Wearable device for providing wear detection function and method of operating same

Abstract

A wearable device for providing a wear detection function and an operation method of the wearable device are disclosed. The wearable device may include a driving module to generate a torque to be applied to a user's body; a leg driving frame for transmitting torque to the legs of the user; a thigh fastener connected to the leg driving frame and fixing the leg driving frame to a leg of a user; the sensor module is used for acquiring sensor data including action information of the leg driving frame; and a control module for controlling the wearable device based on the sensor data. The control module may perform a test to determine whether the wearable device is properly worn on a leg of a user. In a test, the control module may control the driver module to generate a test torque and determine whether the test is passed based on sensor data acquired after the test torque is generated.

Description

Technical Field

[0001] Certain example embodiments relate to a wearable device configured to be worn on a user's body and / or a method of operating the wearable device. Background Art

[0002] A walking assist device generally refers to a machine or device that helps patients who cannot walk on their own due to illness, accident or other reasons to practice walking for rehabilitation and / or a machine or device that can be used for sports. In today's rapidly aging society, more and more people feel inconvenienced when walking or have difficulty walking normally due to joint failure, so people's interest in walking assist devices is increasing day by day. Walking assist devices are worn on the user's body, for example, by providing the necessary muscle strength to assist the user to walk and encourage the user to walk in a normal walking manner. Summary of the invention

[0003] According to an exemplary aspect, a method for operating a wearable device is provided, the method comprising performing a test to determine whether the wearable device is normally and / or correctly worn on a user's body and driving a module of the wearable device in response to determining that the test passes. The performing of the test comprises generating a test torque by a driving module, obtaining sensor data including an action value of a leg driving frame of the wearable device after generating the test torque, and determining whether the test passes based on the sensor data.

[0004] A non-transitory computer-readable storage medium may store instructions, wherein when the instructions are executed by a processor, the processor performs an operating method of a wearable device.

[0005] Additional aspects of example embodiments will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] These and / or other aspects, features and advantages will become more apparent and readily understood from the following description of example embodiments taken in conjunction with the accompanying drawings, in which: Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an example embodiment; Figure 2 is a diagram illustrating a management system including a wearable device and an electronic device according to an example embodiment; Figure 3 is a schematic diagram showing a rear side of a wearable device according to an example embodiment; Figure 4 is a left side diagram illustrating a wearable device according to an example embodiment; Figure 5a and Figure 5b is a configuration of a control system of a wearable device according to an example embodiment; Figure 6 is a diagram illustrating interaction between a wearable device and an electronic device according to example embodiments; Figure 7 is a diagram illustrating a configuration of an electronic device according to an example embodiment; Figure 8 is a flow chart illustrating a method of operating a wearable device according to an example embodiment; Figure 9a , Figure 9b , Fig.9c and Fig.10 is a diagram illustrating an example of performing a test to detect whether a wearable device is normally worn according to an example embodiment; Fig.11 is a flowchart illustrating the operation of an operating method of a wearable device for performing a normal wearing detection function according to an example embodiment; Fig.12 is a flowchart illustrating a test process of performing a wear detection function when a wearable device operates in a motion assist mode according to an example embodiment; Fig.13 is a diagram illustrating a combination of tests for performing a wearing detection function according to an example embodiment; and Fig.14 is a diagram illustrating an example of a guidance notification according to an exemplary embodiment. DETAILED DESCRIPTION

[0007] The following detailed structural or functional description is provided only as an example, and various changes and modifications may be made to the embodiments. Therefore, the embodiments are not to be interpreted as limiting the present disclosure, but should be understood to include all changes, equivalents and alternatives within the scope of the idea and technology of the present disclosure.

[0008] As used herein, unless the context clearly indicates otherwise, the singular also includes the plural. It will also be understood that when the term "includes / comprising" is used herein, it specifies the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0009] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which the present disclosure belongs. Terms such as those defined in commonly used dictionaries are interpreted as having a meaning consistent with the meaning in the context of the relevant art, and are not interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0010] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. When describing examples with reference to the accompanying drawings, the same reference numerals refer to the same elements, and repeated descriptions thereof will be omitted.

[0011] Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an embodiment.

[0012] Reference Figure 1 , the wearable device 100 may be a device worn on the body of the user 110 to assist the user 110 in walking, exercising, and / or working. In an embodiment, the wearable device 100 may be used to measure the physical fitness of the user 110 (e.g., walking ability, exercise ability, or exercise posture). In an embodiment, the term "wearable device" may be replaced with "wearable robot", "walking assistance device", or "exercise assistance device". The user 110 may be a human or an animal, but the example is not limited thereto. The wearable device 100 may be worn on the body of the user 110 (e.g., the lower body (legs, ankles, knees, etc.) or waist) and apply an external force (such as an assistive force and / or a resistance) to the body movement of the user 110. The assistive force may be a force that assists the body movement of the user 110, which is applied in the same direction as the body movement of the user 110. The resistance may be a force that hinders the body movement of the user 110, which is applied in the opposite direction to the body movement of the user 110. The term "resistance" may also be referred to as "exercise load".

[0013] In an embodiment, the wearable device 100 may operate in a walking assist mode to assist the walking of the user 110. In the walking assist mode, the wearable device 100 may assist the walking of the user 110 by applying an assist force generated by the drive module 120 of the wearable device 100 to the body of the user 110. The wearable device 100 may allow the user to walk on his own or for a long time by providing the force required for the walking of the user 110, thereby improving the walking ability of the user. The wearable device 100 may also improve the walking of users with abnormal walking habits or postures.

[0014] In an embodiment, the wearable device 100 may operate in a motion assist mode to enhance the motion effect on the user 110. In the motion assist mode, the wearable device 100 may hinder the body motion of the user 110 or resist the body motion of the user 110 by applying the resistance generated via the driving module 120 of the wearable device 100 to the body of the user 110. When the wearable device 100 is a hip-type wearable device worn on the waist (or pelvis) of the user 110 and the leg (e.g., thigh) of the user 110, the wearable device 100 worn on the leg of the user 110 may enhance the motion effect on the leg of the user 110 by providing a motion load for the motion of the leg of the user 110. Optionally, the wearable device 100 may apply an assist force to the body of the user 110 to assist the motion of the user 110. For example, when a disabled person or an elderly person wears the wearable device 100 to exercise, the wearable device 100 may provide an assist force to assist the body motion during the exercise. In an embodiment, the wearable device 100 may provide a combination of assistive force and resistance through exercise periods or time intervals, for example, providing assistive force in one exercise period and providing resistance in another exercise period.

[0015] In an embodiment, the wearable device 100 may operate in a physical fitness measurement mode to measure the physical fitness of the user 110. When the user 110 performs walking or exercise, the wearable device 100 may measure the motion information of the user 110 by using a sensor included in the wearable device 100 (e.g., the angle sensor 125 or the inertial sensor 135 (or an inertial measurement unit (IMU))), and estimate the physical fitness of the user 110 based on the measured motion information. For example, a gait index or a sports ability index (e.g., muscle strength, endurance, balance, or sports motion) of the user 110 may be estimated through the motion information of the user 110 measured by the wearable device 100. The physical fitness measurement mode may include a sports motion measurement mode for measuring the sports motion of the user.

[0016] In a specific example embodiment, for convenience of description, the wearable device 100 is described as follows Figure 1 The example of a hip-type wearable device is shown, but the embodiment is not limited thereto. As described above, the wearable device 100 can be worn on a body part (e.g., an upper arm, a lower arm, a hand, a calf, or a foot) other than the waist and the leg (specifically, the thigh), and the shape and configuration of the wearable device 100 can vary depending on the body part on which the wearable device 100 is worn.

[0017] In an embodiment, the wearable device 100 may include: a support frame (e.g., Figure 3 to Figure 4 The waist support frame 20 shown in the figure is used to support the body of the user 110 when the wearable device 100 is worn on the body of the user 110; the driving module 120 (for example, Figure 3 The driving module 35 and the driving module 45 are used to generate torque applied to the legs of the user 110; the leg driving frame (for example, Figure 3 The first leg driving frame 55 and the second leg driving frame 50 are used to transmit the torque generated by the driving module 120 to the legs of the user 110; a sensor module including one or more sensors (for example, Figure 5a The sensor module 520 is used to obtain sensor data including motion information about the body motion of the user 110 (eg, leg motion or upper body motion); the control module 130 (eg, Figure 5a and Figure 5b A control module 510 ) is used to control the wearable device 100 .

[0018] The sensor module may include an angle sensor 125 and an inertial sensor 135. The angle sensor 125 may measure the rotation angle of the leg drive frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg drive frame measured by the angle sensor 125 may be estimated as the hip joint angle value (or leg angle value) of the user 110. The angle sensor 125 may include, for example, an encoder and / or a Hall sensor. In an embodiment, the angle sensor 125 may be close to the location where the motor included in the driving module 120 is connected to the leg drive frame. The inertial sensor 135 may include an acceleration sensor and / or an angular velocity sensor, and measure changes in acceleration and / or angular velocity according to the action of the user 110. For example, the inertial sensor 135 may measure the base (e.g., Figure 3 The motion value of the base 80 or the waist support frame measured by the inertial sensor 135 may be estimated as the upper body motion value of the user 110.

[0019] In an embodiment, the control module 130 and the inertial sensor 135 may be provided on a base body (eg, Figure 3 When the user 110 wears the wearable device 100, the base may be located at the waist (or waist region) of the user 110. The base may be formed or attached to the outside of the waist support frame of the wearable device 100.

[0020] In order to use the wearable device 100, the user 110 may fix the wearable device 100 to the body of the user 110 by wearing the wearable device 100. The user 110 may wear the wearable device 100 through a fastener including a belt and / or a band of the wearable device 100 to fit the body of the user 110. For example, when wearing the wearable device 100, the user 110 may fasten the waist fastener of the wearable device 100 to fit the waist size of the user 110, and fasten two thigh fasteners of the wearable device 100 to fit the size of two thighs of the user 110. When the wearable device 100 worn on the body of the user 110 fits the body size of the user 110, the external force (or torque) generated by the wearable device 100 may be accurately and effectively transmitted to the body of the user 110, and the safe operation of the wearable device 100 may be ensured.

[0021] When the user 110 wants to use the wearable device 100, the user 110 may generally input a control command to drive the wearable device 100 while wearing the wearable device 100. For example, the user 110 may input a control command by pressing a separate button included in the wearable device 100 or by inputting a control command to an electronic device (e.g., Figure 2 The wearable device 100 is driven by an application of the electronic device 210) inputting a driving command. When the user 110 wishes to stop using the wearable device 100 while using the wearable device 100, the user 110 may input a control command to stop driving the wearable device 100 and turn off the power of the wearable device 100. When an abnormal process is detected during the control process of such a wearable device, the typical wearable device may perform an operation that the user does not want. For example, when the user drives the typical wearable device while not fully wearing the typical wearable device, or when the user mistakenly loosens a fastened component while using the typical wearable device without stopping the operation of the typical wearable device, the typical wearable device may continue to be driven without recognizing such non-wearing. In this case, the frame to which the torque of the typical wearable device is transmitted may move separately from the user's body, and the user may be injured due to the moving frame.

[0022] According to various embodiments, the wearable device 100 may provide a wear detection function to detect whether the wearable device 100 is correctly worn on the body of the user 100. The control module 130 may perform a test to determine whether the wearable device 100 is normally worn on the body (e.g., leg) of the user 110 when the wear detection function needs to be performed. The control module 130 may control the drive module 120 to generate a specific test torque in the test. The test torque may generate a shaking motion in the leg drive frame and / or the waist support frame of the wearable device 100. In an embodiment, the test torque may generate a shaking motion in at least one of a first leg drive frame for supporting the right leg of the user 110, a second leg drive frame for supporting the left leg of the user 110, and a waist support frame for supporting the waist of the user 110. The control module 130 may determine the wearing state of the wearable device 100 by analyzing the sensor data obtained when the test torque is transmitted to the leg drive frame. The sensor data may include motion information of each component of the wearable device 100 (eg, the first leg drive frame, the second leg drive frame, or the waist support frame) in response to the shaking motion.

[0023] If the user 110 wears the wearable device 100 correctly, it can be found in the sensor data obtained when a shaking motion is generated in the leg-driven frame that there is no motion change or a very small motion change in the leg-driven frame. If the user 110 does not wear the wearable device 100 at all or does not wear the wearable device 100 correctly, it can be found in the sensor data obtained when a shaking motion is generated in the leg-driven frame that the motion change of the leg-driven frame is large. The control module 130 can determine whether the wearable device 100 is normally worn on the body of the user 100 based on the degree of motion change found in such sensor data. When it is determined to be in a normal wearing state, it can be determined that the test has passed, and when it is determined not to be in a normal wearing state, it can be determined that the test has failed.

[0024] In various embodiments, determining that the wearable device 100 is normally worn on the body of the user 110 may indicate that the wearable device 100 is correctly worn on the body of the user 110. Determining that the wearable device 100 is not normally worn on the body of the user 110 may include both a state in which the user 110 is not wearing the wearable device 100 at all and a state in which the wearable device 100 is not correctly worn on the body of the user 110.

[0025] In an embodiment, when it is determined that the wearable device 100 is normally worn on the body of the user 110, the control module 130 may drive the wearable device 100, and when it is determined that the wearable device 100 is not normally worn on the body of the user 110, the control module 130 may not drive the wearable device 100 or stop driving the wearable device 100. In an embodiment, when it is determined that the wearable device 100 is not normally worn on the body of the user 110, the control module 130 may guide the user 110 to correctly wear the wearable device 100 by providing a guidance notification. In an embodiment, the guidance notification may be provided to the user 110 in the form of a voice guidance output from the wearable device 100 or a notification message output by an electronic device interoperating with the wearable device 100. Through such control of the control module 130, when the wearable device 100 is not properly worn on the body of the user 110, the risk of injury to the user 110 as described above may be reduced by preventing or reducing the movement of the wearable device 100.

[0026] Components including fasteners such as bands or belts have limitations or difficulties in connecting hardware components (such as circuits). The wearable device 100 can actively move the leg movement frame through the test torque, and determine whether the user 110 is wearing the wearable device 100 correctly by determining the degree of movement of the leg driving the frame represented by the sensor data, thereby effectively performing a test without connecting the hardware components to the fastener to determine whether the wearable device 100 is worn normally.

[0027] Figure 2 is a diagram illustrating a management system including a wearable device and an electronic device according to an embodiment.

[0028] Reference Figure 2 , the management system 200 may include the wearable device 100, the electronic device 210, other wearable devices 220, and the server 230. In an embodiment, at least one of the components of the management system 200 (e.g., other wearable devices 220 or server 230) may be omitted, or one or more other devices (e.g., a controller device dedicated to the wearable device 100) may be added.

[0029] In an embodiment, the wearable device 100 worn on the user's body can assist the user's movements in a walking assistance mode. For example, the wearable device 100 worn on the user's legs can assist the user's legs by generating an assist force, thereby assisting the user in walking.

[0030] In an embodiment, in order to enhance the exercise effect on the user in the exercise assisting mode, the wearable device 100 may generate a resistance for hindering the user's body movement, or generate an auxiliary force for assisting the user's body movement, and apply such force to the user's body. In the exercise assisting mode, through the electronic device 210, the user may select an exercise course (e.g., squat, lunge leg press, dumbbell squat, lunge knee raise, stretch, etc.) that the user wants to exercise by using the wearable device 100 and / or the exercise intensity applied to the wearable device 100. The wearable device 100 may control the drive module of the wearable device 100 according to the exercise course selected by the user, and obtain sensor data including the user's motion information through the sensor module. The wearable device 100 may adjust the strength of the resistance or auxiliary force applied to the user according to the exercise intensity selected by the user. For example, the wearable device 100 may control the drive module to generate resistance corresponding to the exercise intensity selected by the user.

[0031] In an embodiment, the wearable device 100 may be used to measure the user's physical fitness by interoperating with the electronic device 210. The wearable device 100 may operate in a physical fitness measurement mode (i.e., a mode for measuring the user's physical fitness) through the control of the electronic device 210, and may send sensor data obtained through the user's actions in the physical fitness measurement mode to the electronic device 210. The electronic device 210 may estimate the user's physical fitness by analyzing the sensor data received from the wearable device 100.

[0032] The electronic device 210 may communicate with the wearable device 100, and may remotely control the wearable device 100 or provide the user with status information about the status of the wearable device 100 (e.g., startup status, charging status, sensing status, or error status). The electronic device 210 may receive sensor data obtained by a sensor module of the wearable device 100 from the wearable device 100, and estimate the user's exercise results or physical fitness based on the received sensor data. The electronic device 210 may provide the user with the user's exercise results or physical fitness through a graphical user interface (GUI).

[0033] In an embodiment, a user may run a program (eg, an application) in the electronic device 210 to control the wearable device 100, and may use the program to adjust the control of the drive module (eg, Figure 3 The torque intensity output by the drive module 35 and the drive module 45), the torque intensity output by the sound output module (for example, Figure 5a and Figure 5b The audio intensity output by the sound output module) and the lighting unit (for example, Figure 3The program executed by the electronic device 210 may provide a GUI for interaction with the user. The electronic device 210 may be a device in various forms. For example, the electronic device 210 may include a portable communication device (e.g., a smart phone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, or a projector device), but the examples are not limited to the above devices.

[0034] In an embodiment, the electronic device 210 may be connected to the server 230 by using short-range wireless communication or cellular communication. The server 230 may receive user profile information of the user of the wearable device 100 from the electronic device 210, and store and manage the received user profile information. The user profile information may include, for example, at least one of name, age, gender, height, weight, and body mass index (BMI). The server 230 may receive exercise history information about the exercise performed by the user from the electronic device 210, and store and manage the received exercise history information. The server 230 may provide the electronic device 210 with various exercise courses or physical fitness management courses to be provided to the user.

[0035] In an embodiment, the wearable device 100 and / or the electronic device 210 may be connected to other wearable devices 220. The other wearable devices 220 may include, for example, wireless headphones 222, smart watches 224, or smart glasses 226, but the examples are not limited to the above devices. In an embodiment, the smart watch 224 may measure biosignals including the user's heart rate information and send the measured biosignals to the electronic device 210 and / or the wearable device 100. The electronic device 210 may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, or average heart rate) based on the biosignals received from the smart watch 224, and provide the estimated heart rate information to the user.

[0036] In an embodiment, the user's exercise result information, physical fitness information, and / or exercise action evaluation information determined by the electronic device 210 may be sent to other wearable devices 220 and provided to the user through the other wearable devices 220. The status information of the wearable device 100 may be sent to other wearable devices 220 and provided to the user through the other wearable devices 220. In an embodiment, the wearable device 100, the electronic device 210, and the other wearable devices 220 may communicate with each other through wireless communication (e.g., Bluetooth TM or Wireless Fidelity (Wi-Fi) communication) to connect to each other.

[0037] In an embodiment, the wearable device 100 may provide (or output) feedback (e.g., visual, auditory, or tactile feedback) corresponding to the state of the wearable device 100 according to the control signal received from the electronic device 210. For example, the wearable device 100 may provide (or output) feedback (e.g., visual, auditory, or tactile feedback) corresponding to the state of the wearable device 100. Figure 3The lighting unit 85) provides visual feedback and the sound output module (e.g., Figure 5a and Figure 5b The sound output module 550) provides auditory feedback.

[0038] Figure 3 is a schematic diagram showing the rear side of the wearable device according to the embodiment. Figure 4 is a left side diagram showing a wearable device according to an embodiment.

[0039] Reference Figure 3 and Figure 4 , the wearable device 100 may include a base 80, a waist support frame 20, a drive module 35, a drive module 45, a first leg drive frame 55, a second leg drive frame 50, a first thigh fastener 2, a second thigh fastener 1, and a waist fastener 60. The base 80 may include a lighting unit 85. In an embodiment, at least one of the components (e.g., the lighting unit 85) may be omitted from the wearable device 100, or one or more other components may be added to the wearable device 100.

[0040] When the user wears the wearable device 100, the base 80 may be located at the user's waist. The base 80 worn at the user's waist may cushion and support the user's waist. When the user wears the wearable device 100, the base 80 may be located above the user's hips so that the wearable device 100 does not deviate downward due to gravity. When wearing the wearable device 100, the base 80 may distribute part of the weight of the wearable device 100 to the user's waist. The base 80 may be connected to the waist support frame 20. The waist support frame connection element (not shown) that may be connected to the waist support frame 20 may be located at both edges of the base 80.

[0041] In an embodiment, the lighting unit 85 may be located on the outer surface of the base 80. The lighting unit 85 may include a light source (eg, a light emitting diode (LED)). The lighting unit 85 may be controlled by a processor (not shown) (eg, Figure 5a and Figure 5b According to an embodiment, the processor may control the lighting unit 85 to provide (or output) visual feedback corresponding to the state of the wearable device 100.

[0042] When the wearable device 100 is worn on the user's body, the waist support frame 20 can support the user's body (e.g., waist). The waist support frame 20 can extend from both edges of the base 80. The user's waist can be accommodated inside the waist support frame 20. The waist support frame 20 may include one or more rigid beams. Each beam may be a curved shape with a preset curvature so that the beam can surround the user's waist. The waist fastener 60 may be connected to the edge of the waist support frame 20. The drive module 35 and the drive module 45 may be directly or indirectly connected to the waist support frame 20.

[0043] In an embodiment, a processor, a memory, an IMU (e.g., Figure 1 Inertial sensor 135 or Figure 5b Inertial sensor 522), communication module (e.g., Figure 5a and Figure 5b communication module 516), a sound output module (eg, Figure 5a and Figure 5b The sound output module 550) and the battery (not shown) may be inside the base 80. The base 80 may protect the components inside the base 80. The processor may generate a control signal to control the operation of the wearable device 100. The processor may control the actuators of the drive module 35 and the drive module 45. The control circuit may include a processor and a memory. The control circuit may also include a power supply circuit to provide power from the battery to each component of the wearable device 100.

[0044] In an embodiment, the wearable device 100 may include a sensor module (not shown) for obtaining sensor data from one or more sensors (e.g., Figure 5a The sensor module 520 may include a sensor module 520 for measuring the motion value of the user's upper body or the motion value of the waist support frame 20. The sensor module may obtain sensor data including the motion information of the user and / or the motion information of the components of the wearable device 100. The sensor module may include, for example, an IMU (e.g., an inertial sensor 135 or Figure 5b An inertial sensor 522) and an angle sensor (for example, Figure 1 Angle sensor 125, Figure 5b The first angle sensor 524 or Figure 5b The sensor module may further include at least one of a position sensor, a temperature sensor, a bio-signal sensor, and a proximity sensor.

[0045] The waist fastener 60 may be directly or indirectly connected to the waist support frame 20 and secure the waist support frame 20 to the user's waist. The waist fastener 60 may include, for example, a pair of waist belts.

[0046] The drive module 35 and the drive module 45 may generate an external force (or torque) to be applied to the user's body based on a control signal generated by the processor. For example, the drive module 35 and the drive module 45 may generate an auxiliary force or resistance to be applied to the user's legs. In an embodiment, the drive module 35 and the drive module 45 may include a first drive module 45 located at a position corresponding to the position of the user's right hip joint and a second drive module 35 located at a position corresponding to the position of the user's left hip joint. The first drive module 45 may include a first actuator and a first joint component, and the second drive module 35 may include a second actuator and a second joint component. The first actuator may provide power to be transmitted to the first joint component, and the second actuator may provide power to be transmitted to the second joint component. The first actuator and the second actuator may respectively include motors (respectively) for generating power by receiving power from a battery Figure 5b The control module 530 and the motor 534 and the motor 534-1 of the driving module 530-1 are shown in FIG. 5 . When driven by receiving electric power, the motor may generate a force (assistive force) for assisting the user's body movements or a force (resistance) for hindering the user's body movements. In an embodiment, the control module may adjust the intensity and direction of the power generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0047] In an embodiment, the first joint component and the second joint component can receive power from the first actuator and the second actuator respectively, and can apply external force to the user's body based on the received power. The first joint component and the second joint component can be respectively located at positions corresponding to the user's joints. One side of the first joint component can be directly or indirectly connected to the first actuator, and the other side of the first joint component can be directly or indirectly connected to the first leg driving frame 55. The first joint component can be rotated by the power transmitted from the first actuator. An encoder or a Hall sensor or the first leg driving frame 55 that can be used as an angle sensor to measure the rotation angle of the first joint component (corresponding to the user's joint angle) can be located on one side of the first joint component. One side of the second joint component can be connected to the second actuator, and the other side of the second joint component can be connected to the second leg driving frame 50. The second joint component can be rotated by the power transmitted from the second actuator. An encoder or a Hall sensor or the second leg driving frame 50 that can be used as an angle sensor to measure the rotation angle of the second joint component can be located on one side of the second joint component.

[0048] In an embodiment, the first actuator may be in the lateral direction of the first joint component, and the second actuator may be in the lateral direction of the second joint component. The rotation axis of the first actuator and the rotation axis of the first joint component may be separated from each other, and the rotation axis of the second actuator and the rotation axis of the second joint component may also be separated from each other. However, the example is not limited to the above example, and the actuator and the joint component may share the rotation axis. In an embodiment, the actuator may be separated from the joint component respectively. In this case, the drive module 35 and the drive module 45 may also include a power transmission module (not shown) for transmitting power from the actuator to the joint component. The power transmission module may be a rotating body (such as a gear) or a longitudinal member (such as a wire, cable, rope, spring, belt or chain). However, the scope of the present embodiment is not limited by the above-mentioned power relay structure and the positional relationship between the actuator and the joint component.

[0049] In an embodiment, when the wearable device 100 is worn on the legs of the user, the first leg driving frame 55 and the second leg driving frame 50 may transmit the torque generated by the driving module 35 and the driving module 45 to the user's body (e.g., legs). The transmitted torque may be used as an external force applied to the user's leg movements. One edge of the first leg driving frame 55 and the second leg driving frame 50 may be directly or indirectly connected to the joint member and rotated, and the other edge of the leg driving frame 55 and the leg driving frame 50 may be directly or indirectly connected to the first thigh fastener 2 and the second thigh fastener 1, and transmit the torque generated by the driving module 35 and the driving module 45 to the user's thigh when supporting the user's thigh. For example, the first leg driving frame 55 and the second leg driving frame 50 may push or pull the user's thigh. The first leg driving frame 55 and the second leg driving frame 50 may extend in the longitudinal direction of the user's thigh. The first leg driving frame 55 and the second leg driving frame 50 may be bent to surround at least some of the circumference of the user's thigh. The first leg driving frame 55 and the second leg driving frame 50 may include a first leg driving frame 55 for transmitting torque to the right leg of the user and a second leg driving frame 50 for transmitting torque to the left leg of the user.

[0050] The first thigh fastener 2 and the second thigh fastener 1 are directly or indirectly connected to the first leg driving frame 55 and the second leg driving frame 50, respectively, and can fix the wearable device 100 to the user's leg (specifically, thigh). For example, the first thigh fastener 2 and the second thigh fastener 1 may include a first thigh fastener 2 for fixing the wearable device 100 to the user's right thigh and a second thigh fastener 1 for fixing the wearable device 100 to the user's left thigh.

[0051] In an embodiment, the first thigh fastener 2 may include a first cover, a first fastening frame and a first belt, and the second thigh fastener 1 may include a second cover, a second fastening frame and a second belt. The first cover and the second cover may apply the torque generated by the drive module 35 and the drive module 45 to the user's thigh. The first cover and the second cover may be located on one side of the user's thigh to push or pull the user's thigh. The first cover and the second cover may be located on the front surface of the user's thigh. The first cover and the second cover may be along the circumferential direction of the user's thigh. The first cover and the second cover may extend to both sides around the other edge of the first leg drive frame 55 and the second leg drive frame 50, and may include a curved surface corresponding to the user's thigh. An edge of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other edge of the first cover and the second cover may be directly or indirectly connected to the belt.

[0052] For example, the first fastening frame and the second fastening frame may surround at least some of the circumference of the user's thigh to prevent or reduce separation of the user's thigh from the wearable device 100. The first fastening frame may have a fastening structure connecting the first cover to the first band, and the second fastening frame may have a fastening structure connecting the second cover to the second band.

[0053] The first belt may surround the first cover of the circumference of the user's right thigh and the remaining portion not surrounded by the first fastening frame, and the second belt may surround the second cover of the circumference of the user's left thigh and the remaining portion not surrounded by the second fastening frame. The first belt and the second belt may include, for example, elastic materials (e.g., elastic bands).

[0054] Figure 5a and Figure 5b is a configuration of a control system of a wearable device according to an embodiment.

[0055] Reference Figure 5a , a wearable device (e.g., wearable device 100) may be controlled by a control system 500. The control system 500 may include a control module 510 (including a control circuit, such as a processing circuit of a processor), a communication module 516 including a communication circuit, a sensor module 520 including at least one sensor, a drive module 530 including a motor and / or a drive circuit, an input module 540 including a circuit, and a sound output module 550. The drive module 530 may include a motor 534 for generating power (e.g., torque) and a motor drive circuit 532 for driving the motor 534. Although Figure 5a The driving module 530 includes a motor driving circuit 532 and a motor 534, but Figure 5a The example is just an example. Figure 5b, the control system 500-1 may include a plurality of (two or more) motor drive circuits (e.g., motor drive circuit 532 and motor drive circuit 532-1) and motors (e.g., motor 534 and motor 534-1). The drive module 530 including the motor drive circuit 532 and the motor 534 may correspond to Figure 3 The first driving module 45, and the driving module 530-1 including the motor driving circuit 532-1 and the motor 534-1 may correspond to Figure 3 The second drive module 35. The following description of the motor drive circuit 532 and the motor 534 can also be applied to Figure 5b The motor drive circuit 532-1 and the motor 534-1 in the embodiment of the present invention. Each "drive module" herein may include a motor and / or a drive circuit, such as Figure 5a shown.

[0056] Reference Figure 5a , the sensor module 520 may include at least one sensor. The sensor module 520 may obtain sensor data including motion information of the user or motion information of the wearable device. The sensor module 520 may send the obtained sensor data to the control module 510 (including a control circuit, such as a processing circuit of a processor). The sensor module 520 may include Figure 5b An inertial sensor 522 and an angle sensor (e.g., a first angle sensor 524 and a second angle sensor 524-1) are shown. The inertial sensor 522 can sense the upper body motion values ​​of the user. For example, the inertial sensor 522 can sense the acceleration and angular velocity of the X-axis, Y-axis, and Z-axis according to the user's motion. In addition, the inertial sensor 522 can obtain the motion values ​​(e.g., acceleration values ​​and angular velocity values) of the waist support frame of the wearable device. The angle sensor can sense the hip joint angle value according to the motion of the user's legs. The sensor data that can be sensed by the angle sensor may include, for example, the hip joint angle value of the right leg, the hip joint angle value of the left leg, and information about the motion direction of the legs. Figure 5b The first angle sensor 524 can obtain the hip joint angle value of the user's right leg, and the second angle sensor 524-1 can obtain the hip joint angle value of the user's left leg. The first angle sensor 524 and the second angle sensor 524-1 can respectively include, for example, encoders or Hall sensors. In addition, the first angle sensor 524 and the second angle sensor 524-1 can obtain the action value of the leg driving frame of the wearable device. For example, the first angle sensor 524 can obtain the action value of the first leg driving frame 55, and the second angle sensor 524-1 can obtain the action value of the second leg driving frame 50.

[0057] In an embodiment, the sensor module 520 may also include a position sensor, a proximity sensor, a biosignal sensor, and a temperature sensor, wherein the position sensor can obtain a position value of the wearable device, the proximity sensor can detect the approach of an object, the biosignal sensor can detect a user's biosignal, and the temperature sensor can sense the ambient temperature.

[0058] The input module 540 may receive a command or data from the outside of the wearable device (eg, a user) to be used by another component of the wearable device (eg, the processor 512). The input module 540 may include, for example, a key (eg, a button) or a touch screen.

[0059] The sound output module 550 may output a sound signal to the outside of the wearable device. The sound output module 550 may include a guidance sound signal (eg, a drive start sound or an operation error notification signal) and a speaker for playing music content or guidance voice.

[0060] In an embodiment, the control system 500 may include a battery (not shown) for supplying power to each component of the wearable device. The wearable device may convert the power of the battery into power suitable for the operating voltage of each component of the wearable device, and supply the converted power to each component.

[0061] The driving module 530 may generate an external force to be applied to the user's legs through the control of the control module 510. The driving module 530 may be located at a position corresponding to the position of the user's hip joint, and generate a torque to be applied to the user's legs based on a control signal generated by the control module 510. The control module 510 may send a control signal to the motor driving circuit 532, and the motor driving circuit 532 may control the operation of the motor 534 by generating a current signal (or voltage signal) corresponding to the control signal and supplying the current signal (or voltage signal) to the motor 534. According to the control signal, the current signal may not be supplied to the motor 534. When the current signal is supplied to the motor 534 and the motor is driven, the motor 534 may generate a force for assisting the user's leg motion or generate a torque for hindering the user's leg motion.

[0062] The control module 510 may control the overall operation of the wearable device and generate control signals to control each component (eg, the driving module 530 ). The control module 510 may include a processor 512 and a memory 514 .

[0063] The processor 512 may run, for example, software to control at least one other component (e.g., hardware or software component) of the wearable device that is directly or indirectly connected to the processor 512, and may perform various types of data processing or operations. In an embodiment, as at least part of the data processing or operation, the processor 512 may store instructions or data received from another component (e.g., the communication module 516) in the memory 514, process the instructions or data stored in the memory 514, and store the processed result data in the memory 514. In an embodiment, the processor 512 may include a main processor (e.g., a central processing unit (CPU) or an application processor (AP)) or an auxiliary processor (e.g., a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a sensor hub processor, or a communication processor (CP)) that can operate independently of the main processor or in conjunction with the main processor. The auxiliary processor may be implemented separately from the main processor or as part of the main processor.

[0064] The memory 514 may store various data used by at least one component of the control module 510 (e.g., the processor 512). The various data may include, for example, software, sensor data, input data or output data regarding instructions associated therewith. The memory 514 may include volatile memory or non-volatile memory (e.g., random access memory (RAM), dynamic RAM (DRAM), or static RAM (SRAM)).

[0065] The communication module 516 can support communication between the control module 510 and another component of the wearable device or an external electronic device (e.g., Figure 2 The communication module 516 can establish a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device 210 or other wearable device 220 and perform communication via the established communication channel. For example, the communication module 516 can send the sensor data obtained by the sensor module 520 to the external electronic device (e.g., Figure 2 The electronic device 210 of the embodiment of the present invention and receive control signals from the external electronic device. In an embodiment, the communication module 516 may include one or more CPs that operate independently of the processor 512 and support direct (e.g., wired) communication or wireless communication. In an embodiment, the communication module 516 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. A corresponding one of these communication modules may communicate via a short-range communication network (e.g., Bluetooth TM, Wi-Fi, ANT, or Infrared Data Association (IrDA)) or a long-distance communication network (such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN))) to communicate with other components of the wearable device and / or external electronic devices.

[0066] In an embodiment, the wearable device 100 may include: a drive module 530 for generating a torque applied to the user's body; a first leg drive frame 55 and a second leg drive frame 50 for transmitting the generated torque to the user's legs; a first thigh fastener 2 and a second thigh fastener 1, which are directly or indirectly connected to the first leg drive frame 55 and the second leg drive frame 50, respectively, and are used to fix the first leg drive frame 55 and the second leg drive frame 50 to the user's legs, respectively; a sensor module 520 for obtaining sensor data including motion information of the first leg drive frame 55 and the second leg drive frame 50; and a control module 510 for controlling the wearable device based on the sensor data. The first leg drive frame 55 and the second leg drive frame 50 may include a first leg drive frame 55 for transmitting torque to the user's right leg and a second leg drive frame 50 for transmitting torque to the user's left leg. The wearable device 100 may also include a waist support frame 20 for supporting the user's waist. The sensor module 520 may include, for example, an inertial sensor 522 and an angle sensor (for example, a first angle sensor 524 and a second angle sensor 524-1), wherein the inertial sensor 522 can obtain the motion value of the waist support frame 20 of the wearable device 100, and the angle sensor can obtain the motion values ​​of the first leg driving frame 55 and the second leg driving frame 50 respectively.

[0067] The control module 510 may perform a test to determine whether the wearable device 100 is normally worn on the user's body (e.g., leg). In an embodiment, the control module 510 may perform a test in response to receiving a user input including a drive command for the wearable device 100. For example, the control module 510 may perform a test when a user inputs a drive command through the input module 540 or in response to receiving a control signal including a drive command from an electronic device (e.g., the electronic device 210).

[0068] In an embodiment, the control module 210 may perform a test before starting the operation for the walking assistance mode or the motion assistance mode of the wearable device 100. For example, when the user selects the walking assistance mode or the motion assistance mode of the wearable device 100 through an application of the electronic device and attempts to start the selected operation mode, the control module 510 may perform a test.

[0069] In an embodiment, the control module 510 may perform a test in response to entering a standby mode after terminating a walking assist mode or a motion assist mode of the wearable device 100. For example, when the user's operation stops for a certain period of time, the control module 510 may operate in standby mode after terminating the walking assist mode or the motion assist mode during operation in the walking assist mode or the motion assist mode. In this case, the control module 510 may determine whether the wearable device 100 is normally worn on the user's body by performing a test. In an embodiment, the control module 510 may perform a test when the operation mode of the wearable device 100 changes between the walking assist mode and the motion assist mode, or when the type of exercise performed by the user changes (for example, when the user tries to start a higher intensity exercise).

[0070] In the test, the control module 510 may control the driving module (e.g., the driving module 530 or the driving module 530-1) to generate a test torque. The test torque may have a torque value pattern for generating a shaking motion in the first leg driving frame 55, the second leg driving frame 50, and / or the waist support frame 20 of the wearable device 100. For example, the test torque may have a pattern in which the torque value changes periodically within a specific torque value range. The test torque may have a torque value pattern in the form of vibration. The test torque applied to the test may be modified or set differently. In an embodiment, the control module 510 may determine at least one of the moving direction (e.g., forward, backward, or back and forth between forward and backward) of the first leg driving frame 55, the second leg driving frame 50, and / or the waist support frame 20 to which the test torque is applied based on a user setting value selected by the user, the strength of the test torque (the maximum strength of the torque value), and the application mode of the test torque (e.g., the vibration interval, the number of repetitions, or the change of the torque strength over time).

[0071] In an embodiment, the driving module 530 and the driving module 530-1 may generate a test torque through the control of the control module 510 to generate a shaking motion in at least one of the first leg driving frame 55 and the second leg driving frame 50. For example, the driving module 530 and the driving module 530-1 may generate a test torque through the control of the control module 510 so that at least one of the first leg driving frame 55 and the second leg driving frame 50 moves in the forward or backward direction of the wearable device 100. As another example, the driving module 530 and the driving module 530-1 may generate a test torque through the control of the control module 510 so that at least one of the first leg driving frame 55 and the second leg driving frame 50 moves back and forth between the forward and backward directions of the wearable device 100. The forward direction of the wearable device 100 may be a direction corresponding to the forward direction of the user or a bending motion of the legs, and the backward direction of the wearable device 100 may be a direction corresponding to the backward direction of the user or a stretching motion of the legs.

[0072] In an embodiment, the drive module 530 and the drive module 530-1 can generate a test torque through the control of the control module 510, so that the first leg driving frame 55 and the second leg driving frame 50 move in the same direction (for example, forward or backward), and the test torque can produce a shaking motion of the lumbar support frame 20.

[0073] The control module 510 may determine whether the test is passed based on the sensor data obtained by the sensor module 520 after the test torque is generated. The control module 510 may determine whether the wearable device 100 is normally worn on the user's body based on the sensor data.

[0074] In an embodiment, when the leg drive frame (e.g., the first leg drive frame 55, the second leg drive frame 50 and / or the waist support frame 20) of the wearable device 100 is moved in the forward and / or backward direction by a test torque, the control module 510 may determine whether the test passes (or whether the wearable device 100 is worn normally) based on changes in the motion values ​​of the leg drive frames obtained by an angle sensor (e.g., a Hall sensor or an encoder).

[0075] In an embodiment, the control module 510 may determine whether the test passes based on a threshold value and an action value of the leg-driven frame obtained after generating the test torque. For example, in response to the maximum value of the action value of the leg-driven frame obtained after generating the test torque being less than a threshold value (e.g., 10 degrees), the control module 510 may determine that the test passes. Passing the test may correspond to the wearable device 100 being normally worn on the user's body. In response to the maximum value of the action value of the leg-driven frame obtained after generating the test torque being greater than or equal to a threshold value (e.g., 10 degrees), the control module 510 may determine that the test fails. Failing the test may correspond to the wearable device 100 not being normally worn on the user's body.

[0076] In an embodiment, the control module 510 may determine whether the test is passed based on the motion value of the lumbar support frame 20 obtained by the inertial sensor 522 after the test torque is generated. Before performing the test to determine whether the wearable device is normally worn on the user's body, the control module 510 may detect the user's motion based on the motion value of the lumbar support frame 20, and when the motion is detected, the test may be performed.

[0077] In an embodiment, the control module 510 may determine whether the lumbar support frame 20 is normally worn on the user's body based on the motion value of the lumbar support frame 20 obtained after the test torque is generated to produce the shaking motion of the lumbar support frame 20. For example, in response to the shaking motion of the lumbar support frame 20, when the maximum value of the motion value of the lumbar support frame 20 obtained by the inertial sensor 522 is less than a threshold value, the control module 510 may determine that the lumbar support frame 20 is correctly worn on the user's body, and when the maximum value of the motion value of the lumbar support frame 20 is greater than or equal to the threshold value, the control module 510 may determine that the lumbar support frame 20 is not correctly worn on the user's body.

[0078] In an embodiment, the control module 510 may determine whether the wearable device is worn normally based on the action of the leg drive frame and / or the action of the waist support frame and the action value obtained by the angle sensor (e.g., the first angle sensor 524 or the second angle sensor 524-1). For example, when the action value of the leg drive frame does not change or changes very little in response to moving the leg drive frame by the test torque, the control module 510 may determine that the wearable device 100 is correctly worn on the user's body. When the change in the action value is greater than or equal to the reference value (e.g., the first threshold), the control module 510 may determine that the wearable device 100 is not worn on the user's body. When the change in the action value is within a reference range (e.g., between the second threshold and the first threshold, wherein the second threshold is less than the first threshold), the control module 510 may determine that the wearable device 100 is not correctly worn (not fully worn) on the user's body.

[0079] In an embodiment, in response to determining that the test has not passed (or determining that the wearable device 100 is not normally worn on the user's body), the control module 510 may provide a guidance notification to the user to guide the normal wearing of the wearable device 100. For example, the user may be notified of abnormal wearing to guide normal wearing through the sound output module 550 or a guidance voice or a notification voice. The user may be notified of abnormal wearing through an electronic device (e.g., Figure 2 electronic device 210) or another wearable device (e.g., Figure 2 Other wearable devices 220) provide guidance notifications to users.

[0080] In an embodiment, in response to determining that the test fails (or determining that the wearable device 100 is not normally worn on the user's body), the control module 510 may repeatedly perform the test based on the sensor data obtained by the sensor module 520 to determine whether the wearable device 100 is worn on the user's leg until it is determined that the wearable device 100 is worn on the user's body. When it is determined through the test that the wearable device 100 is correctly worn on the user's body, the control module 510 may start driving the wearable device 100.

[0081] Each embodiment herein may be used in combination with any other embodiment described herein.

[0082] Figure 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.

[0083] Reference Figure 6 , the wearable device 100 can communicate with the electronic device 210. For example, the electronic device 210 can be a user terminal of a user using the wearable device 100 or a controller device dedicated to the wearable device 100. In an embodiment, the wearable device 100 and the electronic device 210 can communicate via short-range wireless communication (e.g., Bluetooth TM or Wi-Fi communication) to connect to each other.

[0084] In an embodiment, the electronic device 210 may check the state of the wearable device 100 or run an application to control or operate the wearable device 100. A screen of a user interface (UI) may be displayed on the display 212 of the electronic device 210 through the running of the application to control the operation of the wearable device 100 or determine the operation mode of the wearable device 100. The UI may be, for example, a GUI.

[0085] In an embodiment, a user may input a command (e.g., a command for running a walking assist mode, a command for running a motion assist mode, or a command for running a physical fitness management mode) through a GUI screen on a display 212 of the electronic device 210 to control the operation of the wearable device 100 or change the setting of the wearable device 100. The electronic device 210 may generate a control command (or a control signal) corresponding to the operation control command or the setting change command input by the user, and send the generated control command to the wearable device 100. The wearable device 100 may operate according to the received control command, and send a control result according to the received control command and / or sensor data sensed by a sensor module of the wearable device 100 to the electronic device 210. The electronic device 210 may provide the user with result information (e.g., gait ability information, motion ability information, or motion action evaluation information) obtained by analyzing the control result and / or sensor data through the GUI screen.

[0086] Figure 7 is a diagram illustrating a configuration of an electronic device according to an embodiment.

[0087] Reference Figure 7, the electronic device 210 may include a processor 710, a memory 720, a communication module 730, a display module 740, a sound output module 750, and an input module 760. In an embodiment, at least one of the components (e.g., the sound output module 750) may be omitted from the electronic device 210, or one or more other components (e.g., a sensor module, a haptic module, and a battery) may be added to the electronic device 210.

[0088] The processor 710 may control at least one other component (e.g., a hardware component or a software component) of the electronic device 210, and may perform various types of data processing or data operations. In an embodiment, as at least part of the data processing or data operation, the processor 710 may store instructions or data received from another component (e.g., the communication module 730) in the memory 720, process the instructions or data stored in the memory 720, and store the resultant data in the memory 720.

[0089] In embodiments, processor 710 may include a main processor (eg, a CPU or AP) or an auxiliary processor (eg, a GPU, NPU, ISP, sensor hub processor or CP) that operates independently of the main processor or in conjunction with the main processor.

[0090] The memory 720 may store various data used by at least one component of the electronic device 210 (e.g., the processor 710 or the communication module 730). The various data may include, for example, a program (e.g., an application) and input data or output data about commands related thereto. The memory 720 may include at least one instruction executable by the processor 710. The memory 720 may include a volatile memory or a non-volatile memory. Each memory herein includes a processing circuit.

[0091] The communication module 730 may support establishing a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device 210 and another electronic device (e.g., wearable device 100, other wearable devices 220, and server 230), and perform communication via the established communication channel. The communication module 730 may include a communication circuit for performing a communication function. The communication module 730 may include one or more CPs that may operate independently of the processor 710 (e.g., AP) and support direct (e.g., wired) communication or wireless communication. In an embodiment, the communication module 730 may include a wireless communication module (e.g., Bluetooth) that performs wireless communication. TMThe communication module 730 may include a communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication (PLC) module). For example, the communication module 730 may send a control command to the wearable device 100, and receive from the wearable device 100 at least one of sensor data including body motion information of a user wearing the wearable device 100, status data of the wearable device 100, and control result data corresponding to the control command.

[0092] The display module 740 may visually provide information to the outside of the electronic device 210 (e.g., a user). The display module 740 may include, for example, a light emitting diode (LCD) display or an organic light emitting diode (OLED) display, a hologram device, or a projector device. The display module 740 may also include a control circuit for controlling the drive of the display. In an embodiment, the display module 740 may also include a touch sensor configured to sense a touch or a pressure sensor configured to sense the intensity of the force generated by the touch. The display module 740 may output a UI screen for controlling the wearable device 100 or provide various information (e.g., motion evaluation information or setting information of the wearable device 100).

[0093] The sound output module 750 may output a sound signal to the outside of the electronic device 210. The sound output module 750 may include a guiding sound signal (e.g., a drive startup sound or an operation error notification sound) based on the state of the wearable device 100 and a speaker for playing music content or guiding voice. For example, when it is determined that the wearable device 100 is not normally worn on the user's body, the sound output module 750 may output a guiding voice to notify the user of abnormal wearing of the wearable device 100 or guide normal wearing.

[0094] The input module 760 may receive a command or data to be used by another component of the electronic device 210 (e.g., the processor 710) from outside the electronic device 210 (e.g., the user). The input module 760 may include an input component circuit and receive user input. The input module 760 may include, for example, a touch recognition circuit for recognizing a touch on a key (e.g., a button) and / or a screen.

[0095] Figure 8 is a flow chart showing an operation method of a wearable device according to an embodiment. In an embodiment, Figure 8 At least one of the operations may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. In addition, at least one of the operations may be omitted or another operation may be performed additionally. In addition, Figure 8 The control operations may be performed by a control module of the wearable device 100 (eg, control module 130 or control module 510, each of which includes a control / processing circuit).

[0096] Reference Figure 8 , in operation 810, the wearable device 100 may perform a test to determine whether the wearable device 100 is normally worn on the user's body.

[0097] In an embodiment, when the user presses a power button or a drive start button (or a drive restart button) of the wearable device 100, the wearable device 100 may perform a test.

[0098] In an embodiment, the wearable device 100 may perform a test when the user wishes to start walking or exercising. For example, when the user selects to start an exercise in an application of the electronic device 210, or when the exercise to be performed is changed, the wearable device 100 may perform a test. Depending on the type of exercise the user wishes to perform, the wearable device 100 may selectively perform a test on the support frame. For example, when the user wishes to perform a squat or a lunge, the wearable device 100 may automatically perform a test on the waist support frame before performing an exercise pattern for squatting or lunging.

[0099] The time when the wearable device 100 performs the test is not limited to the above example. In addition to the time when the drive needs to be started according to the purpose of use of the user of the wearable device 100, the test can also be performed during or after the drive. For example, in the case of an exercise in which the number of repetitions of body movements and the amplitude of body movements are large (for example, jumping exercises or mountain climbing exercises), the wearable device 100 can automatically perform the test immediately after the exercise ends.

[0100] The wearable device 100 may perform the test by generating a test torque through a drive module (e.g., drive module 120, drive module 530, and / or drive module 530-1) of the wearable device 100. In an embodiment, the wearable device 100 may generate a test torque to generate a shaking motion in at least one of the first leg drive frame 55 and the second leg drive frame 50 or the waist support frame 20.

[0101] In an embodiment, the wearable device 100 may generate a test torque so that at least one of the first leg drive frame 55 of the wearable device 100 for transmitting the torque of the drive module to the user's right leg and the second leg drive frame 50 of the wearable device 100 for transmitting the torque of the drive module to the user's left leg moves in the forward or backward direction of the wearable device 100.

[0102] In an embodiment, the wearable device 100 may generate a test torque so that at least one of the first leg drive frame 55 and the second leg drive frame 50 moves back and forth between a forward direction and a backward direction of the wearable device 100 .

[0103] In an embodiment, the wearable device 100 may generate a test torque such that the first leg drive frame 55 and the second leg drive frame 50 move in the same direction (eg, forward or backward).

[0104] After generating the test torque, the wearable device 100 may obtain sensor data including motion values ​​of the leg drive frames (the first leg drive frame 55 and the second leg drive frame 50) of the wearable device 100. For example, after generating the test torque, the wearable device 100 may obtain motion values ​​of each component of the wearable device 100 (e.g., the first leg drive frame 55 and the second leg drive frame 50 or the waist support frame 20) by using an angle sensor (e.g., angle sensor 125, first angle sensor 524, or second angle sensor 524-1) of the wearable device 100 and / or an inertial sensor (e.g., inertial sensor 135 or inertial sensor 522) of the wearable device 100.

[0105] In operation 820, the wearable device 100 may determine whether the test passes (or whether the wearable device 100 is worn normally on the user's body) based on the sensor data. In an embodiment, the wearable device 100 may determine whether the wearable device 100 is worn normally on the user's body based on a threshold and the action value of the leg-driven frame (e.g., the first leg-driven frame 55 and the second leg-driven frame 50) obtained after generating the test torque. For example, when the maximum value of the action value of the leg-driven frame is less than the threshold, the wearable device 100 may determine that the test passes (or the wearable device 100 is worn normally on the user's body), and when the maximum value of the action value of the leg-driven frame is greater than or equal to the threshold, the wearable device 100 may determine that the test fails (or the wearable device 100 is not worn normally on the user's body).

[0106] When it is determined that the test passes ("yes" in operation 820), in operation 830, the wearable device 100 may drive the driving module 35 / 45 of the wearable device 100. The wearable device 100 may prevent or reduce the possibility of safety issues that may occur in an abnormal wearing state by driving the driving module only after verifying that the wearable device 100 is normally worn on the user's body.

[0107] When it is determined that the test has not passed ("No" in operation 820), in operation 840, the wearable device 100 may provide a guidance notification to the user to guide the normal wearing of the wearable device 100. For example, the wearable device 100 may notify the user of abnormal wearing or provide a guidance voice or notification sound to the user to guide normal wearing. Then, the wearable device 100 may perform the test again. The wearable device 100 may repeatedly perform the test based on the sensor data obtained after generating the test torque until it is determined that the wearable device 100 is worn normally on the user's body. Figure 9a , Figure 9b , Fig.9c and Fig.10 is a diagram illustrating an example of performing a test to detect whether a wearable device is worn normally according to an embodiment. Figure 9a , Figure 9b and Fig.9c An example of generating a shaking motion in the second leg driving frame 50 of the wearable device 100 by testing the torque is shown.

[0108] Reference Figure 9a , the wearable device 100 can generate a test torque through the second driving module 35 to test whether the second thigh fastener 1 is correctly worn or fastened on the user's left leg in the first state 912 where the test torque is not applied. In an embodiment, the second leg driving frame 50 can move in the front and upward direction of the wearable device 100. By generating the test torque, the second leg driving frame 50 can move in the front and upward direction of the wearable device 100, such as the second state 914. The wearable device 100 can apply the test torque so that the first state 912 and the second state 914 can be repeated, and a shaking motion can be generated in the second leg driving frame 50 according to the application mode of the test torque. The user can receive feedback that the second leg driving frame 50 swings.

[0109] Reference Figure 9b , the wearable device 100 may generate a test torque so that the second leg driving frame 50 moves in the rear direction of the wearable device 100. Through the test torque, the second leg driving frame 50 may move in the rear direction of the wearable device 100, such as the third state 916. The wearable device 100 may apply the test torque so that the first state 912 and the third state 916 may be repeated, and a shaking motion may be generated in the second leg driving frame 50 according to the application mode of the test torque.

[0110] Reference Fig.9c, the wearable device 100 may generate a test torque so that the second leg drives the frame 50 to move between the forward and backward directions of the wearable device 100. The wearable device 100 may apply a test torque mode so that the second leg drives the frame 50 to move back and forth, for example, from the first state 912 to the second state 914, from the second state 914 to the first state 912 and then to the third state 916, and from the third state 916 to the first state 912 and then to the second state 914.

[0111] Reference Figure 9a , Figure 9b and Fig.9c The description provided may also be applicable to the wearable device 100 to generate a shaking motion in the first leg driving frame 55 by testing the torque to test whether the first thigh fastener 2 is properly worn or fastened on the user's right leg.

[0112] Reference Fig.10 , the wearable device 100 may also generate a shaking motion in the waist support frame 1020 (e.g., waist support frame 20) by testing the torque. When the wearable device 100 is worn, the waist support frame 1020 may support the user's waist. The wearable device 100 may generate a shaking motion in the first leg driving frame 55 and the second leg driving frame 50 in the same direction (e.g., forward or backward) to determine whether the waist support frame 1020 is correctly worn on the user's waist. When the first leg driving frame 55 and the second leg driving frame 50 shake in the same direction, a shaking motion may be generated in the waist support frame 1020.

[0113] In an embodiment, a user may determine at least one of the direction of a test torque (e.g., forward, backward, or back and forth between forward and backward) generated for testing to determine whether the wearable device 100 is worn normally on the user's body, the intensity of the test torque (the maximum intensity of the torque value), and the application mode of the test torque (e.g., the vibration interval, the number of repetitions, the change in torque intensity over time, or the application time of the test torque).

[0114] In an embodiment, the shaking motion of the first leg drive frame 55, the second leg drive frame 50 and / or the waist support frame 1020 described above can be used as a feedback method to notify the user of a specific situation. For example, when the user instructs the wearable device 100 to run a specific function (e.g., exercise assist mode), when the user increases the intensity of exercise, when the wearable device 100 notifies the user of the start of the selected exercise, or when the user wants to start exercise after stopping exercise for a period of time, the wearable device 100 can generate a shaking motion. The situations in which the shaking motion can be generated are not limited to the above examples, and the shaking motion can be generated in any situation in which a notification is provided to the user.

[0115] Fig.11is a flowchart illustrating the operation of a method for operating a wearable device for performing a normal wearing detection function according to an embodiment. Fig.11 At least one of the operations may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. In addition, at least one of the operations may be omitted or another operation may be performed additionally.

[0116] Reference Fig.11 In operation 1110, the wearable device 100 may generate a first shaking motion of the leg drive frame by testing the torque. In an embodiment. The wearable device 100 may generate a first shaking motion that causes at least one of the first leg drive frame 55, the second leg drive frame 50, and the waist support frame 20 to shake in the forward direction. Optionally, the wearable device 100 may generate a forward motion of the waist support frame 20 by simultaneously moving the first leg drive frame 55 and the second leg drive frame 50 in the backward direction.

[0117] In operation 1120, the wearable device 100 may determine whether the motion value of the leg driving frame is greater than or equal to a threshold. In an embodiment, the wearable device 100 may determine whether the motion value of the supporting frame obtained when the first shaking motion is generated in the supporting frame is greater than or equal to a threshold.

[0118] When the action value of the leg driving frame is greater than or equal to the threshold value ("yes" in operation 1120), in operation 1170, the wearable device 100 may stop generating the shaking action. In operation 1180, the wearable device 100 may provide a guidance notification to the user to guide the correct wearing of the wearable device 100. For example, the guidance voice may be provided by the sound output module 550 of the wearable device 100 and / or the sound output module 750 of the electronic device 210, or the guidance notification may be provided in the form of a pop-up message by the display module 740 of the electronic device 210.

[0119] When the motion value of the leg driving frame is less than the threshold value ("No" in operation 1120), in operation 1130, the wearable device 100 may generate a second shaking motion of the leg driving frame by testing the torque. The second shaking motion may be a shaking motion in a form different from that of the first shaking motion (for example, in a different direction). In an embodiment, the wearable device 100 may generate a second shaking motion that causes at least one of the first leg driving frame 55, the second leg driving frame 50, and the waist support frame 20 to shake in the rearward direction. Optionally, the wearable device 100 may generate a rearward motion of the waist support frame 20 by simultaneously moving the first leg driving frame 55 and the second leg driving frame 50 in the forward direction.

[0120] When the action value of the leg driving frame is greater than or equal to the threshold ("Yes" in operation 1140), in operation 1170, the wearable device 100 may stop generating shaking motions, and in operation 1180, a guidance notification may be provided to the user to guide the correct wearing of the wearable device 100.

[0121] When the action value of the leg driving frame is less than the threshold value ("No" in operation 1140), the wearable device 100 can determine that the wearable device 100 is normally worn on the user's body. In operation 1150, the wearable device 100 can stop generating the shaking action, and in operation 1160, start driving the wearable device 100.

[0122] In an embodiment, in performing a test of the wearing detection function, the first shaking motion in operation 1110 and the second shaking motion in operation 1130 may be repeatedly performed.

[0123] Fig.12 is a flow chart showing a test process for performing a wear detection function when a wearable device operates in a motion assist mode according to an embodiment. In an embodiment, Fig.12 At least one of the operations may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. In addition, at least one of the operations may be omitted or another operation may be performed additionally.

[0124] Reference Fig.12 When the user chooses to run the motion assistance mode of the wearable device 100, the wearable device 100 may perform the following operations to determine whether the wearable device 100 is worn on the user's body. In operation 1210, the wearable device 100 may obtain the motion value of the waist support frame 20 of the wearable device 100 through an inertial sensor (e.g., the inertial sensor 135 or the inertial sensor 522).

[0125] In operation 1220, the wearable device 100 may determine whether the motion of the waist support frame 20 is detected based on the motion value of the waist support frame 20. When the motion of the waist support frame 20 is not detected ("No" in operation 1220) (for example, the motion value of the waist support frame 20 is 0), in operation 1230, the wearable device 100 may provide a guidance notification to the user (for example, a guidance voice says: "Use it after wearing the wearable device") to guide the user to wear the wearable device 100.

[0126] When the motion of the waist support frame 20 is detected ("yes" in operation 1220), in operation 1240, the wearable device 100 may perform a test to verify whether the wearable device 100 is worn normally. The wearable device 100 may generate a shaking motion based on the test torque used for the test. When the shaking motion is generated, the wearable device 100 may obtain sensor data including motion information of components of the wearable device 100 (e.g., the first leg driving frame 55, the second leg driving frame 50, and the waist support frame 20) through the sensor module.

[0127] In operation 1250, the wearable device 100 may determine whether the maximum value of the action value of the component of the wearable device 100 included in the sensor data is greater than or equal to the threshold value. The wearable device 100 may determine whether the maximum value of the action value is greater than or equal to the threshold value based on the change in the action value between the support frame of the wearable device 100 before the test torque is generated and after the test torque is generated and moved to the maximum limit.

[0128] When the maximum value of the action value of the component of the wearable device 100 is greater than or equal to the threshold ("Yes" in operation 1250), in operation 1230, the wearable device 100 may provide a guidance notification to the user (for example, a guidance voice says: "Please wear the wearable device correctly" or "Please tighten the fastener on the right leg") to guide normal wearing.

[0129] When the maximum value of the motion value of the component of the wearable device 100 is less than the threshold value ("No" in operation 1250), in operation 1260, the wearable device 100 may initialize (or calibrate) the sensor data of the sensor module of the wearable device 100 after stopping the test. The initialization process of the sensor data may be a process of adjusting the sensor data output from the sensor module to a reference value when the user takes a preparation posture or a basic posture. Because the body state (e.g., the leg angle or the inclination of the trunk) may vary according to the preparation posture or the basic posture of the user, the sensor data output from the sensor module 520 may be initialized to accurately sense the user's physical fitness. In an embodiment, when the initialization of the sensor data fails, the wearable device 100 may generate a shaking motion or provide a guidance notification (e.g., a guidance voice saying: "Please stand up straight") to notify the initialization failure. Then, in operation 1270, the wearable device 100 may start the drive for the motion assist mode.

[0130] Fig.13 is a diagram illustrating a combination of tests for performing a wearing detection function according to an embodiment.

[0131] Reference Fig.13In the test for performing the wear detection function, the combination of shaking actions can be various. For example, the wearable device 100 can perform the first test 1310 by combining the shaking action 1312 for shaking the second leg driving frame 50 in the front and upward direction, the shaking action 1314 for shaking the first leg driving frame 55 in the front and upward direction, and the shaking action 1316 for shaking the waist support frame 1020 in the rear and upward direction by shaking the first leg driving frame 55 and the second leg driving frame 50 in the front and upward direction at the same time. In the process of performing the first test 1310, various modifications can be made to the order of performing the shaking actions 1312, 1314 and 1316, the number of repetitions thereof, and the combination thereof.

[0132] In an embodiment, the test for performing the wear detection function may be modified and performed at a specific time interval (e.g., every day) or a specific number of tests. For example, the first test 1310 may be performed today, the second test 1320 having a combination of shaking motions different from the first test 1310 may be performed tomorrow, and the third test 1330 having a combination of shaking motions different from the second test 1320 may be performed the day after tomorrow. For each of the first test 1310, the second test 1320, and the third test 1330, the number of times the shaking motion is repeated and / or the intensity of the shaking motion may be set differently.

[0133] Such diversification of combinations of shaking motions can prevent or reduce the possibility of a user becoming bored due to a repetitive pattern of shaking motions during a test for performing a wear detection function.

[0134] Fig.14 is a diagram illustrating an example of a guidance notification according to an embodiment.

[0135] Reference Fig.14 According to the wear detection determination of the wearable device 100, the wearable device 100 may provide various guidance notifications to the user. The illustrated guidance notification may represent a pop-up message provided to the user by the electronic device 210. When a test is performed to verify whether the wearable device 100 is correctly worn on the user's body, a pop-up message 1410 may be provided to notify the user of the progress of the test.

[0136] After performing the test, the wearable device 100 may determine the test result based on the sensor data. "Based on" as used herein encompasses "at least based on". When it is determined that the wearable device 100 is not correctly worn on the user's body as a test result, the wearable device 100 may request the electronic device 210 to provide a guidance notification to guide the correct wearing of the wearable device 100, and the electronic device 210 may provide a guidance notification to the user to guide the correct wearing of the wearable device 100. For example, during the test, when the action value of the waist support frame 20 is large and it is determined that the waist fastener is not properly fastened, the electronic device 210 may provide a pop-up message 1430 to request the user to wear the waist fastener correctly. For example, during the test, it is detected that the maximum value of the action value of the leg drive frame (e.g., the first leg drive frame 55 and the second leg drive frame 50) is greater than or equal to the threshold, and it is determined that the thigh fastener (e.g., the first thigh fastener 2 and the second thigh fastener 1) is not worn on the user, the electronic device 210 may provide a pop-up message 1420 to request the user to fasten the thigh fastener. For example, when it is detected during the test that the maximum value of the action value of the second leg driving frame 50 is greater than the maximum value of the action value of the first leg driving frame 55 and it is determined that the second thigh fastener 1 of the left leg is looser than the first thigh fastener 2 of the right leg, the electronic device 210 may provide a pop-up message 1440 to request the user to tighten the second thigh fastener 1.

[0137] The contents of the pop-up messages 1410 , 1420 , 1430 , and 1440 described above as examples may be provided to the user in the form of a guiding voice.

[0138] It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to specific embodiments, but include various changes, equivalents or alternative forms with respect to the corresponding embodiments. For the description of the accompanying drawings, similar reference numerals may be used for similar or related components. It will be understood that, unless the relevant context clearly indicates otherwise, the singular form of the noun corresponding to the project may include one or more things. As used herein, each of "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and "A, B or C" may include any one or all possible combinations of the items listed together with the corresponding one of the phrases. Terms such as "first" and "second" may only be used to distinguish one component from another component in the discussion, and do not limit the components in other aspects (e.g., importance or order). It will be understood that if an element (e.g., a first element) is referred to as being “coupled with”, “coupled to”, “connected to”, or “connected to” another element (e.g., the second element) when the terms “operably” or “communicatively” are used or when the terms “operably” or “communicatively” are not used, the element may be directly (e.g., wired) connected to the other element, wirelessly coupled to the other element, or coupled to the other element via a third element.

[0139] As used in conjunction with various embodiments of the present disclosure, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "component," or "circuit"). A module may be a single integrated component adapted to perform one or more functions or a minimum unit or portion of the single integrated component. For example, depending on the embodiment, a module may be implemented in the form of an application specific integrated circuit (ASIC). Therefore, each "module" herein may include a circuit.

[0140] Software may include a computer program, a piece of code, an instruction, or some combination thereof, to independently or collectively instruct or configure a processing device to operate as required. Software and data may be implemented permanently or temporarily in any type of machine, component, physical or virtual device, computer storage medium, or device capable of providing instructions or data to a processing device or capable of being interpreted by a processing device. Software may also be distributed on a network-connected computer system so that the software is stored and run in a distributed manner. Software and data may be stored by one or more non-transitory computer-readable recording media. The embodiments described herein may be implemented as software including one or more instructions stored in a machine-readable storage medium (e.g., memory 514). For example, a processor of a machine may call and run at least one of the one or more instructions stored in a storage medium. This allows the machine to be operated to perform at least one function according to at least one instruction called. One or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term “non-transitory” means that the storage medium is a tangible device and does not include signals (eg, electromagnetic waves), but the term does not distinguish whether data is semi-permanently stored in the storage medium or temporarily stored in the storage medium.

[0141] According to example embodiments, the method according to example embodiments may be included and provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a CD-ROM) or distributed via an application store (e.g., PlayStore). TM ) online distribution (e.g. downloading or uploading), or directly between two user devices (e.g. smartphones). If distributed online, at least a part of the computer program product may be temporarily generated or at least temporarily stored in a machine-readable storage medium, such as a memory of a manufacturer's server, a server of an application store, or a relay server.

[0142] According to various embodiments, each of the components described above (e.g., a module or a program) may include a single entity or multiple entities, and some of the multiple entities may be separately provided in different components. According to various embodiments, one or more of the components described above may be omitted, or one or more other components may be added. Alternatively or additionally, multiple components (e.g., a module or a program) may be integrated into a single component. In this case, according to various embodiments, the integrated component may still perform one or more functions of the corresponding components in the multiple components in the same or similar manner as the manner in which the functions are performed by each of the multiple components before integration. According to an embodiment, the operations performed by a module, a program, or another component may be performed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations may be run in a different order or omitted, or one or more other operations may be added.

[0143] Although the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are intended to be illustrative rather than restrictive. It will also be understood by those skilled in the art that various changes in form and details may be made without departing from the true spirit and full scope of the present disclosure (including the appended claims and their equivalents). It will also be understood that any embodiment described herein may be used in conjunction with any other embodiment described herein.

Claims

1. A wearable device (100), the wearable device (100) being configured to be worn on a user's body, the wearable device (100) comprising: Driver module (530; 530-1), comprising a motor and / or circuit configured to generate a torque to be applied to the user's body; a leg drive frame (50; 55) configured to transmit the generated torque to the legs of the user; Thigh fastener (1; 2), connected to the leg drive frame (50; 55), and configured to connect the leg drive frame (50; 55) to the legs of the user; A sensor module (520) comprising one or more sensors configured to obtain sensor data including motion information about the leg-driven frame (50; 55); as well as The control module 510 comprises a control circuit configured to control the wearable device (100) based on the sensor data, wherein: The control module (510) is further configured to: A test is performed to determine whether the wearable device (100) is correctly worn on the leg of the user, and in the test, The driving module (530; 530-1) is controlled to generate a test torque so that the leg driving frame moves in a forward or backward direction on the wearable device (100), and whether the test is passed is determined based on sensor data obtained after the test torque is generated.

2. The wearable device according to claim 1, further comprising: A waist support frame is configured to be worn around the waist of the user, wherein: The control module is further configured to determine whether the test is passed based on a motion value of the lumbar support frame obtained after generating the test torque.

3. The wearable device (100) according to claim 1 or claim 2, wherein: The leg driving frame comprises: A first leg driving frame (55) configured to transmit the torque of the driving module to the right leg of the user; and The second leg driving frame (50) is configured to transmit the torque of the driving module to the left leg of the user.

4. The wearable device (100) according to claim 3, wherein: The driving module (530; 530-1) is also configured to generate the test torque through the control of the control module (510), so that at least one of the first leg driving frame (55) and the second leg driving frame (50) moves in the forward and / or backward direction of the wearable device (100).

5. The wearable device (100) according to claim 3, wherein: The driving module (530; 530-1) is also configured to generate a test torque through the control of the control module (510), so that at least one of the first leg driving frame (55) and the second leg driving frame (50) moves back and forth between the forward direction and the backward direction of the wearable device (100).

6. The wearable device (100) according to claim 3, wherein: The driving module (530; 530-1) is further configured to generate the test torque through the control of the control module (510), so that the first leg driving frame (55) and the second leg driving frame (50) move in the same direction.

7. The wearable device (100) according to any one of claims 1 to 6, wherein: The control module (510) is further configured to determine at least one of a moving direction in which the test torque is applied to the leg drive frame, a strength of the test torque, and an application mode of the test torque based on a user setting value selected by the user.

8. The wearable device (100) according to any one of claims 1 to 7, wherein: The sensor module (520) comprises an angle sensor configured to obtain an action value of the leg driving frame, and The control module (510) is further configured to determine whether the test is passed based on a threshold and an action value of the leg driving frame obtained after generating the test torque.

9. The wearable device (100) according to claim 8, wherein: The control module (510) is further configured to determine that the test is passed in response to a maximum value of the action value of the leg driving frame obtained after the test torque is generated being less than the threshold value.

10. The wearable device (100) according to claim 8, wherein: The control module (510) is further configured to determine that the test has failed in response to a maximum value of the action value of the leg driving frame obtained after the test torque is generated being greater than or equal to the threshold.

11. The wearable device (100) according to claim 10, wherein: The control module (510) is further configured to provide a guidance notification to the user to guide the correct wearing of the thigh fastener in response to determining that the test has not passed.

12. The wearable device (100) according to claim 10, wherein: The control module (510) is also configured to, in response to determining that the test has not passed, repeatedly perform the test based on the sensor data obtained by the sensor module (520) until it is determined that the wearable device (100) is correctly worn on the user's leg.

13. A method for operating a wearable device (100), the method comprising: Performing a test to determine whether the wearable device (100) is correctly worn on the user's body; as well as In response to determining that the test passes, driving the wearable device (100), wherein: The execution test includes: Generating a test torque by a drive module (530; 530-1) including a motor and / or a circuit; Obtaining sensor data including motion values ​​of a leg-driven frame of the wearable device (100) after generating the test torque; and A determination is made based on the sensor data as to whether the test passes.

14. The operating method according to claim 13, wherein: The execution test includes: Obtaining an action value of a waist support frame of the wearable device (100) after generating the test torque; and Whether the test is passed is determined based on the obtained motion value of the lumbar support frame.

15. A non-transitory computer-readable storage medium storing instructions, wherein: When the instructions are executed by a processor, the processor is caused to perform the operating method as claimed in claim 13 .

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