KR20160031603A - Assisting device for muscle strength - Google Patents

Abstract

The present invention relates to a device for assisting muscle strength which is worn on a user′s body in an easy manner and can assist movement of joints when a user moves body portions. The device for assisting muscle strength of the present invention assists muscle strength during user′s joint movement for moving a second bone unit connected to a first bone unit by a joint. The device for assisting muscle strength includes: a wire which has one end portion joined to the second bone unit; a wire guide which has an internal path to allow the wire to be inserted and move to guide movement of the wire and is joined to the first bone unit; and a support force generation unit which provides support force, which changes according to a joint movement angle of the second bone unit with respect to the first bone unit, to the second bone unit through the wire. The support force generation unit includes: a cooperation member which is joined to the other end portion of the wire and moves in cooperation of movement of the second bone unit; and a pulling force generator which is joined to the first bone unit or a user′s upper body joined to the first bone unit to support the cooperation unit to move so that force in the direction of pulling the wire with respect to the cooperation member can be generated.

Description

{Assisting device for muscle strength}

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a muscle force assisting device, and more particularly, to a muscle force assisting device that can be easily worn on a user's body to assist a joint movement when a user moves a body part.

Recently, a number of muscle aiding devices have been developed to help people who are unable to move a part of their body due to neurological disorders such as paralysis, although the body remains.

The muscle aiding device has various structures depending on the user's trouble, the type of the joint used, and the like. For example, a muscle assist device for gravity compensation has been developed for a handicapped person or a patient who can not move his / her arm or arm because his or her strength has been reduced due to muscle damage or spinal cord injury.

Conventional muscle aiding devices are fabricated using traditional mechanical techniques, most of which are made of rigid materials. Most muscle aids have a rigid material linkage to support the various parts of the arm, and the device is constructed with a curved support to secure the arms. And we use link joint structure by applying various mechanisms to drive complex human joint structure. It also has a metal spring inside to support muscle strength and has a fastening structure for fixing to an external chair or wall to support the weight of the entire structure. Such a conventional muscle strength assisting device has also been disclosed in Patent Registration No. 1241800 (Mar. 14, 2013).

However, the conventional muscle strength assisting device has a problem in that the structure of the wearable part and the volume of the external supporting part are increased due to the characteristics of the structure. In addition, when a device is manufactured using a rigid material, it is necessary to install the device in a chair or an external structure in order to support the heavy weight of the device itself. In addition, customized production of low cost is required due to the characteristics of the life assisting apparatus which is in a small demand and various cases. However, since the conventional apparatus uses hard material, it is difficult to process, the manufacturing cost is high, and customization is difficult.

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned needs, and it is an object of the present invention to provide an apparatus and method for a mobile terminal, And a manufacturing cost is low, so that various users can easily and conveniently access and use the same.

In order to accomplish the above object, the present invention provides a muscle assisting apparatus which is worn by a user to assist muscular strength of a user who moves a first skeleton part and a second skeleton part connected through a joint, A wire coupled to the second skeleton portion; A wire guide having an inner passage through which the wire is inserted to guide the movement of the wire, the wire guide being coupled to the first skeleton portion; An interlocking member that is coupled to the other end of the wire and moves in conjunction with the movement of the second skeleton portion; and an interlocking member for movably supporting the interlocking member to generate a force in a direction to pull the wire relative to the interlocking member, And a pulling force generator coupled to the body of the user to which the first skeleton part is connected, wherein the force of the pulling force generator is transmitted to the second skeleton part via the wire and the joint movement of the second skeleton part with respect to the first skeleton part And a supporting force generating unit for providing a supporting force varying depending on the angle.

The muscle force assisting device according to the present invention can be easily worn or detached from the user's body and provides a supporting force that varies depending on the angle of joint motion in the body part of the user's joint. Therefore, a user with low strength or a user who has to exercise repeatedly can help to reduce the force and perform joint exercises smoothly.

Further, unlike the conventional technique in which the muscle force is assisted through the exoskeleton member of the hard material, the muscle aiding device according to the present invention uses the skeleton of the user as a frame and assists the muscular strength of the user with a flexible material such as wire or wire guide. Simple, custom-made, and low in manufacturing cost, so that various users can easily and conveniently access and use the product.

Further, the muscle force assisting device according to the present invention is light and small in volume, so that it is not inconvenient for the wearer to wear it, and it is easy to wear it in daily life. In addition, compared to the prior art in which a simple elastic body is connected in series to compensate for the weight of the body part according to the joint movement, the supporting force that varies according to the angle of the joint motion of the body part is provided to the body part, It is possible to do.

1 shows a rear view of a user wearing a muscle aiding device according to an embodiment of the present invention.
FIG. 2 is a side view of a user wearing a muscle aiding device according to an embodiment of the present invention.
Fig. 3 is an exploded view of the bearing force generating unit of the muscle power assisting apparatus shown in Fig.
4 is a view for explaining the operation of a muscle power assisting device according to an embodiment of the present invention.
FIG. 5 shows the movement of the support force generating unit according to the action of the muscle force assisting device shown in FIG.
6 is a view for explaining a support force generating unit and its operation of a muscle force assisting apparatus according to another embodiment of the present invention.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 shows a rear view of a user wearing a muscle aiding device according to an embodiment of the present invention, FIG. 2 shows a side view of a user wearing a muscle aiding device according to an embodiment of the present invention, Is a disassembled view of the bearing force generating unit of the muscle power assisting apparatus shown in Fig.

1 to 3, a muscle force assisting apparatus 100 according to an embodiment of the present invention includes a wire 110, a wire guide 120, and a bearing force generating unit 130. The muscle force assisting apparatus 100 according to the present embodiment can be applied to the user's body to adjust the muscle force of the second skeleton part 30 connected to the first skeleton part 10 of the user through the joint 20 It helps the user with weak muscles to perform the joint exercise smoothly. The action of the muscle force assisting device 100 is such that the supporting force of the supporting force generating unit 130 with respect to the second skeleton part 30 changes according to the position energy according to the joint motion angle alpha of the second skeleton part 30 Can be achieved by implementing a bearing force generating structure.

Hereinafter, the present invention will be described with reference to a case where the muscle strength assisting device 100 assists the user's upper arm joint motion. Accordingly, the first skeleton portion 10 is the shoulder portion of the user, the second skeleton portion 30 is the user's upper arm portion, and the joint 20 is the shoulder joint of the user.

One end of the wire 110 is engaged in the middle of the second skeleton portion 30. A wire fixing member 112 is used to connect the wire 110 to the second skeleton portion 30. [ The wire fixing member 112 is coupled to the skin around the second skeleton portion 30 of the user or the garment worn around the second skeleton portion 30 in a state where one end of the wire 110 is fixed, May be secured to the second skeleton portion 30 of the user. As the wire fixing member 112, various structures that can be detachably coupled to the user's second skeleton portion 30 such as a belt structure or a Velcro structure can be used. By using a flexible material such as a belt structure or a velcro structure as the wire fixing member 112, it is possible to reduce restrictions and inconveniences of the user's body movement, and to use it universally for various users having different body structures and sizes . The other end of the wire 110 is coupled to the interlocking member 131 of the support force generating unit 130 to be described later. The wire 110 transfers the supporting force generated in the supporting force generating unit 130 to the second skeleton part 30 of the user.

Referring to FIGS. 1 and 2, the wire guide 120 is formed in the shape of a tube having an inner passage through which the wire 110 is inserted to guide the movement of the wire 110. The wire guide 120 is disposed so that the wire 110 extending from the second skeleton portion 30 to the bearing force generating unit 130 passes through the wire guide 120. Although not shown in the drawing, a lubricant may be filled in the wire guide 120, so that the wire 110 can smoothly move in the wire guide 120. The wire guide 120 is coupled to the first bone member 10 of the user.

A wire guide fixing member 122 is used to connect the wire guide 120 to the first skeleton part 10. [ The wire guide fixing member 122 is coupled to the skin around the user's first skeleton portion 10 or the garment worn around the first skeleton portion 10 in a state where one end of the wire guide 120 is fixed, The guide 120 can be secured to the first skeleton portion 10 of the user. As the wire guide fixing member 122, various structures that can be detachably coupled to the user's first skeleton portion 10 such as a belt structure or a Velcro structure can be used. The other end of the wire guide 120 extends to the supporting force generating unit 130 and is coupled to the body 40 to which the first bone member 10 of the user is connected by another wire guide fixing member 124. The other wire guide fixing member 124 may be of various structures that can be detachably coupled to the body portion 40 of the user, such as a belt structure or a Velcro structure.

In the figure, a wire guide fixing member 122 is coupled to a protector 126 which is worn on a user's first framework 10 so that one end of the wire guide 120 is connected to the first framework 10 through a protector 126, Lt; / RTI > However, the wire guide fixing member 122 can be directly coupled to the first skeleton portion 10 without depending on the protector 126, so that one end of the wire guide 120 can be coupled to the first skeleton portion 10.

Here, the protector 126 serves to disperse the load applied to the user's body by the wire 110, which is worn on the first skeleton portion 10 of the user. That is, the protector 126 is interposed between the user's body and the wire 110 to support the wire 110 at a portion where the direction of the wire 110 is switched, Reduce the load. As the protector 126, various materials such as plastic, rubber, silicone, and fabric capable of exhibiting a cushioning performance can be used. The protector 126 may be worn on the wearer's body in a manner that rests on the wearer's body or may be removably attached to the wearer's body through a fastener such as a belt structure or a Velcro structure.

The supporting force generating unit 130 is configured to apply a supporting force that varies with the angle of motion of the second skeleton portion 30 with respect to the first skeleton portion 10 with respect to the second skeleton portion 30 via the wire 110 to provide. The profile of the supporting force varying according to the joint angle? Of the support force generating unit 130 can be variously designed. The support force generating unit 130 is provided with a body portion 40 of the user to which the first skeleton portion 10 or the first skeleton portion 10 is connected so as to sufficiently support the reaction force generated when the support force is transmitted through the wire 110, Or the like. In the figures, the bearing force generating unit 130 is shown coupled to the body portion 40 of the user.

A supporting force generating unit fixing member 138 is used for coupling the supporting force generating unit 130 to the user's body. The support force generating unit fixing member 138 is coupled to the garment worn around the body portion 40 or the body portion 40 of the user in a state where the support force generating unit 130 is fixed, To the body portion 40 of the body. As the supporting force generating unit fixing member 138, various structures, such as a belt structure and a velcro structure, which are flexible and can be detachably coupled to the user's body, may be used.

1 to 3, the supporting force generating unit 130 includes an interlocking member 131 to which the other end of the wire 110 is coupled, and a pulling force generator 134 for movably supporting the interlocking member 131 . The interlocking member 131 moves in conjunction with the movement of the second skeleton portion 30 by being engaged with the wire 110. The interlocking member 131 includes a moving magnet 132 and a pair of sliders 133 which are coupled to both sides of the moving magnet 132, respectively. Such a linking member 131 can be linearly moved with respect to the pulling force generator 134 by being slidably engaged with the pair of sliders 133 by the pulling force generator 134.

The pulling force generator 134 is coupled to the body portion 40 of the user through the supporting force generating unit fixing member 138 so as to generate a force in a direction of pulling the wire 110 relative to the interlocking member 131. The pulling force generator 134 includes a fixed plate 135, a guide rail 136, and a fixed magnet 137. The fixing plate 135 is fixed to the body portion 40 so that one surface of the fixing plate 135 faces the body portion 40 of the user. A pair of guide rails 136 are provided parallel to the fixing plate 135 so as to be engaged with the pair of sliders 133 of the interlocking member 131. The slider 133 of the linking member 131 is slidably engaged with the guide rail 136 and linearly reciprocates along the guide rail 136. The stationary magnet 137 is fixed to the stationary plate 135 and disposed between the pair of guide rails 136 so as to face the moving magnet 132 of the interlocking member 131. The moving magnet 132 and the stationary magnet 137 are disposed so as to face different poles so that an attractive force may be generated between the moving magnet 132 and the stationary magnet 137. [ Of course, the interlocking member 131 and the pulling force generator 134 can be coupled to move the interlocking member 131 relative to the pulling force generator 134 through various other interlocking structures other than the illustrated interlocking structure.

The overlapping area of the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 changes when the interlocking member 131 moves along the guide rail 136. [ The force applied to the interlocking member 131 by the pulling force generator 134 varies depending on the area where the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 overlap . Generally, when two magnets are arranged to face each other, the attracting force of the two magnets becomes maximum at an overlapping area of 50 to 60% of the magnets. When the overlapping area of the two magnets becomes smaller or larger, the attractive force between the two magnets decreases. Accordingly, when the interlocking member 131 moves according to the movement of the second skeleton portion 30, the attractive force between the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 is changed , The supporting force that the supporting force generating unit 130 provides to the second skeleton portion 30 through the wire 110 is changed.

Hereinafter, the operation of the muscle power assisting apparatus 100 according to the present embodiment will be described with reference to the accompanying drawings.

As shown in FIGS. 4A and 5A, when the user wearing the muscle strength assisting device 100 does not lift the second skeleton portion 30, The member 131 is in the raised position with respect to the pulling force generator 134. At this time, the overlapping area of the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 is relatively small, and the supporting force generating unit 130 is connected to the second The supporting force provided to the skeleton portion 30 is also relatively small.

In this state, when the user starts lifting the second skeleton portion 30, the moving magnet 132 of the interlocking member 131 is lowered by the attractive force between its own weight and the fixed magnet 137 of the pulling force generator 134 . At this time, the overlapping area of the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 increases, and the supporting force generating unit 130 moves the wire- The supporting force provided to the supporting member 30 also increases. That is, as the joint motion angle alpha of the second skeleton part 30 with respect to the first skeleton part 10 is increased to a certain size (for example, 90 degrees), the support force generating unit for the second skeleton part 30 The supporting force of the supporting member 130 also increases. 4 (b) and 5 (b), when the user lifts the second skeleton portion 30 by about 90 degrees, the moving magnet 132 of the interlocking member 131 and the pulling force generator The overlapping areas of the fixed magnets 137 of the first and second permanent magnets 134 reach 50 to 60% at which the attractive force between them becomes maximum. At this time, when the user has to give the most force to lift the second skeleton portion 30, the supporting force provided by the support force generating unit 130 to the second skeleton portion 30 through the wire 110 becomes maximum. Accordingly, the user can lift the second skeleton portion 30 with a small force and maintain the raised state.

In contrast, when the user lower the second skeleton portion 30, the wire 110 pulls the interlocking member 131 in the opposite direction so that the interlocking member 131 rises, and the overlapping of the moving magnet 132 and the fixed magnet 137 The supporting force of the supporting force generating unit 130 with respect to the second skeleton portion 30 is reduced. At this time, even if the user completely removes the force from the second skeleton portion 30, the supporting force of the support force generation unit 130 with respect to the second skeleton portion 30 is gradually reduced, so that the second skeleton portion 30 is rapidly lowered But slowly descends. Thus, the user can smoothly lower the second skeleton portion 30 with little or no force.

When a person lifts his / her arm so that his / her hand is downward and the arm is parallel to the torso at 0 ° and the hand is lifted at an angle of 180 °, when the person lifts his / her arm at 0 ° The required force increases up to 90 degrees, but decreases when it exceeds 90 degrees. Accordingly, when the moving magnet 132 of the interlocking member 131 and the fixed magnet 137 of the pulling force generator 134 are appropriately disposed, the supporting force provided to the user's arm through the wire 110 is applied to the user's force profile You can change it.

As described above, the muscle strength assisting device 100 according to the present embodiment can be easily worn or detached from the user's body, and can be easily attached to or separated from the wearer's body such as the second skeleton portion 30, Thereby providing a varying supporting force. Therefore, a user with a weak muscle strength or a user who has to exercise repeatedly can help to reduce the force and perform the joint exercise smoothly.

The strength assisting device 100 according to this embodiment is configured such that the supporting force generating unit 130 is moved in the second skeleton part 130 according to the area where the moving magnet 132 and the stationary magnet 137 provided in the supporting force generating unit 130 are overlapped with each other, The supporting force applied to the supporting member 30 varies. Therefore, by varying the size of the moving magnet and the fixed magnet and the pole arrangement structure, it is possible to variously design the profile of the supporting force by the supporting force generating unit 130. [

6 is a view for explaining a bearing force generating unit 140 of a muscle force assisting apparatus according to another embodiment of the present invention and its operation.

The muscle force assisting apparatus according to another embodiment of the present invention is different from the above-described muscle force assisting apparatus 100 only in the structure of the supporting force generating unit 140 and is configured such that the second skeleton unit 30 (See Fig. 2) relative to the joint motion angle [alpha] (see Fig. 2). Hereinafter, detailed descriptions of components other than the wire 110, the wire guide 120, and the support force generating unit 140 will be omitted.

The supporting force generating unit 140 shown in Fig. 6 includes an interlocking member 141 to which the other end of the wire 110 is coupled and a pulling force generator 144 for supporting the interlocking member 141 in a rotatable manner. The interlocking member 141 includes a rotating disk 142 that rotates relative to the pulling force generator 144. The other end of the wire 110 is coupled to the rotating disk 142 by a wire fixing member 143 provided on the outer circumferential surface of the rotating disk 142. As the rotating disk 142 rotates, the wire 110 is wound on the outer peripheral surface of the rotating disk 142 or unwound from the rotating disk 142.

The pulling force generator 144 is coupled to the body portion 40 of the user through the supporting force generating unit fixing member 138 (see FIG. 4) so as to generate a force in the pulling direction of the wire 110 with respect to the interlocking member 141 do. The pulling force generator 144 includes a fixing plate 145, a cam 146, and an elastic member 147. The fixing plate 145 is fixed to the body portion 40 such that one side thereof faces the body portion 40 (see Fig. 2) of the user. The cam 146 is coupled to the center of the rotating disk 142 and installed in the holding plate 145 together with the rotating disk 142. The fixed plate 145 is vertically provided with a rotating shaft 148 and the rotating disk 142 and the cam 146 are rotated in the forward or reverse direction with respect to the rotating shaft 148. On one side of the outer circumferential surface of the cam 146, an elastic member fixing member 149 for fixing the elastic member 147 is provided. One end of the elastic member 147 is connected to the elastic member fixing member 150 provided on the fixing plate 145 and the other end is connected to the elastic member fixing member 149 of the cam 146 ). The elastic member 147 is connected to the wire 110 through the cam 146 and the rotating disc 142 to provide an elastic force in a pulling direction with respect to the wire 110.

As the cam 146 rotates, the elastic member 147 is wound on the outer circumferential surface of the cam 146 or released from the cam 146, and its length is changed. The supporting force provided to the wire 110 is changed according to the change of the length of the elastic member 147 and the rotation position of the cam 146. That is, when the length of the elastic member 147 connected to the cam 146 is changed while the cam 146 rotates, the force of the elastic member 147 against the cam 146 and the force of the elastic member 147 against the cam 146 The vertical distance (moment arm) between the centers also changes. As a result, the torque generated in the rotating disk 142 changes and the profile of the acting force applied to the wire 110 is changed. The profile of the bearing force generated in the support force generating unit 140 may be variously changed according to the size and structure of the cam 146, the size of the rotating disk 142, the elastic modulus of the elastic member 147, and the like. The structure of the cam 146 and the coupling structure with the rotating disk 142, and the coupling structure between the cam 146 and the elastic member 147 are not limited to those shown and can be variously changed.

In addition, the pulling force generator 144 further includes a plurality of direction change guides 151 for guiding a portion where the extending direction of the wire 110 is switched. The direction changing guide 151 is formed in a roller shape so that the direction of the wire 110 can be changed smoothly by contacting the outer circumferential surface thereof. The direction of the wire 110 can be appropriately designed so that the wire 110 directs the end of the wire guide 120 in a straight line. The position of the portion of the wire 110 that extends toward the wire guide 120 from the support force generating unit 140 of the wire 110 can be made constant and the wire 110 can be rotated by the rotation disc 142 The problem of impacting the wire guide 120 in the left and right direction can be reduced.

Of course, the direction changing guide 151 may be formed of various shapes of curved tube structures such as a U shape in addition to the roller structure as shown. In addition, the direction change guide may take various other structures capable of switching the path of the wire 110 as well.

The support force generating unit 140 as described above is mounted on the user's body 40 in a manner similar to the support force generating unit 130 shown in Figures 1 and 2 and is connected to the user's second skeleton 30, (Not shown). The rotation disc 142 and the cam 146 are rotated by the force of the user moving the second skeleton portion 30 to pull the wire 110 to the second skeleton portion 30 and the elastic force of the elastic member 147 Whereby the supporting force generated in the supporting force generating unit 140 is changed.

For example, before the user lifts the second skeleton portion 30, the support force generating unit 140 may be in a state as shown in Fig. 6 (a). In this state, when the user lifts the second skeleton portion 30, the cam 146 and the rotating disk 142 rotate about the rotation axis 148, the length of the elastic member 147 is reduced, The vertical distance (moment arm) between the centers of the cams 146 is changed and the supporting force applied to the second skeleton portion 30 through the wire 110 is changed. When the user lifts the second skeleton portion 30 by more than a predetermined angle, the supporting force generating unit 140 may be in a state as shown in FIG. 6 (b). In this state, the support force generating unit 140 provides a supporting force to the second skeleton portion 30 through the wire 110, so that the user can keep the second skeleton portion 30 lifted with a small force.

The muscle force assisting device according to the present embodiment can also be easily worn or detached from the body of the user like the muscle force assisting device 100 shown in FIGS. 1 and 2, And provides a bearing force that varies depending on the joint motion angle alpha. Therefore, it helps the user to perform the joint motion smoothly with a small force.

Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited to the embodiments described above.

For example, although the figure shows that the muscle aiding device according to the present invention assists the user's upper arm joint motion, the present invention can be applied to assist the articulation of the user's various body parts in addition to the upper arm .

Although the figure shows that the muscle aiding device according to the present invention is provided with a protector 126 that supports the wire 110 at the portion where the direction of the wire 110 is switched, the protector 126 may be omitted .

In addition, although the figure shows that the wire guide 120 is coupled to the user's body through two wire guide fixing members 122 and 124, the wire guide 120 is connected to the body of the user through one fixing member .

10: first skeletal part 20: second skeletal part
30: joint 40: body part
100: muscle strength assisting device 110: wire
112, 143: wire fixing member 120: wire guide
122, 124: wire guide fixing member
126: Protector 130, 140: Bearing force generating unit
131, 141: interlocking member 132: moving magnet
133: slider 134, 144: pulling force generator
135, 145: Fixing plate 136: Guide rail
137: stationary magnet 138: supporting force generating unit fixing member
142: rotating disk 146: cam
147: elastic member 148:
149, 150: elastic member fixing member 151: direction changing guide

Claims (5)

A muscle assisting apparatus worn by a user to assist muscular strength of a user who moves a first skeleton part and a second skeleton part connected to the joint through joints,
A wire whose one end is coupled to the second skeleton portion;
A wire guide having an inner passage through which the wire is inserted to guide the movement of the wire, the wire guide being coupled to the first skeleton portion; And
An interlocking member which is engaged with the other end of the wire and moves in conjunction with the movement of the second skeleton part; and a second interlocking member which moves the interlocking member in a first direction to movably support the interlocking member to generate a force in a direction pulling the wire relative to the interlocking member. And a pulling force generator coupled to a body portion of the user to which the first skeleton portion is connected, wherein the force of the pulling force generator is transmitted to the second skeleton portion via the wire, the joint motion angle of the second skeleton portion with respect to the first skeleton portion And a supporting force generating unit for providing a supporting force varying in accordance with the weight of the user. The method according to claim 1,
Wherein the interlocking member comprises a moving magnet,
Wherein the pulling force generator comprises a fixed magnet disposed to face the moving magnet and coupled to the first skeleton portion or the body portion so that an area overlapping with the moving magnet changes according to the movement of the moving magnet. Auxiliary device. The method according to claim 1,
Wherein the interlocking member includes a rotating disk to which the other end of the wire is coupled so that the wire can be wound,
The pulling force generator includes a fixed plate coupled to the first skeleton portion and the body portion so as to face each other, and a holding plate coupled to the rotating disk and rotatable with respect to the rotating shaft perpendicular to the fixed plate, And an elastic member having one end coupled to the fixed plate and the other end coupled to the cam so as to be wound on the cam in accordance with the rotation of the cam and to provide an elastic force in a direction of pulling the wire against the cam. . The method of claim 3,
Wherein the pulling force generator further comprises a direction changing guide coupled to the fixing plate to guide a portion where the extension direction of the wire is changed. The method according to claim 1,
And a protector interposed between the user and the wire so as to support the wire at a portion where the direction of the wire is switched to disperse a load applied to the user by the wire. .

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