unit 380 has a horizontal portion 353 of the connection frame 350 is the ankle torsion axis ( 341) may be configured to include an upper plate member 320 and a lower plate member 340 rotatably interposed and mounted.

As shown in FIGS. 6 and 7, the upper plate member 320 and the lower plate member 340 are laminated in an area excluding the front heel of the foot, and the horizontal portion 353 of the connecting frame 350 is formed therein. May be rotatably mounted around the z-axis.

The connection frame 350 may be configured with a 'c'-shaped cross section, a shaft hole 355 may be formed in the horizontal portion 353, and the upper plate member 320 and the lower plate member 340 are A shaft portion serving as the ankle torsion shaft 341 on the lower surface of the upper plate member 320 or the upper surface of the lower plate member 340 so as to be rotatable with the horizontal part 353 of the connecting frame 350 interposed therebetween. may be provided.

In the embodiment shown in FIG. 6, an example is shown in which the lower plate member 340 is provided with a shaft portion in the form of a circular ring and mounted in the shaft hole 355 of the connecting frame 350, but the shaft portion is a circular ring or disc Alternatively, it may be configured in the form of a disk-shaped groove, and the shaft portion may be provided on the lower surface of the upper plate member 320 together with the upper surface of the lower plate member 340 .

In addition, a slip member 360 for reducing friction or the like may be provided between the upper plate member 320 or the lower plate member 340 and the horizontal portion 353 of the connection frame 350 .

The slip member 360 may be made of a non-metallic material to reduce friction, and may be made of fluorinated polyethylene (Teflon, etc.) as an example of the material.

As shown in FIG. 7 , the z-axis rotation permitting structure of the connecting frame 350 may allow the foot to twist around the z-axis.

Since twisting of the foot with respect to the lower leg can be made possible by the z-axis torsional degree of freedom of the foot support unit 300, the wearable assistive device can allow various foot motions and provide assistive force.

Although the horizontal frame 390 may be connected to both ends of the pair of vertical portions 351 of the connection frame 350 via the ankle joint axis 371, the ankle joint axis 371 and the bearing (b) A separate pair of shaft support members 370 having a ring-shaped shaft mounting portion 373 provided at the top for mounting and reinforcing torsional rigidity of the connecting frame 350 may be further provided.

A bearing (b) and an ankle joint shaft 371 are mounted inside the shaft mounting portion of the pair of shaft support members 370 to move the connection frame 350 or the shaft support member fastened with the connection frame 350 to the horizontal By enabling rotation with respect to the frame 390, a degree of freedom in joint rotation for a flexion or extension motion of the entire foot using the ankle joint may be provided.

In addition, in addition to the motion shown in FIG. 3 (b) of flexing or extending the entire foot with respect to the ankle, as shown in FIG. The bending freedom of the support unit 300 is required. For example, in walking or running, motions such as providing assistance with only the forefoot supported on the ground may occur frequently at the end of the stance phase of a specific foot, so it is possible to perform a natural walking motion or quickly run. In order to do this, it is necessary to provide a degree of freedom of bending or flexion of the forefoot of the foot.

In order to provide forefoot flexion or bending freedom, the foot support unit 300 of the present invention has a rear end mounted between the upper plate member 320 and the lower plate member 340, and allows the wearer's forefoot to bend. In order to do so, it may be configured to include a bending member 330 made of a flexible material.

Since the bending member 330 is composed of a flexible resin material and can flexibly support the forefoot portion of the foot without employing a separate hinge structure, it can contribute to reducing the weight of the foot support unit.

As shown in FIG. 6, the rear portion of the bending member 330 may be mounted between the upper plate member 320 and the lower plate member 340, and the front portion may be exposed to the lower area of the forefoot of the foot. It can be.

In addition, a front plate member 310 for protecting the bending member 330 and connecting a separate wearing member may be mounted on the upper portion of the bending member 330 .

The front plate member 310 may be mounted on an upper portion of the bending member 330 exposed to the front of the upper plate member 320 and the lower plate member 340, and as shown in FIGS. 6 and 7, the A plurality of connectors 311 and 321 may be provided to connect the front plate member 310 and the top plate member 320 to a wearing member that wraps the foot.

With the wearable assistive device configured as described above, about four degrees of freedom for the lower leg support unit or foot support unit constituting the wearable assistive device are provided to assist various body movements other than basic motions such as walking. And, since the degree of freedom of the joint provided by the lower leg support unit or the foot support unit simulates the movement of the joints of the ankle and foot of the body, it is easy to understand that the wearer's sense of heterogeneity of the wearable assistive device can be minimized.

Although this specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all of them should be considered to be included in the technical scope of the present invention.

1000: wearable auxiliary device
100: joint actuator
210, 230: thigh support unit, lower leg support unit
300: foot support unit
400: body unit
500: body part

Claims (15)

a body unit wrapped around a wearer's waist region and extending to a side region of the wearer's hip joint;
a pair of hip joint actuators mounted on both ends of the body unit;
a thigh support unit that is driven by the hip joint actuator and provides a rotational assisting force to the wearer's thigh;
a lower leg support unit rotatably connected to the thigh support unit via an ankle joint unit and providing a rotational assisting force to the wearer's lower leg; and,
A foot support unit rotatably connected with respect to the lower leg support unit around an axis of rotation of the foot support unit that is not parallel to the rotation axis of the hip joint actuator;
The foot support unit includes an ankle joint axis for allowing flexion or extension of the foot with respect to the wearer's lower leg and an ankle torsion axis for allowing twisting of the foot with the wearer's lower leg as a rotation center,
The foot support unit includes a horizontal frame wrapping across the front upper portion of the ankle joint, a connecting frame rotatably connected at both ends of the horizontal frame via the ankle joint axis, and a footrest unit for supporting the bottom surface of the wearer or the lower surface of the shoe; including,
The connecting frame has a 'c' cross-sectional shape including a pair of vertical parts and a horizontal part bent and connected to the vertical parts, and the horizontal part of the connecting frame rotates via the scaffolding unit and the ankle torsion axis. A wearable auxiliary device, characterized in that connected to the possible. delete delete According to claim 1,
The foothold unit is a wearable auxiliary device, characterized in that configured to be bendable for flexion extension of the wearer's foot or the forefoot of the shoe. According to claim 1,
The wearable auxiliary device, characterized in that the axis of rotation of the foot support unit is inclined from the upper front to the lower rear with the transverse frame of the foot support unit. According to claim 5,
The rotational shaft of the foot support unit is a wearable auxiliary device, characterized in that provided to provide a rotational degree of freedom of the subtalar joint (subtalar joint) of the body ankle. According to claim 1,
The transverse frame of the foot support unit and the lower leg support unit are connected by a connecting member, and the lower end of the connecting member is rotatably fastened to the transverse frame via the rotation shaft of the foot support unit. . According to claim 7,
The wearable auxiliary device, characterized in that the connection member comprises at least one bent portion. According to claim 1,
The foothold unit is a wearable auxiliary device, characterized in that the horizontal portion of the connection frame is rotatably interposed around the ankle torsion axis and is configured to include an upper plate member and a lower plate member stacked vertically and mounted. According to claim 9,
A wearable auxiliary device comprising a bending member made of a flexible material to allow a bending motion of a forefoot of a wearer's foot, the rear end of which is interposed between the upper plate member and the lower plate member. According to claim 10,
A wearable auxiliary device, characterized in that a front plate member is mounted on the upper part of the bent member exposed to the front of the upper plate member and the lower plate member. According to claim 11,
A wearable auxiliary device, characterized in that a plurality of connectors are provided for connecting the wearing member that surrounds the foot to the front plate member and the top plate member. According to claim 9,
A wearable auxiliary device, characterized in that the lower surface of the upper plate member or the upper surface of the lower plate member is provided with an axis portion for performing the role of the ankle torsion axis. According to claim 13,
The wearable auxiliary device, characterized in that the shaft portion is configured in the form of a circular ring, a disk or a disk-shaped groove. According to claim 9,
Wearable auxiliary device characterized in that at least one slip member for reducing friction between the upper plate member or the lower plate member and the horizontal portion of the connecting frame is provided.

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