Wearable apparatus and operating method therefor

Abstract

This wearable apparatus may: measure a first joint angle of a user; measure a second joint angle of the user; generate a filter input filtered by a filter on the basis of a difference between first angle data obtained by measuring the first joint angle and second angle data obtained by measuring the second joint angle; filter the generated filter input by means of the filter such that a time point at which a torque rotation direction of a driving module is changed corresponds to a peak time point of the generated filter input by delaying a phase of the generated filter input by means of the filter; generate a torque on the basis of a filter output generated by the filtering; and provide the generated torque to the user.

Description

Wearable device and method of operation thereof

[0001] The embodiment relates to a wearable device and / or a method of operating the same.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who are unable to walk independently due to various diseases or accidents to perform walking exercises for rehabilitation and / or to assist with movement. Recently, as the aging society deepens, the number of people who have difficulty walking normally due to leg joint problems or who complain of discomfort when walking is increasing, and interest in walking assistance devices is also increasing. Walking assistance devices are worn on the user's body and provide the desired or necessary muscle strength to assist the user in exercising and / or walking, and can guide the user's walking so that the user can walk with a normal gait pattern.

[0003] In one embodiment, a wearable device may include a drive module including a motor and / or a circuit to generate a torque and provide the generated torque to a user, a first sensor to measure a first joint angle of the user, a second sensor to measure a second joint angle of the user, and at least one processor including a processing circuit. The at least one processor may individually and / or collectively generate a filter input filtered by a filter based on a difference between first angle data obtained by measuring the first joint angle by the first sensor and second angle data obtained by measuring the second joint angle by the second sensor. The at least one processor may individually and / or collectively perform filtering on the generated filter input through the filter such that a time of change in the torque rotational direction of the drive module corresponds to a peak time of the generated filter input by delaying a phase of the generated filter input. The at least one processor may individually and / or collectively control the drive module based on the generated filter output such that a torque based on the filter output generated by the filter is generated by the drive module.

[0004] In one embodiment, a wearable device may include a driving module that generates a torque and provides the generated torque to a user, one or more sensors that sense a movement of the user to obtain movement information of the user, and at least one processor including a processing circuit. The at least one processor may individually and / or collectively generate a filter input based on the obtained movement information. The at least one processor may individually and / or collectively perform filtering on the generated filter input through the filter such that a point in time of a change in a torque rotation direction of the driving module corresponds to a peak point in time of the generated filter input by delaying a phase of the generated filter input. The at least one processor may individually and / or collectively control the driving module based on the generated filter output such that a torque based on the filter output generated by the filtering is generated by the driving module.

[0005] According to one embodiment, a method for operating a wearable device may include an operation of measuring a first joint angle of a user and measuring a second joint angle of the user. The method for operating a wearable device may include an operation of generating a filter input based on a difference between first angle data obtained by measuring the first joint angle and second angle data obtained by measuring the second joint angle. The method for operating a wearable device may include an operation of filtering the generated filter input through the filter so that a time point of change in the torque rotation direction of the driving module corresponds to a peak time point of the generated filter input by delaying a phase of the generated filter input through the filter. The method for operating a wearable device may include an operation of generating a torque based on a filter output generated by the filtering. The method for operating a wearable device may include an operation of providing the generated torque to the user.

[0006] The above-described aspects and other aspects, features, and advantages of specific embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0007] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0008] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0009] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0010] FIG. 2b illustrates a left side view of a wearable device according to one embodiment.

[0011] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0012] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0013] FIG. 5 is a diagram illustrating an example of a configuration of an electronic device according to one embodiment.

[0014] FIG. 6 is a diagram illustrating an example of user movement information acquired by a wearable device according to one embodiment.

[0015] Figure 7 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0016] Figure 8 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0017] FIGS. 9, 10, and 11 are diagrams illustrating examples of filtering of a wearable device according to one embodiment.

[0018] FIG. 12 and FIG. 13 are diagrams illustrating examples of signal processing operations of a wearable device according to one embodiment.

[0019] FIG. 14 and FIG. 15 are drawings illustrating examples of the operation of a wearable device according to one embodiment.

[0020] FIG. 16 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0021] Figure 17 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0022] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0023] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0024] When a component is referred to as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least a third component(s) may be "connected," "coupled," or "joined" between the first component and the second component.

[0025] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "has" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0026] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0027] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0028]

[0029] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0030] Referring to FIG. 1A, a wearable device (110) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user may be a human or an animal, but is not limited thereto. The wearable device (110) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force of assistance force and / or resistance force to the user's body movement. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0031] When the wearable device (110) performs a walking assistance function to assist the user's walking, the wearable device (110) can assist the user's walking by providing assistance to the user's body, thereby assisting part or all of the user's legs. The wearable device (110) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (110) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0032] When the wearable device (110) performs an exercise function to enhance the user's exercise effect, the wearable device (110) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (110) is, for example, a hip-type wearable device, the wearable device (110) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (110) for exercise, and in this case, the wearable device (110) may provide resistance to the leg movement of the user's walking motion.

[0033] In various embodiments, for convenience of explanation, a hip-type wearable device (110) worn on the waist and legs is described as an example. However, as described above, the wearable device (110) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly thighs), and the shape and configuration of the wearable device (110) may vary depending on the body part on which it is worn.

[0034]

[0035] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0036] Referring to FIG. 1B, an electronic device (120) can communicate with a wearable device (110) and remotely control the wearable device (110). The electronic device (120) may be of various forms. The electronic device (120) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0037] In one embodiment, the electronic device (120) and / or the wearable device (110) may be connected to another wearable device (130). For example, the wearable device (110), the electronic device (120), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may be, for example, wireless earphones (131), a smart watch (132), or smart glasses (133), but is not limited to the aforementioned devices. The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0038] In one embodiment, the smart watch (132) can control the wearable device (110). When the smart watch (132) is connected to the electronic device (120) via a wireless communication link, and the electronic device (120) is connected to the wearable device (110) via a wireless communication link, the smart watch (132) can control the wearable device (110) via the electronic device (120). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (110) and control the wearable device (110).

[0039] In one embodiment, the electronic device (120) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (110) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (110).

[0040] In one embodiment, the electronic device (120) may communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0041] In one embodiment, the electronic device (120) may receive user profile information from the user. The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (120) may transmit the user profile information to the server (140).

[0042] In one embodiment, the electronic device (120) and / or the wearable device (110) may request the user to perform one or more target movements to determine (or check) the user's motor skills. The one or more target movements may include, for example, knee lifts, leg raises, etc. The knee lifts may be a movement in which the user starts in an upright position with both feet in contact with the ground, raises the legs as far back as possible without bending over, and then returns to the standing position. The leg raises may be a movement in which the user starts in an upright position with hands on a wall, raises the legs as far back as possible without bending over, and then returns to the standing position.

[0043] In one embodiment, a wearable device (110) may obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (120). The electronic device (120) may transmit the obtained movement information to a server (140).

[0044] In one embodiment, the server (140) may determine a user's target exercise amount for each exercise type (e.g., strength training, balance training, aerobic exercise) based on profile information and movement information received from the electronic device (120). The server (140) may transmit the target exercise amount for each exercise type to the electronic device (120).

[0045] In one embodiment, the server (140) may include a database storing information about a plurality of exercise programs that may be provided to the user. For example, the server (140) may manage a user account for a user of an electronic device (120) or a wearable device (110). The server (140) may store and manage exercise programs performed by the user and the results of the exercise programs, etc., in association with the user account.

[0046] In one embodiment, at least one of the wearable device (110), the electronic device (120), or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, improving muscle strength, improving physical strength, improving cardiopulmonary endurance, improving core stability, improving flexibility, or improving symmetry.

[0047] In one embodiment, at least one of the wearable device (110), the electronic device (120), or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may include one or more exercise types (e.g., running, lunging, etc.) to achieve the exercise goal. For example, running may be an exercise type for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise type for improving the user's core stability. Depending on the user's exercise goal, the combination of exercise types constituting each exercise program may vary. Even for the same exercise goal, the electronic device (120) may provide the user with various exercise programs based on combinations of multiple exercise types.

[0048] In one embodiment, a plurality of exercise types may be stored in a database in at least one of the wearable device (110), the electronic device (120), or the server (140). At least one of the wearable device (110), the electronic device (120), or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user in consideration of the user's exercise purpose or exercise performance status. For example, at least one of the wearable device (110), the electronic device (120), or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, the user may be recommended a new exercise program even when exercising daily under the same exercise goal, and the user may feel as if he or she is exercising differently from before by performing the new exercise program.

[0049] In one embodiment, the server (140) may store the user's exercise history information. The exercise history information may include, for example, evaluation results (e.g., exercise time, gait symmetry, etc.) of exercise previously performed by the user while wearing the wearable device (110). The server (140) may receive the exercise evaluation results from the wearable device (110) (or electronic device (120)) and store the exercise evaluation results.

[0050]

[0051] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0052] The wearable device (200) illustrated in FIGS. 2a and 2b may be an example of a wearable device (110).

[0053] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a base body (10), a base frame (20), a driving module (30), thigh fastening parts (40a, 40b), a main belt (50), and a leg driving frame (70a, 70b). Here, “each driving module” may include a motor and / or a circuit.

[0054] According to one embodiment, the base body (10) may be positioned on the user's lumbar region (waist region) while the user wears the wearable device (200). The base body (10) may be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The base body (10) may be hung over the user's buttocks (hip region) to prevent or reduce the wearable device (200) from being pulled downward by gravity while the user wears the wearable device (200). The base body (10) may distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The base body (10) may be connected to a base frame (20). Base frame connection elements (not shown) that may be directly or indirectly connected to the base frame (20) may be formed at both ends of the base body (10).

[0055] According to one embodiment, the base body (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., a processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to a state of the wearable device (200) (e.g., booting state, sensing state, etc.) may be provided (or output) to a user through the lighting unit (60).

[0056] According to one embodiment, the base frame (20) may extend from both ends of the base body (10). The user's lower back may be accommodated on the inside of the base frame (20). The base frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be directly or indirectly connected to an end of the base frame (20). A drive module (30) may be mounted on the base frame (20). The base frame (20) may include a connector (not shown) for mounting the drive module (30).

[0057] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0058] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring the user's left hip joint angle. The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring the user's right hip joint angle.

[0059] According to one embodiment, the first drive module (30a) may include a first actuator and a first reducer, and the second drive module (30b) may include a second actuator and a second reducer. An output terminal of the first actuator may be directly or indirectly connected to an input terminal of the first reducer, and an output terminal of the second actuator may be directly or indirectly connected to an input terminal of the second reducer.

[0060] According to one embodiment, a processor (e.g., a processor (310) to be described later) controls a first drive module (30a) by a first control signal (e.g., a first control signal to be described later) ) can be generated, and the first driving module (30a) can be controlled through the first control signal so that an external force (or torque) corresponding to the first control signal is generated. The first driving module (30a) can generate torque by driving the first actuator according to the first control signal. The torque generated through the first actuator can be reduced by the first reducer. The torque reduced by the first reducer can rotate the first leg driving frame (70a). The torque reduced by the first reducer can be provided to the user's left leg, for example, through the first leg driving frame (70a).

[0061] According to one embodiment, a processor (e.g., a processor (310) to be described later) controls a second drive module (30b) by a second control signal (e.g., a second control signal to be described later) ) can be generated, and the second driving module (30b) can be controlled through the second control signal so that an external force (or torque) corresponding to the second control signal is generated. The second driving module (30b) can generate torque by driving the second actuator according to the second control signal. The torque generated through the second actuator can be reduced by the second reducer. The torque reduced by the second reducer can rotate the second leg driving frame (70b). The torque reduced by the second reducer can be provided to the user's right leg, for example, through the second leg driving frame (70b).

[0062] Each "processor" herein may include a processing circuit and / or multiple processors. For example, the term "processor" as used herein, including in the claims, may include various processing circuits, including at least one processor, one or more of which may be configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, when "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms may include, for example, without limitation, a situation where one processor performs some of the functions and other processor(s) perform the remainder of the functions, and may also include a situation where a single processor may perform all of the functions. Additionally, the at least one processor may include a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0063] According to one embodiment, the leg drive frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The leg drive frame (70a, 70b) may include a first leg drive frame (70a) for supporting the user's left leg and a second leg drive frame (70b) for supporting the user's right leg.

[0064] According to one embodiment, the leg drive frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 30b) (e.g., torque reduced by the reducer) to the user's thigh. One end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the drive module (30a, 30b) and can rotate, and the other end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the thigh fastening portion (40a, 40b), so that the leg drive frame (70a, 70b) can support the user's thigh while transmitting the torque generated by the drive module (30a, 30b) to the user's thigh. For example, the leg drive frame (70a, 70b) can push or pull the user's thigh. The leg drive frame (70a, 70b) can extend along the length direction of the user's thigh. The leg drive frame (70a, 70b) can be bent to wrap around at least a portion of the user's thigh.

[0065] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the leg drive frame (70a, 70b) and can secure the leg drive frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first leg drive frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second leg drive frame (70b) to the user's right thigh.

[0066] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg drive frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0067] According to one embodiment, the first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing or reducing the user's thigh from being dislodged from the leg drive frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0068] In one embodiment, the first strap may encircle the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and the second strap may encircle the remaining portion of the user's right thigh that is not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0069] According to one embodiment, the main belt (50) may be directly or indirectly connected to the base frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be directly or indirectly connected to both ends of the base frame (20), respectively. The main belt (50) can be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction that the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) can be directly or indirectly interconnected while the user is wearing the wearable device (200). The main belt (50) can distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0070] Referring to FIG. 2b, the base body (10) can be mounted on the back of the user's lower back and can support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first driving module (30a) can be placed on the user's left lower back. The base frame (20) can extend from an end of the base body (10) and be inclined in a direction toward the first driving module (30a). The first main belt (50a) mounted on the base frame (20) can be in a state of wrapping around the user's left abdomen.

[0071]

[0072] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0073] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a PMIC (Power Management Integrated Circuit) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (380, 380-1) (e.g., the first and second actuators described with reference to FIG. 2A), and a communication module (390).

[0074] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0075] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (110) and the wearable device (200).

[0076] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0077] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to an encoder or a Hall sensor, but is not limited thereto.

[0078] According to one embodiment, the angle sensor (320) can measure (or sense) at least one of an angle, an angular velocity, or an angular acceleration of a first joint of the user (e.g., a left hip joint, a left knee joint, etc.). The angle sensor (320) measures the angle of the first joint and generates (or acquires) first angle data (or first angle values) (e.g., ) can be transmitted to the processor (310). For example, the angle sensor (320) can measure the angle of the user's left hip joint to generate (or obtain) first angle data (or first angle values) and transmit the first angle data (or first angle values) to the processor (310).

[0079] According to one embodiment, the angle sensor (320-1) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a second joint of the user (e.g., a right hip joint, a right knee joint, etc.). The angle sensor (320-1) measures the angle of the second joint and generates (or obtains) second angle data (or second angle values) (e.g., ) can be transmitted to the processor (310). For example, the angle sensor (320-1) can measure the user's right hip joint angle to generate (or obtain) second angle data (or second angle values) and transmit the second angle data (or second angle values) to the processor (310).

[0080] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0081] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0082] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0083] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), angle sensors (320, 320-1), memory (350), IMU (360), motors (380, 380-1), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0084] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module (e.g., a speaker), a vibration output module, or a display module (e.g., a lighting unit (60)). For example, the processor (310) can transmit status information of the battery (330) to the electronic device (120) through the communication module (390), and the electronic device (120) can display the status information of the battery (330) on a display.

[0085] According to one embodiment, the IMU (360) can acquire or measure the acceleration and / or rotation angle of the user. For example, the IMU (360) can measure or acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration and / or rotation angle (e.g., roll, pitch, yaw) according to the user's movement (e.g., walking or exercising). The IMU (360) can transmit the acquired acceleration and / or rotation angle to the processor (310).

[0086] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0087] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0088] According to one embodiment, the processor (310) may control the drive module (30) (e.g., motor driver circuits (370, 370-1)) so that the drive module (30) (e.g., motors (380, 380-1)) may generate torque. As will be described in detail below, the processor (310) may generate a filter input (or filter input data) based on a difference between the first angle data and the second angle data. This filter input may be otherwise expressed as the first data. The processor (310) may perform filtering (e.g., filtering through a low-pass filter) on the filter input to generate a filter output (or filter output data) having a phase delayed from the phase of the filter input. This filter output may be otherwise expressed as the second data. The processor (310) may delay the phase of the filter input through the filter so that the change point in the torque rotation direction of the drive module (30) corresponds to the peak point of the filter input. The processor (310) can control the drive module (30) based on the generated filter output so that torque based on the generated filter output is generated by the drive module (30). The drive module (30) (e.g., motor driver circuits (370, 370-1)) can generate torque by driving the motors (380, 380-1) under the control of the processor (310).

[0089] According to one embodiment, the communication module (390) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the wearable device (300, 300-1) and an external electronic device, and the performance of communication through the established communication channel. The communication module (390) may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (390) 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) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0090] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0091] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, a speaker. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0092] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, a vibration motor. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0093] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the base body (10) of FIGS. 2a and 2b.

[0094]

[0095] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0096] Referring to FIG. 4, a wearable device (110) can communicate with an electronic device (120) (e.g., a smartphone or a smartwatch). For example, the electronic device (120) may be a user terminal of a user using the wearable device (110) or a dedicated controller device for the wearable device (110). According to one embodiment, the wearable device (110) and the electronic device (120) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0097] According to one embodiment, the electronic device (120) may execute an application for checking the status of the wearable device (110) or controlling or operating the wearable device (110). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (110) may be displayed on the display (410) of the electronic device (120). The UI may be, for example, a graphical user interface (GUI).

[0098] According to one embodiment, the wearable device (110) may receive a level value of the user's exercise intensity (e.g., exercise intensity of a target exercise) and / or control information indicating an operating mode (e.g., assist mode or resistance mode) of the wearable device (110) from the electronic device (120) and / or another wearable device (130).

[0099] The level value of the exercise intensity may be, for example, a value related to the strength of the external force (or torque) provided to the user by the wearable device (110). The higher the level value, the stronger the external force (or torque) provided to the user. The wearable device (110) may use the level value to determine the magnitude of the gain described below. For example, the wearable device (110) may store a table in which the level value and the magnitude of the gain are mapped. Table 1 below shows an example of the table.

[0100] Exercise intensity gain magnitude level value = 1K1 level value = 2K2 level value = 3K3 level value = 4K4 level value = 5K5

[0101] In Table 1 above, K1 to K5 can be greater than 0.

[0102] Table 1 classifies exercise intensity into five levels, but this is only an example, and exercise intensity is not limited to five levels.

[0103] The assist mode may indicate an operating mode in which the wearable device (110) provides assistive force (or assistive torque) to the user. The wearable device (110) may determine the operating mode as the assistive mode according to received control information. The wearable device (110) may determine the sign of the gain in the assist mode as the first sign (e.g., plus). The resistance mode may indicate an operating mode in which the wearable device (110) provides resistive force (or resistive torque) to the user. The wearable device (110) may determine the operating mode as the resistance mode according to received control information. The wearable device (110) may determine the sign of the gain in the resistance mode as the second sign (e.g., minus).

[0104] For example, the wearable device (110) may receive control information (e.g., level value = 3 / operation mode = assist mode) from the electronic device (120) and / or another wearable device (130). The wearable device (110) may determine the value of the gain as a positive value (e.g., +K3) based on the received control information (e.g., level value = 3 / operation mode = assist mode). For another example, the wearable device (110) may receive control information (e.g., level value = 2 / operation mode = resistance mode) from the electronic device (120) and / or another wearable device (130). The wearable device (110) may determine the value of the gain as a negative value (e.g., -K2) based on the received control information (e.g., level value = 2 / operation mode = resistance mode).

[0105] According to one embodiment, the wearable device (110) may transmit sensor data measured by a sensor of the wearable device (110) (e.g., at least one of the angle sensor (320), the angle sensor (320-1), or the IMU (360)) to the electronic device (120). The electronic device (120) may analyze the sensor data and provide the resulting information (e.g., walking ability information, exercise ability information, exercise motion evaluation information) to the user through a GUI screen.

[0106]

[0107] FIG. 5 is a diagram illustrating an example of a configuration of an electronic device according to one embodiment.

[0108] Referring to FIG. 5, the electronic device (120) may include a processor (510), a memory (520), a communication module (530), a display module (540), an audio output module (550), and an input module (560). In one embodiment, the electronic device (120) may omit at least one of these components (e.g., an audio output module (550)), or may have one or more other components added (e.g., a sensor module, a haptic module, a battery).

[0109] The processor (510) may control at least one other component (e.g., hardware or software component) of the electronic device (120) and perform various data processing or operations. According to one embodiment, as at least a part of the data processing or operations, the processor (510) may store commands or data received from other components (e.g., communication module (530)) in the memory (520), process the commands or data stored in the memory (520), and store result data in the memory (520).

[0110] According to one embodiment, the processor (510) may include a main processor (e.g., a central processing unit or an application processor) or a secondary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0111] The memory (520) can store various data used by at least one component (e.g., the processor (510) or the communication module (530)) of the electronic device (120). The data can include, for example, input data or output data for a program (e.g., an application) and commands related thereto. The memory (520) can include at least one instruction executable by the processor (510). The memory (520) can include volatile memory or non-volatile memory.

[0112] The communication module (530) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (120) and another electronic device (e.g., wearable device (110), another wearable device (130), server (140)), and the performance of communication through the established communication channel. The communication module (530) may include a communication circuit for performing a communication function. The communication module (530) may operate independently from the processor (510) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (530) may include a wireless communication module (e.g., a Bluetooth 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 module) that performs wireless communication. The communication module (530) may, for example, transmit a control command to the wearable device (110) and receive at least one of sensor data including body movement information of a user wearing the wearable device (110), status data of the wearable device (110), or control result data corresponding to the control command from the wearable device (110).

[0113] The display module (540) can visually provide information to an external device (e.g., a user) of the electronic device (120). The display module (540) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (540) can further include a control circuit for controlling display operation. In one embodiment, the display module (540) can further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch. The display module (540) can output a user interface screen for controlling the wearable device (110) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (110).

[0114] The audio output module (550) can output an audio signal to the outside of the electronic device (120). The audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (110). For example, if it is determined that the wearable device (110) is not normally worn on the user's body, the audio output module (550) can output a guide voice to inform the user of the normal wearing of the wearable device (110) or to induce the user to wear the wearable device (110) normally.

[0115] The input module (560) can receive commands or data to be used in a component of the electronic device (120) (e.g., the processor (510)) from an external source (e.g., a user) of the electronic device (120). The input module (560) can include an input component circuit and can receive user input. The input module (560) can include, for example, a key (e.g., a button) and / or a touch recognition circuit for recognizing a touch on a screen.

[0116]

[0117] FIG. 6 is a diagram illustrating an example of user movement information acquired by a wearable device according to one embodiment.

[0118] In the example illustrated in FIG. 6, the user can perform walking, and the wearable device (110) can measure the first joint angle (e.g., left hip angle) and the second joint angle (e.g., right hip angle) of the user while walking. In FIG. 6, the wearable device (110) measures the first joint angle of the user and obtains first angle data (or first angle values) ( )(621) and the second angle data (or second angle values) obtained by measuring the user's second joint angle. )(622) is shown. The first joint angle and the second joint angle may change depending on the user's movement. The first angle data (or first angle values) (621) may correspond to, for example, time series data (or time series angle values) representing a change in the first joint angle, and the second angle data (622) may correspond to, for example, time series data (or time series angle values) representing a change in the second joint angle.

[0119] In Fig. 6, an example of first angular velocity data (631) in which a wearable device (110) calculates an angular velocity of a first joint angle based on first angular data (621) and an example of second angular velocity data (632) in which an angular velocity of a second joint angle is calculated based on second angular data (622) are illustrated. The first angular velocity data (631) may correspond to, for example, time series data (or time series angular velocity values) representing a change in angular velocity of the first joint, and the second angular velocity data (632) may correspond to, for example, time series data (or time series angular velocity values) representing a change in angular velocity of the second joint.

[0120] The user's movement information acquired by the wearable device (110) may include, for example, at least one of first angle data (621), second angle data (622), first angular velocity data (631), or second angular velocity data (632).

[0121] At time point (611), the user's second joint (e.g., the right hip joint) may be maximally flexed forward. In the example illustrated in FIG. 6, the front of the user may be an area with a negative angular value, and the rear of the user may be an area with a positive angular value. At time point (611), the user's second joint (e.g., the right hip joint) may be maximally flexed forward, and thus, the second angle data (622) at time point (611) may have a negative value (e.g., a negative peak value). Additionally, the angular velocity value of the second angular velocity data (632) at time point (611) may be 0. At the time point (611), the angular velocity value of the second angular velocity data (632) is 0, and after the time point (611), the angular velocity value of the second angular velocity data (632) can be positive, so that the processor (310) can recognize that the rotation direction of the user's second joint changes from the first direction (e.g., the counterclockwise direction in FIG. 6) to the second direction (e.g., the clockwise direction in FIG. 6) through the second angular velocity data (632) (or the angular velocity values ​​of the second angular velocity data (632)).

[0122] Between the time points (611) and (612), there may be a state in which the user's first joint (e.g., the left hip joint) is maximally spread backward (e.g., the angular velocity value of the first angular velocity data (631) is 0). After the user's first joint is maximally spread backward, the user's first joint can rotate forward. The processor (310) can recognize that the rotation direction of the user's first joint changes from the second direction (e.g., the clockwise direction in FIG. 6) to the first direction (e.g., the counterclockwise direction in FIG. 6) after the user's first joint is maximally spread backward through the first angular velocity data (631) (or the angular velocity values ​​of the first angular velocity data (631)) between the time points (611) and (612).

[0123] At a point in time (612), the user's first joint (e.g., the left hip joint) can rotate forward, and the user's left leg and right leg can intersect. At a point in time (612), the left leg that is rotating forward can intersect with the right leg. At a point in time (612), the angle value of the first angle data (621) and the angle value of the second angle data (622) can be the same. The processor (310) can recognize the point in time when the difference between the angle value of the first angle data (621) and the angle value of the second angle data (622) becomes 0 as the point in time when the user's two legs intersect.

[0124] At the time point (613), the user's first joint may be maximally spread forward. At the time point (613), the first angle data (621) may have a peak value (e.g., a negative peak value), and the angular velocity value of the first angular velocity data (631) may be 0. The processor (310) may recognize that the rotation direction of the user's first joint changes from the first direction (e.g., the counterclockwise direction of FIG. 6) to the second direction (e.g., the clockwise direction of FIG. 6) after the time point (613) through the first angular velocity data (631) (or the angular velocity values ​​of the first angular velocity data (631).

[0125] Between the time point (613) and the time point (614), there may be a state in which the user's second joint is maximally spread backward (e.g., a state in which the angular velocity value of the second angular velocity data (632) is 0). After the user's second joint is maximally spread backward, the user's second joint can rotate forward. The processor (310) can recognize that the rotation direction of the user's second joint changes from the second direction (e.g., the clockwise direction in FIG. 6) to the first direction (e.g., the counterclockwise direction in FIG. 6) after the user's second joint is maximally spread backward through the second angular velocity data (632) (or the angular velocity values ​​of the second angular velocity data (632)) between the time point (613) and the time point (614).

[0126] At point (614), the user's second joint can rotate forward, and the user's right leg and left leg can intersect. At point (614), the right leg that is rotating forward can intersect the left leg. At point (614), the angle value of the first angle data (621) and the angle value of the second angle data (622) can be the same. The processor (310) can recognize the point in time when the difference between the angle value of the first angle data (621) and the angle value of the second angle data (622) becomes 0 as the point in time when the user's two legs intersect.

[0127] At point (615), the user's second joint may be maximally extended forward. At point (615), the second angle data (622) may have a peak value (e.g., a negative peak value), and the angular velocity value of the second angular velocity data (632) may be 0.

[0128] According to one embodiment, the wearable device (110) may determine a gait cycle (or one period of a gait cycle) representing a period in which the user's walking posture is repeated using at least some of the user's movement information (e.g., the first angle data (621), the second angle data (622), the first angular velocity data (631), and / or the second angular velocity data (632)). For example, at point (611) of FIG. 6, the user may perform a walking posture in which the right leg is rotated forward as much as possible, and at point (615), the user may again perform a walking posture in which the right leg is rotated forward as much as possible. The walking posture at point (611) may be repeated at point (615). The processor (310) may recognize each of point (611) and point (615) through at least one of the second angle data (622) and the second angular velocity data (632), and may determine a time interval between points (611) and (615) as the user's gait cycle. Embodiments of determining a user's gait cycle are not limited to the examples described above.

[0129]

[0130] Figure 7 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0131] Referring to FIG. 7, in operation 710, the wearable device (110) can measure a first joint angle of the user and measure a second joint angle of the user. For example, the angle sensor (320) can measure the first joint angle and transmit first angle data (e.g., first angle data (621) of FIG. 6) obtained by measuring the first joint angle to the processor (310). The angle sensor (320-1) can measure the second joint angle and transmit second angle data (e.g., second angle data (622) of FIG. 6) obtained by measuring the second joint angle to the processor (310).

[0132] In operation 720, the wearable device (110) measures the first joint angle and obtains first angle data ( ) and the second angle data obtained by measuring the second joint angle ( ) filtered by the filter based on the difference between the filter input (or filter input data or filter input values) ) can be created.

[0133] According to one embodiment, the processor (310) receives second angle data ( ) is the result of applying a trigonometric function (e.g., sine function) to it (e.g., ) and first angle data ( ) is the result of applying a trigonometric function (e.g., the sin function) to (e.g., ) can be used to generate a filter input. For example, the processor (310) can generate a filter input according to the following mathematical expression 1. and Filter input corresponding to the difference between ( ) can be created.

[0134] [Mathematical Formula 1]

[0135]

[0136] According to one embodiment, the processor (310) receives second angle data ( ) is the result of applying a hyperbolic function (e.g., hyperbolic tangent (tanh) function) to it (e.g., ) and first angle data ( ) is the result of applying a hyperbolic function (e.g. tanh function) to (e.g. ) can be used to generate a filter input. For example, the processor (310) can generate a filter input according to the following mathematical expression 2. and Filter input corresponding to the difference between ( ) can be created.

[0137] [Equation 2]

[0138]

[0139] According to one embodiment, the processor (310) receives second angle data ( ) and the first angle data ( ) difference between )cast We can create a filter input by dividing it into . Here, can represent the angle at which the hip joint can rotate maximally and / or significantly. For example, the processor (310) may input a filter ( according to the following mathematical expression 3 ) can be created.

[0140] [Equation 3]

[0141]

[0142] At operation 730, the wearable device (110) inputs a filter ( )(yes: , , or ) can perform filtering. For example, the processor (310) can filter input ( ) can perform filtering. As will be explained in detail below, filters (e.g., low-pass filters) can have the property of delaying the phase of a given input. The filter output generated by the filtering ( ) is filtered by the filter input ( ) may have a phase delayed by a first phase value (e.g., 90 degrees) from the phase of the drive module (30). The processor (310) may delay the phase of the filter input by the first phase value through the filter so that the change point in the torque rotation direction of the drive module (30) (e.g., the change point from the first direction to the second direction or the change point from the second direction to the first direction) corresponds to the change point in the rotation direction of the joint. The filtering of operation 730 will be described later with reference to FIGS. 9, 10, and 11.

[0143] In operation 740, the wearable device (110) may generate a torque (e.g., an assist torque or a resistive torque) based on a filter output generated by filtering.

[0144] In one embodiment, the filter output may be, for example, a digital signal. In operation 740, the processor (310) converts the filter output through a converter (e.g., converter (1210) to be described with reference to FIGS. 12 and 13) to a converted signal (e.g., to be described later). ) can be generated. The generated conversion signal may be, for example, an analog signal (e.g., a voltage signal or a current signal). The processor (310) can amplify the conversion signal through an amplifier (e.g., an amplifier (1220) to be described through FIGS. 12 and 13), and transmit the amplified conversion signal to the driving module (30) to generate the amplified conversion signal (e.g., to be described later). ) can be controlled to generate a torque corresponding to the driving module (30).

[0145] In operation 750, the wearable device (110) can provide the generated torque to the user. If the rotational direction of the torque changes at the same time as the rotational direction of the user's joint changes, the user can experience a natural torque that matches the user's movement. The wearable device (110) according to one embodiment can change the rotational direction of the torque at the time when the rotational direction of the user's joint changes through phase delay so as to provide the user with a natural torque that matches the user's movement. The wearable device (110) can generate a filter output having a phase that is delayed by a first phase value from the phase of the filter input through a filter, and can generate a torque based on the filter output. Through this phase delay, the wearable device (110) can change the rotational direction of the torque when the rotational direction of the user's joint changes.

[0146] According to one embodiment, the wearable device (110) can operate in an assist mode. In the assist mode, the wearable device (110) can provide a torque to the user in the same rotational direction as the rotational direction of the joint. The wearable device (110) can change the rotational direction of the torque from the first direction to the second direction when the rotational direction of the user's joint changes from the first direction to the second direction. The wearable device (110) can operate in a resistance mode. In the resistance mode, the wearable device (110) can provide a torque to the user in the opposite rotational direction to the rotational direction of the joint. The wearable device (110) can change the rotational direction of the torque from the second direction to the first direction when the rotational direction of the user's joint changes from the first direction to the second direction.

[0147]

[0148] Figure 8 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0149] Referring to FIG. 8, in operation 810, the wearable device (110) can determine the user's gait cycle. The wearable device (110) can determine the user's gait cycle using the user's movement information.

[0150] For example, as described through FIG. 6, in operation 810, the processor (310) can recognize each of the time points (611) and (615) through at least one of the second angle data (622) and the second angular velocity data (632), and can determine the time interval between the time points (611) and (615) as the user's gait cycle.

[0151] For another example, in operation 810, the processor (310) may determine a time interval between two adjacent positive peak values ​​of the first angular data (621), a time interval between two adjacent positive peak values ​​of the second angular data (622), a time interval between two adjacent positive peak values ​​of the first angular velocity data (631), or a time interval between two adjacent positive peak values ​​of the second angular velocity data (632) as the user's gait cycle.

[0152] For another example, in operation 810, the processor (310) may recognize a point of intersection (e.g., point (612) of FIG. 6) between a first leg (e.g., left leg) and a second leg (e.g., right leg) that are rotating forward using the first angle data (621) and the second angle data (622), and may recognize a point of intersection where the first leg and the second leg that are rotating forward intersect again using the first angle data (621) and the second angle data (622). The processor (310) may determine a time interval between each recognized point of intersection as a gait cycle of the user.

[0153] For another example, in operation 810, the processor (310) may receive information (e.g., 3-axis acceleration and / or rotation angle) acquired by the IMU (360) from the IMU (360). The processor (310) may use at least some of the information received from the IMU (360) to recognize a point in time when one foot of the user touches the ground and a point in time when one foot touches the ground again, and may determine a time interval between each recognized point in time as the user's gait cycle.

[0154] In operation 820, the wearable device (110) can determine the cutoff frequency value of the filter using the determined gait cycle.

[0155] For example, the processor (310) may be a mathematical The cutoff frequency of the filter in [rad / s] ( ) can be determined. Here, can represent angular frequency, can represent the user's gait cycle. The user's gait cycle ( ) can be the user's walking frequency value. The filter can have the user's walking frequency value as the cutoff frequency value.

[0156] In operation 830, the wearable device (110) can determine a filter parameter value of the filter based on the determined cutoff frequency value.

[0157] The filter output of a filter (e.g., a second-order Butterworth low-pass filter) can be expressed, for example, by the following mathematical expression (4).

[0158] [Equation 4]

[0159]

[0160] In the above mathematical equation 4, , , , , and Each can represent a filter parameter (or filter coefficient). and can be expressed by the mathematical formula 5 below, , , and can be expressed by the mathematical formula 6 below.

[0161] [Equation 5]

[0162]

[0163] [Equation 6]

[0164] ,

[0165] The processor (310) uses the above mathematical expression 5 and the determined cutoff frequency value. The value of can be decided by, The value of can be determined. The processor (310) is determined according to the above mathematical expression 6. The value of can be decided by, The value of can be determined by the value of The value of can be determined by the value of .

[0166] As will be described later, the processor (310) determines the filter parameter values ​​(or filter coefficient values) (e.g., , , , , and You can perform filtering on the filter input using each value.

[0167] Below, in the above mathematical formula 4 The derivation process is briefly explained.

[0168] The transfer function of a second-order low-pass filter (e.g., a second-order Butterworth low-pass filter) ( ) can be expressed by the mathematical formula 7 below.

[0169] [Equation 7]

[0170]

[0171] In the above mathematical expression 7, n can represent the order.

[0172] The above transfer function () allows the n-th order Butterworth low-pass filter to be used in the time domain (e.g., discrete time domain). ) can be applied to the ZOH (zero-order hold) discretization method (e.g., bilinear transformation). According to the bilinear transformation, the above mathematical expression 7 Is can be replaced with . Here, It can be, can represent the sampling time. The mathematical expression 8 below is the transfer function ( ) may correspond to the bilinear transformation result.

[0173] [Equation 8]

[0174]

[0175] The above mathematical expression 8 can be expressed as the following mathematical expression 9.

[0176] [Equation 9]

[0177]

[0178] The above mathematical expression 9 can be expressed as the following mathematical expression 10.

[0179] [Equation 10]

[0180]

[0181] in the z domain and Each of them can correspond to (t-1) and (t-2) in the time domain. In the above mathematical expression 10, When converted to the time domain, it can be expressed by the above mathematical equation 4.

[0182]

[0183] FIGS. 9, 10, and 11 are diagrams illustrating examples of filtering of a wearable device according to one embodiment.

[0184] Referring to FIG. 9, the processor (310) inputs a filter (910) through a filter ( ) to perform filtering on the filter output ( ) can be created.

[0185] The processor (310) inputs the filter through the filter ( ) is filtered at each point in time according to the above mathematical expression 4. may include actions that calculate the value of .

[0186] for example, It may be, and the memory (or buffer) of the wearable device (110) The value of (e.g. point in time) The value of the filter output at the time of The value of (e.g. point in time) The value of the filter output at the time of The value of (e.g. point in time) The value of the filter input when ), and The value of (e.g. point in time) The value of the filter input at the time of the processor (310) may be stored. The value of the filter input when (e.g. You can obtain the value of The value of, The value of, The value of, The value of , and The value of can be calculated. The processor (310) is calculated according to the above mathematical expression 4. You can calculate the value of and store it in a buffer (or memory). can store the value of .

[0187] It can be, and the memory (or buffer) The value of (e.g. point in time) The value of the filter output at the time of The value of (e.g. point in time) The value of the filter output at the time of The value of (e.g. point in time) The value of the filter input when ), and The value of (e.g. point in time) The value of the filter input at the time of the processor (310) may be stored. The value of the filter input when (e.g. You can obtain the value of The value of, The value of, The value of, The value of , and The value of can be calculated. The processor (310) is calculated according to the above mathematical expression 4. can calculate the value of , The value of can be stored in a buffer (or memory). In this way, filtering is performed at each point in time by the processor (310) according to the above mathematical expression 4. may include actions that calculate the value of .

[0188] According to one embodiment, the filter (910) may have a cutoff frequency value corresponding to the user's gait cycle (or gait frequency value). The filter (910) may be a second-order low-pass filter (e.g., a second-order Butterworth low-pass filter). The filter (910) may have an amplitude response characteristic that reduces the size of the filter input by 3 dB at the cutoff frequency value (e.g., the user's gait frequency value) and a phase response characteristic that delays (or shifts) the phase of the filter input by 90 degrees. FIG. 10 illustrates examples of the amplitude response characteristic (1010) and the phase response characteristic (1020) of the filter (910).

[0189] In one embodiment, the filter input ( ) is based on data collected by the user's walking (e.g., first angle data (621) and second angle data (622)), and the filter input ( ) can have the user's walking frequency value. The filter (910) can have the user's walking frequency value as a cutoff frequency value. The filter (910) can delay the phase of the input by 90 degrees at the cutoff frequency value according to the phase response characteristic (1020), so that the filter input ( ) can delay the phase by 90 degrees, and the filter output ( ) is the filter input ( ) can have a phase that is 90 degrees behind the phase of the signal.

[0190] Phase delay can cause time delay. Filter input ( ) For example, simply In other words, the filter output has a phase delay of 90 degrees ( ) is for example can be expressed as filter input ( ) can be expressed as a graph (1110) of Fig. 11, and the filter output ( ) can be expressed as a graph (1120) of Fig. 11. As in the example shown in Fig. 11, the filter output ( )(1120) is the filter input( )(1110) may be delayed (or lagged) by a time value corresponding to a delayed phase (or phase difference) (e.g., 90 degrees). When the delayed time value is, for example, Δt, the delayed phase value (e.g., 90 degrees) may be “(Δt / gait cycle (T)) × 360 degrees”. By this phase delay (or time delay), the wearable device (110) may change the rotational direction of the torque at the time of changing the rotational direction of the joint.

[0191] According to one embodiment, the filter (910) may be a digital filter and implemented in software. The processor (310) may execute software implementing the filter (910) and perform filtering of the filter (910) according to the execution of the software. Without being limited thereto, the filter (910) may be implemented in hardware, for example, and may be included in the processor (310) or located externally to the processor (310).

[0192]

[0193] FIG. 12 and FIG. 13 are diagrams illustrating examples of signal processing operations of a wearable device according to one embodiment.

[0194] According to one embodiment, the wearable device (110) outputs a filter ( ) can perform a signal processing operation (e.g., a conversion operation of the converter (1210) of FIGS. 12 and 13 and / or an amplification operation of the amplifier (1220)). The wearable device (110) can perform a signal generated by performing the signal processing operation (e.g., an amplified conversion signal of FIGS. 12 and 13). )) is transmitted to the drive module (30), and the amplified conversion signal ( )) can be generated by the drive module (30).

[0195] According to one embodiment, the wearable device (110) outputs a filter ( ) and / or an amplifier (1220) that amplifies the output signal of the converter (1210) (e.g., the conversion signal of FIGS. 12 and 13). As in the example illustrated in FIG. 12, the converter (1210) and the amplifier (1220) may be included in the processor (310). However, the present invention is not limited thereto, and as in the example illustrated in FIG. 13, the converter (1210) and the amplifier (1220) may be located outside the processor (310).

[0196] According to one embodiment, a wearable device (110) (e.g., processor (310)) outputs a filter ( ) to convert the converted signal ( ) can be generated. The converter (1210) may include, for example, a digital-to-analog converter (DAC). The wearable device (110) (e.g., processor (310)) outputs a filter output in the form of a digital signal through the converter (1210). ) to convert the signal into an analog signal format ( ) can be generated. The converter (1210) generates a conversion signal ( ) can be transmitted to the amplifier (1220).

[0197] According to one embodiment, a wearable device (110) (e.g., processor (310)) converts a signal ( ) can be amplified. For example, the amplifier (1220) can amplify the gain related to the torque intensity ( ) depending on the value of the conversion signal ( ) can be amplified, and the amplified conversion signal ( ) can be output. The processor (310) outputs the amplified conversion signal ( ) can be used to control the drive module (30).

[0198] According to one embodiment, the amplifier unit (1220) may include a first amplifier and a second amplifier. The first amplifier may perform an operation of amplifying a given input, and the second amplifier may perform an operation of inverting the given input and an operation of amplifying the inverted input. "Inverting" may refer to an operation of making a given input A into -A, for example. The second amplifier may correspond to an inverting amplifier.

[0199] According to one embodiment, the wearable device (110) can operate in an auxiliary mode. For example, the wearable device (110) can receive control information from the electronic device (120) and / or another wearable device (130) that determines the operation mode to be the auxiliary mode, and can operate in the auxiliary mode according to the received control information. As another example, the wearable device (110) can receive an input from a user that selects the operation mode of the wearable device (110) as the auxiliary mode, and can operate in the auxiliary mode according to the received input.

[0200] In auxiliary mode, the processor (310) gains ( ) can be determined as the value of the first sign (e.g., a positive value), and the gain ( ) can be transmitted to the amplifier (1220). The amplifier (1220) receives the gain ( ) can be the value of the first sign (e.g., a positive value), so that the conversion signal ( ) can be amplified. For example, gain ( ) is a positive value It can be. In this case, the shape of the output signal of the amplifier (1220) (e.g., the first amplifier) ​​is, for example, may correspond to. The processor (310) The drive module (30) can be controlled using a control signal in the form of .

[0201] According to one embodiment, the wearable device (110) can operate in a resistive mode. For example, the wearable device (110) can receive control information from the electronic device (120) and / or another wearable device (130) that determines the operating mode to be the resistive mode, and can operate in the resistive mode according to the received control information. As another example, the wearable device (110) can receive an input from a user that selects the operating mode of the wearable device (110) to be the resistive mode, and can operate in the resistive mode according to the received input.

[0202] In resistance mode, the processor (310) has a gain ( ) can be determined by the value of the second sign (e.g., a negative value), and the gain ( ) can be transmitted to the amplifier (1220). The amplifier (1220) receives the gain ( ) can be the value of the second sign (e.g., a negative value), so a second amplifier is used to convert the signal ( ) can be inverted, and the inverted converted signal ( ) can be amplified. For example, gain ( ) is the value of It can be. In this case, the shape of the output signal of the amplifier (1220) (e.g., the second amplifier) ​​is, for example, may correspond to. The processor (310) The drive module (30) can be controlled using a control signal in the form of .

[0203] Depending on the implementation, unlike the examples shown in FIGS. 12 and 13, the processor (310) may output the filter in the form of a digital signal ( ) to gain( ) can be multiplied by the value of gain. At this time, if the operating mode of the wearable device (110) is the auxiliary mode, the processor (310) can multiply the value of gain ( ) can be determined as the value of the first sign (e.g., a positive value), and if the operating mode of the wearable device (110) is a resistance mode, the gain ( ) can be determined as the value of the second sign (e.g., a negative value). The processor (310) determines the gain ( ) is the filter output multiplied by the value of ) can be converted into an analog signal through the converter (1210). The form of the output signal of the converter (1210) is, for example, may apply.

[0204] FIG. 14 and FIG. 15 are drawings illustrating examples of the operation of a wearable device according to one embodiment.

[0205] According to one embodiment, the processor (310) outputs a filter ( ) so that the torque based on the filter output ( ) can be used to control the drive module (30).

[0206] For example, the processor (310) may amplify the converted signal ( ) can perform an inversion operation, and the inverted signal ( ) can be transmitted to the first drive module (30a). The processor (310) can transmit the amplified conversion signal ( ) can be transmitted to the second drive module (30b). Fig. 14 Is It can be, Is It can be. The processor (310) transmits to the first drive module (30a). is referred to as the first control signal, and the processor (310) transmits it to the second driving module (30b). is referred to as the second control signal.

[0207] The processor (310) sends a first control signal ( ) so that a torque corresponding to the first drive module (30a) can be generated by the first control signal ( ) can be used to control the first driving module (30a). The first driving module (30a) can control the first control signal ( ) can generate torque and provide the generated torque to the user (e.g., the user's left leg). The processor (310) can generate a second control signal ( ) so that a torque corresponding to the second control signal ( ) can be generated by the second drive module (30b). ) can be used to control the second driving module (30b). The second driving module (30b) can control the second control signal ( )) can generate torque and provide the generated torque to the user (e.g., the user's right leg).

[0208] In one embodiment, the filter output ( ) is the filter input ( ) can have a phase delayed by the first phase value (e.g. 90 degrees) from the phase of the filter output ( ) based on the control signal ( and / or ) Also, input the filter ( ) can have a phase delayed by the first phase value (e.g., 90 degrees) from the phase of the control signal ( and / or ) is the phase of the filter input ( ) is delayed by the first phase value (e.g., 90 degrees) from the phase of the user's joint, the change point in the rotation direction of the user's joint and the change point in the torque rotation direction can correspond (or match) within the user's gait cycle. In Fig. 15, the filter input ( ) and control signals ( )(yes: or ) is shown as an example.

[0209] In the example shown in Figure 15, the filter input ( )(1510) can indicate, for example, the points where the rotation direction of the user's joint changes. Filter input ( )(1510) at the peak values ​​(15-1 to 15-19) of the control signal ( )(1520) can be 0. Filter input( )(1510) before and after the peak values ​​(15-1 to 15-19) of the control signal ( )(1520) may change the sign of the value. For example, the filter input ( )(1510) before and after the positive peak values ​​(15-1, 15-3, 15-5, 15-7, 15-9, 15-11, 15-13, 15-15, 15-17, 15-19) of the control signal ( )(1520) The sign of the value can be changed from plus to minus. Filter input ( )(1510) before and after the negative peak values ​​(15-2, 15-4, 15-6, 15-8, 15-10, 15-12, 15-14, 15-16, 15-18) of the control signal ( )(1520) can change from minus to plus. This is because when the rotation direction of the user's joint changes (or the filter input ( )(1510) can indicate that the torque rotation direction changes at the peak value.

[0210] As described above, the user can experience natural torque according to the user's movement when the rotation direction of the torque changes when the rotation direction of the joint changes. The wearable device (110) detects the change in the rotation direction of the user's joint (or filter input ()) through the phase delay of the filter (910). )(1510) The torque rotation direction of the driving module (30) can be changed at the peak value, so that a natural torque suitable for the user's movement can be provided to the user.

[0211] In addition, the wearable device (110) can generate a time delay suitable for the user's walking speed through phase delay, thereby providing the user with a torque optimized for the user's walking. For example, when the user's walking speed is fast, the user's walking cycle may be T1, and when the user's walking speed is slow, the user's walking cycle may be T2. In this case, T2 may be greater than T1. When the walking cycle is T1 (or when the user's walking speed is fast), the output timing of the torque may be delayed by Δt1 due to the phase delay of the filter (910). When the walking cycle is T2 (or when the user's walking speed is slow), the output timing of the torque may be delayed by Δt2 due to the phase delay of the filter (910). The delayed phase value may be "(delayed time value (Δt) / gait cycle (T)) × 360 degrees." The delayed phase value may be the same both when the walking cycle is T1 and when the walking cycle is T2, and T2 may be greater than T1. Accordingly, Δt2 may also be greater than Δt1, and the output timing of the torque may be further delayed when the user's walking speed is slow compared to when it is fast. Through the phase delay, the wearable device (110) may generate a time delay (e.g., Δt1) that matches the user's fast walking speed and a time delay (e.g., Δt2) that matches the user's slow walking speed.

[0212] Additionally, existing wearable devices have filter outputs (e.g. ) can be shifted by tx along the time axis, and the shifted filter output (e.g. can output torque based on the filter output (e.g., ) must use a buffer to shift the time axis by tx. This increases the memory usage burden of existing wearable devices. However, a wearable device (110) according to one embodiment uses a phase delay to filter the output ( ) has a delayed phase value (e.g. 90 degrees), but the filter output is shifted in time (e.g. ) may not be used. The wearable device (110) may not use the filter output ( ) can avoid using a buffer to shift the time axis by tx, thereby alleviating the memory usage burden of the wearable device (110).

[0213]

[0214] FIG. 16 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0215] According to one embodiment, the assist torque and the resistance torque of the wearable device (110) can be distinguished according to the sign of the gain value. As described above, when the sign of the gain value is, for example, the first sign (e.g., plus) or the gain value is a positive value, the wearable device (110) can generate the assist torque. When the sign of the gain value is, for example, the second sign (e.g., minus) or the gain value is a negative value, the wearable device (110) can generate the resistance torque. Unlike this embodiment, according to another embodiment, the assist torque and the resistance torque of the wearable device (110) can be distinguished according to the sign of the gain value. ) can be distinguished depending on how much the phase is delayed. In this case, the value of the gain in the auxiliary mode and the resistance mode can be a positive value.

[0216] According to one embodiment, the wearable device (110) can operate in an auxiliary mode. For example, the wearable device (110) can receive control information from the electronic device (120) and / or another wearable device (130) that determines the operation mode to be the auxiliary mode, and can operate in the auxiliary mode according to the received control information. As another example, the wearable device (110) can receive an input from a user that selects the operation mode of the wearable device (110) as the auxiliary mode, and can operate in the auxiliary mode according to the received input.

[0217] In auxiliary mode, the processor (310) filters input ( )(1610) can be used for filtering the first filter (e.g., filter (910)). The processor (310) can determine the cutoff frequency value of the first filter (e.g., filter (910)) based on the user's gait cycle, and can determine the filter parameter value of the first filter (e.g., filter (910)) using the determined cutoff frequency value. The processor (310) can input the filter ( )(1610) can be delayed by a first phase value (e.g., 90 degrees) through a first filter (e.g., filter (910)). The filter output generated through filtering of the first filter (e.g., filter (910)) )(1620) may have a first phase difference (e.g., 90 degrees) due to phase delay, as in the example shown in Fig. 16. The processor (310) outputs the filter ( )(1620) performs a signal processing operation (e.g., a conversion operation and / or an amplification operation described through FIGS. 12 and 13) to generate an amplified conversion signal (e.g., ) can be generated. The value of the gain is, for example, In this case, the form of the control signal that controls the drive module (30) in the auxiliary mode by the processor (310) is, for example, It can be in the form of.

[0218] According to one embodiment, the wearable device (110) can operate in a resistive mode. For example, the wearable device (110) can receive control information from the electronic device (120) and / or another wearable device (130) that determines the operating mode to be the resistive mode, and can operate in the resistive mode according to the received control information. As another example, the wearable device (110) can receive an input from a user that selects the operating mode of the wearable device (110) to be the resistive mode, and can operate in the resistive mode according to the received input.

[0219] In resistance mode, the processor (310) inputs a filter ( )(1610) may be used for filtering. The second filter may have a phase response characteristic that delays the phase of a given input by a second phase value (e.g., 270 degrees) at a cutoff frequency value. The second filter may include, but is not limited to, a high-order low-pass filter (e.g., a high-order Butterworth low-pass filter). Here, "high-order" may indicate, but is not limited to, a 6th order or higher.

[0220] The processor (310) may determine a cutoff frequency value of the second filter based on the user's gait cycle. The cutoff frequency value of the second filter may be, for example, the same as the cutoff frequency value of the first filter. The processor (310) may determine a filter parameter value of the second filter (e.g., a filter coefficient of the second filter) using the cutoff frequency value of the second filter. The processor (310) may input a filter ( ) can be delayed by a second phase value (e.g., 270 degrees) through a second filter. The filter output generated through filtering of the second filter ( )(1630) may have a second phase difference (e.g., 270 degrees) due to phase delay, as in the example shown in Fig. 16. The processor (310) outputs the filter ( )(1630) performs a signal processing operation (e.g., a conversion operation and / or an amplification operation described through FIGS. 12 and 13) to generate an amplified conversion signal (e.g., ) can be done. For example, the value of the gain is In this case, the form of the control signal that controls the drive module (30) by the processor (310) in the resistance mode is, for example, It can be in the form of.

[0221] As shown in the example in Fig. 16, the filter output ( )(1630) is the filter output ( )(1620) and can have a phase difference of 180 degrees. Accordingly, (1630) has the form - It can be in the form of, The form of It can be in the form of, The form of It can be in the form of a filter output ( )(1630) based on the control signal( ) may be the same as the form of the control signal used by the processor (310) to control the driving module (30) when the value of the gain is a negative value. The wearable device (110) inputs the filter ( ) by delaying the phase by a second phase value (e.g., 270 degrees), thereby providing the user with a resistive torque.

[0222]

[0223] Figure 17 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0224] Referring to FIG. 17, in operation 1710, the wearable device (110) may sense the user's movement to obtain the user's movement information. The movement information may include time series data (e.g., time series data having periodicity) obtained when the user performs a movement (or exercise) (e.g., walking). For example, the movement information may include first angle data obtained by measuring the user's first joint angle (e.g., right hip joint angle, right knee joint angle, etc.) and / or second angle data obtained by measuring the user's second joint angle (e.g., left hip joint angle, left knee joint angle, etc.). As another example, the movement information may include first angular velocity data (or first angular acceleration data) for the angular velocity (or angular acceleration) of the user's first joint and / or second angular velocity data (or second angular acceleration data) for the angular velocity (or angular acceleration) of the user's second joint. For another example, the motion information may include acceleration information and / or rotation angle information of the user acquired by the IMU (360). The motion information is not limited to the examples described above.

[0225] In operation 1710, one or more sensors (e.g., at least one of the angle sensor (320), the angle sensor (320-1), or the IMU (360)) of the wearable device (110) can sense (or measure) the movement of the user to obtain movement information of the user, and transmit the obtained movement information to the processor (310).

[0226] In operation 1720, the wearable device (110) may generate a filter input based on the acquired motion information. The processor (310) may process the acquired motion information so that the acquired motion information has the form of a sinusoidal wave to generate the filter input. For example, the processor (310) may generate the filter input according to Equation 1, Equation 2, or Equation 3.

[0227] In operation 1730, the wearable device (110) may perform filtering on the filter input through the filter (910). The wearable device (110) (e.g., the processor (310)) may perform filtering by delaying the phase of the filter input through the filter (910) so that the change point in the torque rotation direction of the drive module (30) corresponds to the peak point of the filter input.

[0228] In operation 1740, the wearable device (110) can generate a torque based on the filter output generated by the filtering. The wearable device (110) (e.g., processor (310)) can perform a signal processing operation (e.g., conversion through converter (1210) and / or amplification through amplifier (1220)) on the generated filter output. The wearable device (110) (e.g., processor (310)) can generate a signal (e.g., ) so that a torque corresponding to the driving module (30) is generated (e.g. ) can be used to control the drive module (30).

[0229] At operation 1750, the wearable device (110) may provide the generated torque (e.g., assist torque or resistive torque) to the user.

[0230] According to one embodiment, the wearable device (110) (e.g., processor (310)) may determine the user's gait cycle using the acquired movement information. For example, the processor (310) may perform operation 810 of FIG. 8 described above. The wearable device (110) (e.g., processor (310)) may determine the cutoff frequency value of the filter (910) using the determined gait cycle.

[0231] According to one embodiment, the wearable device (110) (e.g., processor (310)) uses the determined cutoff frequency value to determine the filter parameter value (e.g., , , , , and Each value) can be determined. For example, the processor (310) can determine the value according to mathematical expression 5. and Each value can be determined and according to mathematical formula 6 , , and Each value can be determined.

[0232] According to one embodiment, a wearable device (110) (e.g., processor (310)) may perform filtering on a filter input through a filter (910) having a determined filter parameter value to generate a filter output having a phase delayed by a first phase value (e.g., 90 degrees) from the phase of the filter input.

[0233] According to one embodiment, the wearable device (110) (e.g., processor (310)) can control the drive module (30) based on the filter output to cause the torque rotation direction to be generated to match the timing of the change in the user's joint rotation direction.

[0234] According to one embodiment, a wearable device (110) (e.g., processor (310)) may generate a conversion signal by converting a filter output through a converter (1210). The wearable device (110) (e.g., processor (310)) may amplify the generated conversion signal through an amplifier (1220) and control a driving module (30) based on the amplified conversion signal.

[0235] The embodiments described through FIGS. 1 to 16 can be applied to the operating method of the wearable device (110) of FIG. 17.

[0236]

[0237] According to one embodiment, a wearable device (110) may include a driving module (30) that generates a torque and provides the generated torque to a user, a first sensor (320) that measures a first joint angle of the user, a second sensor (320-1) that measures a second joint angle of the user, and a processor (310). The processor may generate a filter input that is filtered by a filter (910) based on a difference between first angle data obtained by measuring the first joint angle by the first sensor and second angle data obtained by measuring the second joint angle by the second sensor. The processor may perform filtering on the generated filter input through the filter so that a point in time of a change in the torque rotation direction of the driving module corresponds to a peak point in time of the generated filter input by delaying a phase of the generated filter input. The processor may control the driving module based on the generated filter output so that a torque based on the filter output generated by the filtering is generated by the driving module.

[0238] According to one embodiment, the processor may determine the user's gait cycle using at least one of the first angle data or the second angle data. The processor may determine the cutoff frequency value of the filter using the determined gait cycle.

[0239] According to one embodiment, the processor can determine a filter parameter value of the filter using the determined cutoff frequency value.

[0240] According to one embodiment, the processor may perform the filtering through the filter having the determined filter parameter value to generate the filter output having a phase delayed by a first phase value from the phase.

[0241] In one embodiment, the first phase value may include 90 degrees.

[0242] According to one embodiment, the processor may control the driving module based on the generated filter output, thereby causing a change in the torque rotation direction to occur to match the timing of a change in the user's joint rotation direction.

[0243] According to one embodiment, the processor may convert the generated filter output through a converter (1210) to generate a conversion signal. The processor may amplify the generated conversion signal through an amplifier (1220) and control the driving module based on the amplified conversion signal.

[0244] In one embodiment, the filter may comprise a second-order low-pass filter.

[0245] According to one embodiment, a wearable device (110) may include a driving module (30) that generates a torque and provides the generated torque to a user, one or more sensors (e.g., at least one of an angle sensor (320), an angle sensor (320-1), or an IMU (360)) that senses a movement of the user to obtain movement information of the user, and a processor (310). The processor may generate a filter input based on the obtained movement information. The processor may filter the generated filter input through the filter (910) so that a point in time when a torque rotation direction of the driving module changes corresponds to a peak point in time of the generated filter input by delaying a phase of the generated filter input. The processor may control the driving module based on the generated filter output so that a torque based on the filter output generated by the filtering is generated by the driving module.

[0246] According to one embodiment, the processor can determine the gait cycle of the user using the acquired movement information, and can determine the cutoff frequency value of the filter using the determined gait cycle.

[0247] According to one embodiment, the processor can determine a filter parameter value of the filter using the determined cutoff frequency value.

[0248] According to one embodiment, the processor may perform the filtering through the filter having the determined filter parameter value to generate the filter output having a phase delayed by a first phase value from the phase.

[0249] In one embodiment, the first phase value may include 90 degrees.

[0250] According to one embodiment, the processor may control the driving module based on the generated filter output, thereby causing the torque rotation direction to be generated to match the timing of a change in the user's joint rotation direction.

[0251] According to one embodiment, the processor can convert the generated filter output through the converter (1210) to generate a conversion signal, amplify the generated conversion signal through the amplifier (1220), and control the driving module based on the amplified conversion signal.

[0252] In one embodiment, the filter may comprise a second-order low-pass filter.

[0253] According to one embodiment, the acquired movement information may include first angle data acquired by measuring a first joint angle of the user and second angle data acquired by measuring a second joint angle of the user.

[0254] According to one embodiment, a method of operating a wearable device (110) may include an operation of measuring a first joint angle of a user and measuring a second joint angle of the user. The method of operating a wearable device (110) may include an operation of generating a filter input based on a difference between first angle data obtained by measuring the first joint angle and second angle data obtained by measuring the second joint angle. The method of operating a wearable device (110) may include an operation of filtering the generated filter input through a filter so that a time point of change in a torque rotation direction of a drive module of the wearable device corresponds to a peak time point of the generated filter input. The method of operating a wearable device (110) may include an operation of generating a torque based on a filter output generated by the filtering. The method of operating a wearable device (110) may include an operation of providing the generated torque to the user. As used herein, “based on” may cover “at least on the basis of”.

[0255] According to one embodiment, the operating method of the wearable device (110) may further include an operation of determining a gait cycle of the user using at least one of the first angle data or the second angle data, and an operation of determining a cutoff frequency value of the filter using the determined gait cycle.

[0256] Each embodiment of this specification may be used in combination with other embodiment(s) described herein.

[0257] According to one embodiment, the operating method of the wearable device (110) may further include an operation of determining a filter parameter value of the filter using the determined cutoff frequency value. The operation of performing the filtering may include an operation of performing the filtering through the filter having the determined filter parameter value to generate the filter output having a phase delayed by a first phase value from the phase.

[0258] According to one embodiment, a method of operating a wearable device (110) may include an operation of sensing a user's movement to obtain information on the user's movement, an operation of generating a filter input based on the obtained movement information, an operation of performing filtering on the generated filter input through the filter so that a point in time of change in the torque rotation direction of the driving module corresponds to a peak point in time of the generated filter input by delaying a phase of the generated filter input, and an operation of outputting a torque based on a filter output generated by the filtering.

[0259] According to one embodiment, the operating method of the wearable device (110) may further include an operation of controlling a driving module of the wearable device based on the generated filter output, thereby causing the torque rotation direction to occur to match the timing of a change in the user's joint rotation direction.

[0260] According to one embodiment, the operating method of the wearable device (110) may further include an operation of converting the generated filter output through a converter to generate a conversion signal, an operation of amplifying the generated conversion signal through an amplifier, and an operation of controlling a driving module of the wearable device based on the amplified conversion signal.

[0261]

[0262] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0263] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0264] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0265] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0266] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0267] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In a wearable device (110), A drive module (30) including a motor and / or circuit, generating torque and providing the generated torque to a user; A first sensor (320) for measuring the first joint angle of the user; A second sensor (320-1) for measuring the second joint angle of the user; and At least one processor (310) including a processing circuit Including, At least one of the processors, individually and / or collectively, The first sensor generates a filter input filtered by a filter based on a difference between first angle data measuring the first joint angle and second angle data measuring the second joint angle by the second sensor, and performs filtering on the generated filter input through the filter at least so that a change point in the torque rotation direction of the driving module corresponds to a peak point in time of the generated filter input by at least delaying a phase of the generated filter input, and controls the driving module based on the generated filter output so that torque based on the filter output generated by the filter is generated by the driving module. Wearable devices.

2. In paragraph 1, At least one processor including a processing circuit, individually and / or collectively, Determining the user's gait cycle based on at least one of the first angle data or the second angle data, and determining the cutoff frequency value of the filter using the determined gait cycle. Wearable devices.

3. In paragraph 2, At least one processor including a processing circuit, individually and / or collectively, Determining the filter parameter values ​​of the filter based on the cutoff frequency value determined above. Wearable devices.

4. In paragraph 3, At least one processor including a processing circuit, individually and / or collectively, By performing said filtering through said filter having said determined filter parameter value at least, generating said filter output having a phase delayed by a first phase value from said phase, Wearable devices.

5. In paragraph 4, The above first phase value includes 90 degrees, Wearable devices.

6. In any one of paragraphs 1 to 5, At least one processor including a processing circuit, individually and / or collectively, By controlling the driving module based on the generated filter output, the change in the torque rotation direction occurs to match the change in the user's joint rotation direction. Wearable devices.

7. In any one of paragraphs 1 to 6, At least one processor including a processing circuit, individually and / or collectively, Converting at least the generated filter output through a converter to generate a conversion signal, amplifying the generated conversion signal through an amplifier, and controlling the driving module based on the amplified conversion signal. Wearable devices.

8. In any one of paragraphs 1 to 7, The above filter comprises a second-order low-pass filter, Wearable devices.

9. In the operating method of a wearable device (110), An action of sensing a user's movement and obtaining information on the user's movement; An operation of generating a filter input based on the acquired motion information; An operation of filtering the generated filter input through the filter so that the change point in the torque rotation direction of the drive module corresponds to the peak point of the generated filter input by delaying the phase of the generated filter input through the filter; and An operation for outputting torque based on the filter output generated by the above filtering. Including, Method of operation of a wearable device.

10. In paragraph 9, An action of determining the user's gait cycle based on the acquired movement information; and An operation for determining the cutoff frequency value of the filter based on the determined gait cycle. Including more, Method of operation of a wearable device.

11. In paragraph 10, An operation for determining a filter parameter value of the filter based on the cutoff frequency value determined above. Including more, Method of operation of a wearable device.

12. In paragraph 11, An operation of performing the filtering through the filter having the determined filter parameter value at least to generate the filter output having a phase delayed by a first phase value from the phase. Including more, Method of operation of a wearable device.

13. In paragraph 12, The above first phase value includes 90 degrees, Method of operation of a wearable device.

14. In any one of paragraphs 9 to 13, An operation for controlling the drive module of the wearable device based on the generated filter output so that the torque rotation direction is generated to match the timing of change in the user's joint rotation direction. Including more, Method of operation of a wearable device.

15. In any one of paragraphs 9 to 14, An operation of generating a converted signal by converting the filter output generated above through a converter; An operation of amplifying the generated conversion signal through an amplifier; and An operation of controlling a driving module of the wearable device based on the amplified conversion signal. Including more, Method of operation of a wearable device.

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