Balance training method using a wearable device and the wearable device

Abstract

Disclosed is a balance training method using a wearable device and a wearable device. The balance training method using a wearable device configured to provide a walking assistance function includes: executing a balance training mode of the wearable device, and supplying an irregular pattern torque to an actuator of the wearable device at a time point or a time period in the balance training mode.

Description

Technical Field

[0001] At least one exemplary embodiment relates to a balance training method using a wearable device. Background Art

[0002] A person can instinctively perform anticipatory and compensatory postural adjustments based on the mutual balance between sensory information and movement. However, a person's sensory ability and motor ability may gradually deteriorate with age. Thus, an elderly person may experience more difficulty in walking and has a higher risk of tripping or falling while he / she is walking. There are various fall prevention methods, for example, performing physical exercises to improve the body's muscle strength and flexibility, changing the environment by lighting more lights and installing anti-slip mats, and using assistive devices (such as canes and low-heel shoes). Alternatively, there are other methods of training a person to be strong enough to resist external forces. For example, a medical staff member can push a target person from the side by directly applying a force to the person with his / her hand while the person is walking, or shake a platform while the person is walking on the platform, or can separately control the speed of the left running belt and the speed of the right running belt of a treadmill to train the person. Summary of the Invention

[0003] At least one exemplary embodiment relates to a balance training method using a wearable device.

[0004] In some exemplary embodiments, the balance training method includes: generating an irregular torque pattern during a balance training mode of the wearable device; supplying the irregular torque pattern to an actuator of the wearable device; and outputting, via the actuator, a torque based on the irregular torque pattern.

[0005] In some exemplary embodiments, the balance training method includes: during a first time period, generating a walking assistance torque pattern associated with providing a walking assistance function to a user wearing the wearable device, wherein the irregular torque pattern is a pattern to which a perturbation is applied during a second time period, and wherein, during the first time period, the perturbation is not applied to the walking assistance torque pattern supplied to the actuator.

[0006] In some exemplary embodiments, the generating step includes: generating the irregular torque pattern by applying a perturbation to the walking assistance torque pattern such that, during the second time period, the torque output by the actuator includes a sudden change in force.

[0007] In some exemplary embodiments, the generating step includes: generating the walking assistance torque pattern based on a gait cycle of a user wearing the wearable device; determining a perturbation; and applying the perturbation to the walking assistance torque pattern.

[0008] In some example embodiments, the step of determining the perturbation includes: determining an intensity change and an offset change of the perturbation based on the elapsed time, and wherein the step of generating the irregular torque pattern includes: generating an irregular torque pattern by applying the intensity change and the offset change of the perturbation to the walking assistance torque pattern.

[0009] In some example embodiments, the balance training method includes: detecting a reaction of a user wearing a wearable device to an irregular torque pattern being supplied to an actuator; and adjusting the irregular torque pattern based on the reaction of the user.

[0010] In some example embodiments, the adjusting step includes: adjusting at least one of a frequency, an intensity, and a pattern of a perturbation associated with the irregular torque pattern.

[0011] In some example embodiments, the detecting step includes: determining a recovery index indicating a degree of recovery from the irregular torque pattern based on sensing information measured by the wearable device, wherein when the recovery index meets a set requirement, the adjusting step adjusts the perturbation associated with the irregular torque pattern.

[0012] In some example embodiments, the detecting step includes: determining a potential fall index indicating a probability of the user falling based on sensing information measured by the wearable device, wherein when the potential fall index meets a set requirement, the adjusting step adjusts the torque to be supplied to the actuator based on a safety torque pattern corresponding to a safety mode of the wearable device.

[0013] In some example embodiments, the detecting step includes: determining a potential fall index indicating a probability of the user falling based on sensing information measured by the wearable device, wherein the adjusting step includes: preventing torque from being supplied to the actuator when the potential fall index meets a set requirement.

[0014] In some example embodiments, the supplying step includes: determining a time point at which the perturbation will be applied to the irregular torque pattern; generating an irregular torque pattern by applying the perturbation to the walking assistance torque pattern at the time point; and supplying the irregular torque pattern to the actuator.

[0015] In some example embodiments, the step of determining the time point includes: determining the time point when the step count of a user wearing the wearable device reaches a set step count.

[0016] In some example embodiments, the step of determining the time point includes: detecting, based on sensing information measured by the wearable device, whether a user wearing the wearable device has recovered from the irregular torque pattern and reached a stable state; and determining a time point within a period when the user wearing the wearable device reaches the stable state as the time point.

[0017] In some example embodiments, the step of determining the time point includes: determining the time point at which the perturbation is to be applied based on an operation signal received from a remote operation device configured to communicate with the wearable device.

[0018] Some example embodiments relate to a non-transitory computer-readable medium including computer-readable instructions that cause a computer to perform the balance training method.

[0019] Some example embodiments relate to a wearable device configured to provide a walking assistance function.

[0020] In some example embodiments, the wearable device includes: a sensor configured to measure the movement of a user wearing the wearable device; a controller configured to perform a balance training mode of the wearable device by generating an irregular torque pattern; and an actuator configured to output a torque based on the irregular torque pattern.

[0021] In some example embodiments, the controller is configured to: during a first time period, generate a walking assistance torque pattern associated with providing the walking assistance function to the user; during a second time period, generate an irregular torque pattern by applying a perturbation to the walking assistance torque pattern; and supply the irregular torque pattern to the actuator such that, during the second time period, the irregular torque output by the actuator includes a sudden change in force.

[0022] In some example embodiments, the controller is configured to: detect a reaction of a user wearing the wearable device to the irregular torque pattern being supplied to the actuator based on sensed information measured by the sensor; and adjust the irregular torque pattern based on the reaction of the user.

[0023] In some example embodiments, the controller is configured to: determine a time point at which a perturbation is to be applied to the irregular torque pattern; generate an irregular torque pattern by applying the perturbation to the walking assistance torque at the time point; and supply the irregular torque pattern to the actuator.

[0024] In some example embodiments, the controller is configured to: determine as the time point the time point at which the step count of a user wearing the wearable device reaches a set step count or the time point at which the user wearing the wearable device recovers from the irregular torque pattern and reaches a stable state.

[0025] In some example embodiments, the wearable device includes: a communicator configured to communicate with a remote operation device, wherein the controller is configured to: determine the time point at which the perturbation is to be applied based on an operation signal received from the remote operation device.

[0026] Additional aspects of the exemplary embodiments will be set forth in part in the following description, and in part will be obvious from the description, or may be learned by practice of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] These and / or other aspects will become apparent and more readily appreciated from the following description of the exemplary embodiments, taken in conjunction with the accompanying drawings, in which:

[0028] Figure 1 is a diagram illustrating an example of a wearable device worn on a user according to at least one exemplary embodiment;

[0029] Figure 2 is a diagram illustrating an example of the structure of a wearable device according to at least one exemplary embodiment;

[0030] Figure 3 is a diagram illustrating an example of the configuration of a wearable device according to at least one exemplary embodiment;

[0031] Figure 4 is a diagram illustrating an example of the operation of a controller of a wearable device according to at least one exemplary embodiment;

[0032] Figure 5 is a flowchart illustrating an example of a balance training method using a wearable device according to at least one exemplary embodiment;

[0033] Figure 6 is a diagram illustrating an example of an irregular pattern torque according to at least one exemplary embodiment;

[0034] Figures 7 to 9 is a diagram illustrating an example of generating an irregular pattern torque according to at least one exemplary embodiment; and

[0035] Figure 10 is a diagram illustrating an example of a balance training method performed using a treadmill according to at least one exemplary embodiment. DETAILED DESCRIPTION

[0036] Hereinafter, some exemplary embodiments will be described in detail with reference to the accompanying drawings. Regarding the reference numerals assigned to the elements in the drawings, it should be noted that wherever the same element is shown in different drawings, the same element will be denoted by the same reference numeral. In addition, in the description of the embodiments, when a detailed description of a related structure or function that is considered to be well-known will result in a blurred interpretation of the present disclosure, such a description will be omitted.

[0037] However, it should be understood that there is no intention to limit the present disclosure to the specific example embodiments disclosed. On the contrary, the example embodiments will cover all modifications, equivalents, and alternatives falling within the scope of the example embodiments. Throughout the description of the drawings, the same reference numerals represent the same elements.

[0038] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used herein to describe components. Each of these terms is not used to define the nature, order, or sequence of the corresponding component, but is only used to distinguish the corresponding component from one or more other components. It should be noted that if a component is described as "connected", "coupled", or "joined" to another component in the specification, although the first component may be directly connected, coupled, or joined to the second component, a third component may be "connected", "coupled", or "joined" between the first component and the second component.

[0039] The terms used herein are for the purpose of describing particular embodiments only and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. It will also be understood that when the terms "comprises" and / or "comprising" are used herein, they specify the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups thereof.

[0040] It should also be noted that in some alternative embodiments, the proposed functions / actions may not occur in the order presented in the figures. For example, depending on the functions / actions involved, two consecutively shown figures may actually be executed substantially simultaneously or sometimes in the reverse order.

[0041] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. Unless explicitly defined herein, terms (such as those defined in a general dictionary) will be interpreted as having a meaning consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.

[0042] Furthermore, in the description of the example embodiments, when a detailed description of a structure or function that is considered to be known after understanding the disclosure of this application would result in an ambiguous interpretation of the example embodiments, such a description will be omitted.

[0043] Various example embodiments will now be described more fully with reference to the drawings showing some example embodiments. In the drawings, the thickness of layers and regions is exaggerated for clarity.

[0044] Hereinafter, examples will be described in detail with reference to the drawings, and the same reference numerals will always represent the same elements in the drawings.

[0045] Figure 1 is a diagram showing an example of a wearable device worn on a user according to at least one example embodiment.

[0046] Referring to Figure 1 , the wearable device 110 is configured to perform a function of assisting a user 100 wearing the wearable device 110 to walk more easily. The wearable device 110 may also be referred to as a walking assistance device or a gait assistance device. When the wearable device 110 is provided to perform such a walking assistance function, the wearable device 110 may assist or support the entire leg or a part of the leg of the user 100 to help the user 100 walk more easily. For example, when a person, such as an elderly person, wears the wearable device 110, the wearable device 110 may help the person walk for a longer period of time to enhance the walking ability or improve the person's abnormal gait. Additionally, the wearable device 110 may provide the force required for a person to walk, enabling the person to walk independently.

[0047] The wearable device 110 may be provided in the form of a wearable exoskeleton as shown in Figure 1 and is configured to assist or support the muscle strength of the user 100 when the user 100 walks, and thus improve the walking motion or gait of the user 100 or enable the user 100 to walk normally. For example, as shown in Figure 1 , the wearable device 110 is provided in a hip type that is worn on the hip joint or thigh. However, the type of the wearable device 110 is not limited to the shown example, and other types may also be applied to the wearable device 110. For example, the wearable device 110 may be provided in a type that assists or supports the entire leg including the hip, knee, and ankle or in a type that assists or supports a part of the leg (e.g., the ankle or knee).

[0048] According to one example, the wearable device 110 may also perform an exercise function by providing resistance to the user 100. The resistance serves as a force that hinders the movement of the user 100 to help increase the muscle strength of the user 100. For example, the wearable device 110 may generate a resistance moment to provide resistance to the user 100 when the user 100 is walking, and apply the resistance to the movement of the user 100 based on the generated resistance moment.

[0049] The wearable device 110 can also be used to provide balance training to the user 100. The wearable device 110 can execute a balance training mode and provide a training function to the user 100 in the balance training mode to train the user 100 to prevent (or, optionally, pre - vent) the user 100 from falling. For example, when the user 100 performs an action (such as walking or exercising) while wearing the wearable device 110, the wearable device 110 can perform perturbation - based balance training (PBT) by applying an irregular pattern force (such as an assistive force or a resistance force) to the user 100. In this example, the wearable device 110 can generate perturbations to simulate a situation where a fall occurs. The wearable device 110 can simulate a situation similar to an actual fall situation by applying an irregular pattern force (such as a force that the user 100 does not anticipate or perceive in advance) to the user 100.

[0050] According to one example embodiment, a method of performing fall prevention training using the wearable device 110 is provided. When the user 100 is in motion while wearing the wearable device 110, the wearable device 110 can apply an irregular assistive force and / or an irregular resistance force to the motion of the user 100 in order to simulate an actual situation where a fall occurs. In the simulated situation, the user 100 can be trained to repeatedly respond to such a situation, and thus can become stronger against un - expected external forces and improve the ability to respond more quickly and safely to an actual fall situation.

[0051] The user 100 can enhance the ability to respond to or control the irregular pattern force transmitted from the wearable device 110 in the balance training mode, and thus can enhance the ability to avoid the potential risk of falling that may occur in daily life. For example, the elderly may fall while moving due to the difference between will and movement. The wearable device 110 can artificially generate such a difference and enable the user 100 to overcome the fall that may otherwise occur due to this difference. The wearable device 110 can enhance the user 100's sense of balance and the user's ability to respond to potential falls simulated and provided by the wearable device 110.

[0052] This balance training function of the wearable device 110 can be effectively performed for ordinary people and athletes in addition to the elderly and patients. In addition, different from a treadmill, the wearable device 110 can provide a balance training function in various environments or locations without being limited by the environment or location. Furthermore, in addition to walking, the wearable device 110 can provide a balance training function for various actions (such as sitting, standing, jumping, and squatting).

[0053] Figure 2 is a diagram showing an example of the structure of a wearable device according to at least one example embodiment.

[0054] Referring to Figure 2 , the wearable device 110 generates a walking assistance torque at the left hip joint portion 220L and the right hip joint portion 220R under the control of the controller 230, and the generated walking assistance torque is provided to the legs of the user 100 for bending and extending through the transmitters 240L and 240R provided above the knees of the user 100. The controller 230 measures the motion information of the user 100 through sensors, and estimates the gait phase or gait state in the gait cycle of the user 100 based on the measured motion information. The controller 230 determines the direction along which power will be provided to each leg and the amount of power to be provided at the current time point based on the estimated gait phase.

[0055] According to an example embodiment, when the balance training function is executed while the user 100 is walking, the wearable device 110 can generate an irregular pattern torque by adding a perturbation to the walking assistance torque to be applied to the user 100. The irregular pattern torque can serve as an unexpected assisting force and / or resistance for the user 100 while the user 100 is moving. The user 100 can react to the unexpected assisting force or resistance, thus enhancing the ability to be prepared for situations of falling due to sudden changes in force.

[0056] Figure 3 is a diagram showing an example of the configuration of a wearable device according to at least one example embodiment.

[0057] Referring to Figure 3 , the wearable device 300 includes at least one sensor 340, a control device 310, and an actuator 350. According to an example, the wearable device 300 may further include a communicator 360 configured to communicate with an external device (e.g., a remote operation device).

[0058] The sensor 340 may include various sensors. For example, the sensor 340 may include sensors configured to measure the gait or motion of the user wearing the wearable device 300, and sensors configured to measure information required to control the operation of the wearable device 300. The sensor 340 may include, for example, an acceleration sensor, an inertial sensor, and / or a gyroscope sensor for measuring the motion of the user. The sensor 340 may also include, for example, a torque sensor and / or a current / voltage sensor for measuring the torque transmitted through the actuator 350.

[0059] The control device 310 configured to control the operation and functions of the wearable device 300 includes a controller 320 and a memory 330. The memory 330 is connected to the controller 320 and is configured to store instructions to be executed by the controller 320, as well as data to be processed by the controller 320 and / or data that has been processed by the controller 320. For example, the memory 330 stores parameters corresponding to the control signals output by the controller 320. The memory 330 may include a non-transitory computer-readable storage medium (e.g., high-speed random access memory (RAM)) and / or a non-volatile computer-readable storage medium (e.g., at least one disk storage device, flash memory device, or other non-volatile solid-state memory device).

[0060] The controller 320 generates control signals for controlling the wearable device 300. For example, the controller 320 generates a torque control signal for controlling the torque to be provided by the wearable device 300 based on the user's movement measured by the sensor 340. The controller 320 performs one or more or all of the operations and functions of the wearable device described herein.

[0061] The controller 320 may be implemented using a processing circuit (such as hardware including logic circuits, a hardware / software combination (such as a processor executing software), or a combination thereof). For example, the processing circuit may include, but is not limited to: a central processing unit (CPU), an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a system on a chip (SoC), a programmable logic unit, a microprocessor, or an application specific integrated circuit (ASIC), etc.

[0062] The actuator 350 outputs torque based on the torque control signal generated by the controller 320. The actuator 350 provides a specific force (e.g., an assisting force and / or a resisting force) to the movement of the user's two hip joints. The actuator 350 converts electrical energy into kinetic energy and applies the kinetic energy to the user's body to provide the force required for the user's movement or to provide a force that hinders the user's movement. The actuator 350 may be disposed on a portion corresponding to the position of the user's hip joint (e.g., one or more of the hip joint portions 220R, 220L) and generates a torque for the bending and extension of the user's leg.

[0063] When the wearable device 300 operates in a walking assistance mode for performing a walking assistance function, the controller 320 controls the actuator 350 configured to generate a walking assistance torque through a control signal. The controller 320 determines a state variable indicating the gait phase or gait state of the user based on the user's walking movement, and controls the actuator 350 based on the determined state variable. The controller 320 sets parameters for controlling the walking assistance torque based on the state variable, and outputs a torque control signal based on the set parameters to assist the user's walking.

[0064] According to an example embodiment, the controller 320 controls the walking assistance torque to be provided by the wearable device 300 based on state variables, and determines a control signal for controlling the walking assistance torque based on the state variables. The controller 320 sets a gain for adjusting the intensity of the walking assistance torque, and sets a time delay for adjusting the output time of the walking assistance torque. Then, the controller 320 defines state variables based on the set gain and the set time delay.

[0065] According to an example, there may be a remote operation device (not shown) configured to remotely control the wearable device 300. The remote operation device may control the overall operation of the wearable device 300 in response to a user input. For example, the remote operation device may start or end or resume or pause a specific function or operation of the wearable device 300. The remote operation device may provide a user interface (UI) enabling the operation or manipulation of the wearable device 300, and control the functions and operations of the wearable device 300 through the UI.

[0066] According to an example embodiment, the wearable device 300 operates in a balance training mode that executes a balance training function. The balance training mode may be triggered by an input from a user wearing the wearable device 300 or from another person (e.g., a medical staff or a rehabilitation therapist). The input may indicate the execution of the balance training mode. For example, the input may be made by manipulation via the operation interface of the wearable device 300 or the UI of the remote operation device.

[0067] In response to the input being received, the controller 320 executes the balance training mode of the wearable device 300, and in the balance training mode, generates an irregular pattern torque at a time point or over a period of time. For example, the controller 320 may generate a torque with an irregular pattern at a specific time point or over a period of time while generating a normal walking assistance torque with a regular pattern. Here, the controller generating an irregular pattern torque or a normal walking assistance torque means that "the controller generates a control signal or pattern corresponding to the irregular pattern torque or the normal walking assistance torque". The irregular pattern torque may indicate a torque to which a perturbation is applied. The perturbation has not been applied to the pattern of the torque supplied to the actuator 350 in a previous period. The controller 320 generates an irregular pattern torque to which a perturbation is applied, and supplies the generated irregular pattern torque to the actuator 350. The actuator 350 outputs the irregular pattern torque generated by the controller 320, thereby applying an irregular pattern force to the user wearing the wearable device 300. Here, the actuator outputting the irregular pattern torque or the normal walking assistance torque generated by the controller means that "the actuator outputs a torque based on the control signal or pattern corresponding to the irregular pattern torque or the normal walking assistance torque generated by the controller".

[0068] According to an example embodiment, the controller 320 generates an irregular pattern torque by determining a time point at which a disturbance is to be applied to the irregular pattern torque and applying the disturbance to the walking assistance torque at the determined time point. For example, the controller 320 applies a disturbance to the walking assistance torque at a time point when the step count of the user wearing the wearable device 300 reaches a set step count. For another example, the controller 320 determines whether the user wearing the wearable device 300 is walking in a stable state based on sensing information (e.g., motion information) measured by the sensor 340 of the wearable device 300, and determines a time point in a period during which the user's walking is determined to be in a stable state as the time point at which the disturbance is to be applied. For another example, the controller 320 may randomly determine the time point at which the disturbance is to be applied. In order to randomly determine the time point at which the disturbance is to be applied or the intensity of the disturbance, a random function (e.g., rand function) may be used. For yet another example, the controller 320 determines the time point at which the disturbance is to be applied based on an operation signal received from a remote operation device. When an operation signal indicating an instruction for generating a disturbance is received from the remote operation device through the communicator 360, the controller 320 generates an irregular pattern torque to which the disturbance is applied at the time point when the operation signal is received.

[0069] For example, the intensity of the disturbance may be randomly determined within a set range. Optionally, the disturbance may have a desired (or, optionally, preset) intensity. Further, regardless of whether the intensity of the disturbance starts at a random level or a desired level, the intensity may vary over time.

[0070] According to another example embodiment, the controller 320 detects a reaction of a user wearing the wearable device 300 to an irregular pattern torque being supplied to the actuator 350 based on the sensed information measured by the sensor 340. The irregular pattern torque may also be referred to as a balance training torque. Then, the controller 320 adjusts the torque to be supplied to the actuator 350 based on the detected reaction of the user. For example, the controller 320 determines whether the user maintains his / her balance or returns to a normal posture in response to the irregular pattern torque based on the user's motion information. Based on the user's reaction to the irregular pattern torque, the controller 320 adjusts the frequency rate, intensity, and / or pattern of the perturbation to the torque that will be applied to the actuator 350 to be supplied in the future. In this example, when the controller 320 determines that the user does not easily maintain his / her balance or does not easily return to a normal posture in response to a previously supplied irregular pattern torque, as part of the adjustment, the controller 320 decreases the intensity or frequency of the perturbation compared to before. Conversely, when the controller 320 determines that the user easily maintains his / her balance or easily returns to a normal posture in response to the irregular pattern torque, as part of the adjustment, the controller 320 increases the intensity or frequency of the perturbation compared to before. As described above, the controller 320 may generate a balance training torque adapted to the movement of the user wearing the wearable device 300, thus providing various forms of balance training torques customized for the user.

[0071] Figure 4 is a diagram illustrating an example of an operation of a controller of a wearable device according to at least one example embodiment.

[0072] Referring to Figure 4 , the controller 320 of the wearable device includes a walking assistance torque generator 410 and a perturbation determiner 420. The walking assistance torque generator 410 generates a walking assistance torque based on the sensed information measured by the sensor. The walking assistance torque generator 410 estimates a gait cycle of a user wearing the wearable device based on the sensed information, and determines a walking assistance torque based on the user's gait phase based on the estimated gait cycle. For example, the walking assistance torque generator 410 determines a walking assistance torque to be supplied to the first actuator 430 and a walking assistance torque to be applied to the second actuator 440. For example, the first actuator 430 and the second actuator 440 may be included in the actuator 350 shown in Figure 3 . The first actuator 430 may apply a force to the user's right leg, and the second actuator 440 may apply a force to the user's left leg. The first actuator 430 and the second actuator 440 may be located at respective hip joint portions in the hip joint portions 220R, 220L.

[0073] The perturbation determiner 420 determines a perturbation to be applied to the irregular pattern torque based on perturbation parameters or operation signals received from, for example, a wearable device or a remote operation device. The perturbation parameters may include set values, such as the time point at which the perturbation will be applied, the frequency indicating how frequently the perturbation will be applied, the variation indicating how many different patterns of perturbation will be applied, and the intensity indicating how strong the perturbation will be applied. For the time point at which the perturbation will be applied, the perturbation may be set to be applied to a specific gait phase in the user's gait cycle. The perturbation parameters may be determined randomly according to circumstances or preset. The operation signal may include information for controlling the perturbation to be applied to at least one of the first actuator 430 and the second actuator 440 at a time point triggered by a manual operation (e.g., an operation or manipulation of a button or interface of the wearable device or the remote operation device).

[0074] According to an example embodiment, the perturbation determined by the perturbation determiner 420 is applied to the walking assistance torque, so that an irregular pattern torque is generated. The walking assistance torque may present a regular pattern based on the user's repetitive gait cycle. Therefore, when the perturbation is applied to the walking assistance torque, the walking assistance torque with a regular pattern may be converted into an irregular pattern torque with an irregular pattern. According to another example embodiment, the perturbation determined by the perturbation determiner 420 is applied to the exercise execution torque, so that an irregular pattern torque is generated. The exercise execution torque may also present a regular pattern based on the repetitive exercise movements performed by the user. Therefore, when the perturbation is applied to the exercise execution torque, the exercise execution torque with a regular pattern may be converted into an irregular pattern torque with an irregular pattern.

[0075] The controller 320 may quickly change the torque values of the actuators or motors corresponding to each joint of the user through such a perturbation to simulate a situation of falling or a similar situation. Such a rapid change in the torque value may be triggered by a manual operation of, for example, a remote operation device. In addition, the time point at which a rapid change in the torque value caused by the perturbation occurs and the intensity of the torque may be automatically set by a random function or automatically determined according to the user's gait phase based on sensing information including, for example, the user's joint angle information and motion information.

[0076] In addition, the intensity of the perturbation may be adjusted based on the user's condition or the balance training step, and the range of the intensity may be limited so that the perturbation is applied at a relatively low intensity to avoid causing an actual fall during the balance training.

[0077] Figure 5 is a flowchart showing an example of a balance training method using a wearable device according to at least one example embodiment. The balance training method may be executed by a controller of the wearable device.

[0078] Refer to Figure 5In operation 510, the controller 320 executes a balance training mode of the wearable device. The balance training mode can be triggered by an input from a user wearing the wearable device or by an input from another person. Optionally, the balance training model can be triggered by an operation signal received from a remote operation device communicating with the wearable device.

[0079] In operation 520, the controller 320 supplies an irregular pattern torque to the actuator of the wearable device at a time point or over a period of time in the balance training mode. The controller 320 generates the irregular pattern torque by determining a perturbation of a pattern that was not applied to the torque previously supplied to the actuator in a previous period and applying the determined perturbation to the torque to be supplied to the actuator.

[0080] According to one exemplary embodiment, the controller 320 generates a walking assistance torque based on the user's gait cycle and determines a perturbation, and then generates an irregular pattern torque by applying the determined perturbation to the generated walking assistance torque. Here, to determine the perturbation, the controller 320 can randomly determine the characteristics of the perturbation using a random function, or use set perturbation parameters (e.g., the intensity of the perturbation and the time point at which the perturbation will be applied) to determine the perturbation. When using a random function, there may be limitations associated with the frequency or intensity of the perturbation. Optionally, the controller 320 can determine the perturbation based on the user's motion information or an operation signal received from a remote operation device.

[0081] Here, various methods can be used to determine the time point at which the perturbation will be applied or supplied to the actuator (i.e., the time point at which a change or alteration in the torque value unexpected by the user will be applied to the actuator). For example, the controller 320 can determine the time point as the time point when the step count of the user wearing the wearable device reaches a set step count. The set step count can be a pre-set or randomly determined number of steps of the user's walking. For another example, the controller 320 can determine the time point at which the perturbation will be applied based on an operation signal received from, for example, a remote operation device. In this example, the controller 320 can determine the time point as the time point triggered by the pressing of a button on the remote operation device. For yet another example, the controller 320 can determine the time point as the time point when the user wearing the wearable device is determined to be walking in a stable state based on the sensing information. Then, the controller 320 can generate an irregular pattern torque by applying the perturbation to the walking assistance torque at the time point determined as described above.

[0082] According to another exemplary embodiment, the controller 320 determines the intensity change and the offset change of the perturbation based on the elapsed time. That is, the controller 320 determines the intensity change and the offset change of the perturbation over time. For example, the intensity change and the offset change of the perturbation may be determined by a random function. The controller 320 generates an irregular pattern torque by applying the determined intensity change and offset change of the perturbation to the walking assistance torque. For example, the controller 320 may generate an irregular pattern torque by multiplying the intensity of the walking assistance torque by the intensity of the perturbation and adding the offset to the multiplied result value.

[0083] The controller 320 may supply the irregular pattern torque generated as described above to at least one of a plurality of actuators included in the wearable device.

[0084] According to some exemplary embodiments, the controller 320 may also perform detection of an abort signal while supplying the irregular torque pattern to the actuator, and in response to the abort signal, may stop providing torque to the user, or may switch from providing the irregular torque pattern to outputting a recovery assistance torque pattern to assist the user in recovering from a potential fall.

[0085] For example, the controller 320 may evaluate gait data (such as gait symmetry, the user's stride length, stride width, foot clearance, touchdown speed, and the user's walking ratio), and generate an evaluation value of the gait data.

[0086] The controller 320 may generate a recovery assistance torque pattern such that the recovery assistance torque pattern effectively restores the user's gait back to a stable gait based on the evaluation value of the gait data.

[0087] According to some exemplary embodiments, the controller 320 may also perform subsequent operations 530 and 540. In operation 530, the controller 320 detects the reaction of the user wearing the wearable device to the irregular pattern torque being supplied to the actuator. In operation 540, the controller 320 adjusts the torque to be supplied to the actuator based on the reaction of the user detected in operation 530. For example, the controller 320 may adjust at least one of the frequency, intensity, and pattern of the perturbation to be applied to the irregular pattern torque.

[0088] According to an example embodiment, in operation 530, the controller 320 determines a recovery index indicating the degree to which the user recovers from the irregular pattern torque being applied based on the sensed information measured by the wearable device. In operation 540, when the recovery index meets the set requirements, the controller 320 adjusts the perturbation to be applied to the irregular pattern torque. For example, the controller 320 may measure the recovery index based on the similarity between the user's walking motion after the perturbation is applied and the user's walking motion when there is no perturbation according to the sensed information. The controller 320 may determine the degree to which the user recovers from the perturbation by determining whether the user follows the expected walking motion after the perturbation is applied based on the sensed information. For example, when the user's recovery index is less than a desired (or, optionally, preset) first reference value, the controller 320 may reduce the intensity of the next perturbation to be applied. When the user's recovery index is greater than a preset second reference value, the controller 320 may increase the intensity of the next perturbation to be applied.

[0089] According to another example embodiment, in operation 530, the controller 320 determines a potential fall index indicating the probability of the user falling based on the sensed information measured by the wearable device. In operation 540, when the potential fall index meets the set requirements, the controller 320 adjusts the torque to be applied to the actuator based on the torque distribution corresponding to the safety mode of the wearable device. For example, the controller 320 may estimate the user's posture and leg movement based on the user's motion information after the perturbation is applied, and determine the potential fall index based on the estimated posture and leg movement. When the potential fall index is greater than a reference value, the controller 320 may prevent the torque from being supplied to the actuator, or supply the torque that enables the user to take a stable posture again to the actuator. Optionally, the controller 320 may adjust the intensity of the next perturbation to be applied or the time point at which the next perturbation is to be applied. As described above, when a fall is expected to occur while monitoring the situation where the balance training method is being executed, the controller 320 may prevent the power from being supplied to the actuator, or control the actuator so that the user takes a stable posture again.

[0090] Figure 6 is a diagram showing an example of an irregular pattern torque according to at least one example embodiment.

[0091] Referring to Figure 6 , the walking assistance torque 610 indicates the torque that would be output by the controller of the wearable device when it is assumed that the user wearing the wearable device walks according to a regular gait cycle. The walking assistance torque 610 may exhibit a regular pattern based on the regular walking characteristics of the user.

[0092] When the wearable device is operating in the balance training mode, the controller supplies an unexpected irregular pattern torque 620 to the actuator of the wearable device at the time point 630 while supplying a walking assistance torque 610 to the actuator of the wearable device. The controller generates the irregular pattern torque 620 by applying a perturbation to the walking assistance torque 610 at the time point 630. The time point 630 at which the perturbation is applied may be the time point when the user's step count reaches a set step count, the time point when a trigger signal is received from a remote operation device, or the time point within a period during which the user walks in a steady state. Optionally, the time point 630 may be randomly determined. As shown, from the time point 640 after the irregular pattern torque 620 is supplied, the walking assistance torque 610 with the expected original regular pattern is supplied again. When walking in a steady state, the user may experience a situation similar to the actual situation of falling during the period from the time point 630 to the time point 640 when the irregular pattern torque 620 is supplied to the actuator. Through repeated training of such experiences for reacting to and recovering from a fall, the user can enhance the sense of balance and improve the ability to cope with a fall. For example, as Figure 6 shown, a torque with an intensity of 0 may be supplied during the period after the time point 630 when the irregular pattern torque 620 is supplied, and the user may adapt to the risk of falling during such a period. After the user adapts to the risk during this period, a normal assistance torque (e.g., the walking assistance torque 610) may be supplied again from the time point 640. Here, the normal assistance torque may be another type of perturbation different from the perturbation that the user has adapted to during this period, so that the user may experience another type of perturbation to further enhance the sense of balance and further improve the ability to cope with a fall.

[0093] Figures 7 to 9 is a diagram showing an example of generating an irregular pattern torque according to at least one example embodiment.

[0094] Referring to Figure 7 , the controller 320 of the wearable device may generate an irregular pattern torque 720 by changing a variable (e.g., gain or phase) of an algorithm for generating a walking assistance torque 710 to be applied to the actuator of the wearable device. For example, the controller may generate an irregular pattern torque 720 during a period by changing a variable of the pattern for generating the walking assistance torque 710 at a random time point. In this example, the time point at which a perturbation forming an irregular pattern is applied may be determined by a random function (such as the rand function). As described above, the controller 320 may directly generate an irregular pattern torque to which a perturbation is applied by changing the algorithm for generating the walking assistance torque 710.

[0095] Referring to Figure 8, the controller 320 can generate an irregular pattern torque 830 by generating a walking assistance torque 810 based on an algorithm for generating the walking assistance torque, determining a disturbance 820 based on the sensing information, and applying the determined disturbance 820 to the generated walking assistance torque 810. For example, the controller 320 can determine the time point at which the disturbance 820 will be applied through a random function and the intensity of the disturbance 820. The controller 320 can generate the walking assistance torque 810 and the disturbance 820 separately, and then generate the irregular pattern torque 830 to be used in the balance training mode by combining or adding the disturbance 820 and the walking assistance torque 810.

[0096] Referring to Figure 9 , the controller 320 can generate a walking assistance torque 910 based on an algorithm. The controller can use a random function to determine the change in the intensity (e.g., gain) 920 of the disturbance based on the elapsed time and the change in the offset 930. Examples of the change in the intensity 920 and the change in the offset 930 are not limited to the form of a square wave as shown in Figure 9 , but can have various forms. The controller 320 can generate the irregular pattern torque 940 by multiplying the intensity of the walking assistance torque 910 by the intensity of the disturbance 920 and adding the offset 930 to the multiplied result value. For example, the controller 320 can use Equation 1 to generate the irregular torque pattern 940 at each time t.

[0097] Irregular torque(t) = (Gain(t) × Walking assistance torque(t)) + Offset(t) (Equation 1)

[0098] As described above, the gain and the offset can be determined randomly such that the controller 320 can determine the irregular pattern torque 940 based on Equation 2.

[0099] Irregular torque(t) = (Gain(rand,t) × Walking assistance torque(t)) + Offset(rand,t) (Equation 2)

[0100] In the example described above with reference to Figures 7 to 9 , the walking assistance torque can be replaced with an exercise execution torque, and the method for generating the irregular pattern torque is not limited to the examples described in the foregoing content.

[0101] Figure 10 is a diagram showing an example of a balance training method performed using a treadmill according to at least one example embodiment.

[0102] According to an example embodiment, the balance training method using the wearable device may be performed using other training platforms (such as, for example, a treadmill). In such a case, the balance training method may be performed in various ways depending on the tool used or the environment in which the balance training method is performed. For example, at a time point when a user wearing the wearable device climbs a step or a slope while walking on flat ground, an irregular pattern torque with a disturbance may be supplied to the actuator of the wearable device, and there may be a sudden change in the torque. Refer to Figure 10 , the balance training method using the wearable device 1010 is performed using the treadmill 1020. The treadmill 1020 may provide a function of changing the walking speed or the inclination of the bottom of the treadmill 1020. The wearable device 1010 may supply an irregular pattern torque to the actuator at a time point when the walking speed changes rapidly or the inclination of the bottom changes based on the function provided by the treadmill 1020. The wearable device 1010 and / or the remote operation device may control the speed or the inclination of the treadmill 1020. For example, the wearable device 1010 may detect the reaction of the user wearing the wearable device 1010 to the irregular pattern torque, and may increase one or more of the speed and the inclination in response to detecting that the user remains stable during the irregular pattern torque, or may decrease one or more of the speed and the inclination in response to detecting that the user is unstable during the irregular pattern torque.

[0103] The units and / or modules described herein may be implemented using hardware components and software components. For example, the hardware components may include a microphone, an amplifier, a band-pass filter, an audio digital converter, and a processing device. The processing device may be implemented using one or more hardware devices configured to run and / or execute program code by performing arithmetic operations, logical operations, and input / output operations. The one or more processing devices may include a processor, a controller, and an arithmetic logic unit, a digital signal processor, a microcomputer, a field programmable array, a programmable logic unit, a microprocessor, or any other device capable of responding and executing instructions in a defined manner. The processing device may run an operating system (OS) and one or more software applications running on the OS. The processing device may also access, store, manipulate, process, and create data in response to the execution of the software. For simplicity purposes, the description of the processing device is used as a singular; however, those skilled in the art will understand that the processing device may include multiple processing elements and various types of processing elements. For example, the processing device may include multiple processors or a processor and a controller. Additionally, different processing configurations are feasible (such as, parallel processors).

[0104] Software may include a computer program, code, instructions, or some combination thereof, which independently or jointly direct and / or configure a processing device to operate as needed, thereby transforming the processing device into a dedicated processor. The software and data may be permanently or temporarily implemented in any type of machine, component, physical or virtual device, computer storage medium or device, or in a propagated signal wave capable of providing instructions or data to the processing device or being interpreted by the processing device. The software may also be distributed over a networked computer system such that the software is stored and executed in a distributed manner. The software and data may be stored by one or more non-transitory computer-readable recording media.

[0105] The method according to the above exemplary embodiments may be recorded in a non-transitory computer-readable medium, which includes program instructions for implementing various operations of the above exemplary embodiments. The medium may also include data files, data structures, etc., either alone or in combination with the program instructions. The program instructions recorded on the medium may be those specifically designed and constructed for the purposes of the exemplary embodiments, or they may be of the type well-known and available to those skilled in the computer software art. Examples of non-transitory computer-readable media include magnetic media (such as hard disks, floppy disks, and magnetic tapes), optical media (such as CD-ROM disks, DVDs, and / or Blu-ray disks), magneto-optical media (such as optical disks), and hardware devices specifically configured to store and execute program instructions (such as read-only memory (ROM), random access memory (RAM), flash memory (e.g., USB flash drives, memory cards, memory sticks, etc.), etc.). Examples of program instructions include both machine code (such as that generated by a compiler) and files containing high-level code that can be executed by a computer using an interpreter. The above devices may be configured to act as one or more software modules to perform the operations of the above exemplary embodiments, or vice versa.

[0106] A number of exemplary embodiments have been described above. However, it should be understood that various modifications may be made to these exemplary embodiments. For example, suitable results may be achieved if the described techniques are performed in a different order and / or if the components in the described system, architecture, device, or circuit are combined in a different manner and / or replaced or supplemented by other components or their equivalents. Accordingly, other embodiments are within the scope of the claims.

Claims

1. A balance training method using a wearable device, comprising: In the balance training mode of the wearable device, during a first time period, generating a walking assistance torque pattern associated with providing a walking assistance function to a user wearing the wearable device; In a second time period, generating an irregular torque pattern by applying a perturbation to the walking assistance torque pattern to simulate a situation where the user falls; Supplying the irregular torque pattern to an actuator of the wearable device, such that during the second time period, the irregular torque pattern output by the actuator includes a sudden change in force to simulate the situation where the user falls; And Outputting a torque based on the irregular torque pattern via the actuator.

2. The balance training method according to claim 1, wherein, The perturbation is not applied to the walking assistance torque pattern supplied to the actuator during the first time period.

3. The balance training method according to claim 2, wherein, The generating step includes: Generating a walking assistance torque pattern based on the gait cycle of a user wearing the wearable device; Determining the perturbation by determining the intensity change and offset change of the perturbation based on the elapsed time; and Applying the perturbation to the walking assistance torque pattern, wherein The step of generating the irregular torque pattern includes: generating an irregular torque pattern by applying the intensity change and offset change of the perturbation to the walking assistance torque pattern.

4. The balance training method according to claim 1, further comprising: Detecting a reaction of a user wearing the wearable device to the irregular torque pattern being supplied to the actuator; And Based on the reaction of the user, adjusting at least one of the frequency, intensity, and pattern of the perturbation associated with the irregular torque pattern.

5. The balance training method according to claim 4, wherein, The detecting step includes: Determining a recovery index indicating the degree of recovery from the irregular torque pattern based on sensing information measured by the wearable device, Wherein, when the recovery index meets a set requirement, the adjusting step adjusts the perturbation associated with the irregular torque pattern.

6. The balance training method according to claim 4, wherein, The detecting step includes: Determining a potential fall index indicating the probability of the user falling based on sensing information measured by the wearable device, Wherein, when the potential fall index meets a set requirement, the adjusting step adjusts the torque to be supplied to the actuator based on a safety torque pattern corresponding to the safety mode of the wearable device.

7. The balance training method according to claim 4, wherein, The detecting step includes: Determining a potential fall index indicating the probability of the user falling based on sensing information measured by the wearable device, Wherein, the adjusting step includes: when the potential fall index meets a set requirement, preventing the torque from being supplied to the actuator.

8. The balance training method according to claim 1, wherein The supplying step includes: Determining a time point at which the perturbation will be applied to the irregular torque pattern; Generating an irregular torque pattern by applying the perturbation to the walking assistance torque pattern at the time point; and Supplying the irregular torque pattern to the actuator.

9. The balance training method according to claim 8, wherein The step of determining the time point includes: Determining the time point when the step count of a user wearing the wearable device reaches a set step count as the time point.

10. The balance training method according to claim 8, wherein, The step of determining the time point includes: Based on sensing information measured by the wearable device, detecting whether a user wearing the wearable device recovers from the irregular torque pattern and reaches a stable state; and Determining the time point in the time period when the user wearing the wearable device reaches the stable state as the time point.

11. The balance training method according to claim 8, wherein, The step of determining the time point includes: Determining the time point at which the perturbation is to be applied based on an operation signal received from a remote operation device configured to communicate with the wearable device.

12. A non-transitory computer-readable medium including computer-readable instructions that cause a computer to perform the balance training method according to any one of claims 1 to 11.

13. A wearable device configured to provide a walking assistance function, comprising: A sensor configured to measure the movement of a user wearing the wearable device; A controller configured to execute a balance training mode of the wearable device by generating an irregular torque pattern; And An actuator configured to output a torque based on the irregular torque pattern, wherein the controller is configured to: During a first time period, generate a walking assistance torque pattern associated with providing the walking assistance function to the user; During a second time period, generate an irregular torque pattern by applying a perturbation to the walking assistance torque pattern to simulate a situation where the user falls; and Supply the irregular torque pattern to the actuator such that, during the second time period, the irregular torque pattern output by the actuator includes a sudden change in force to simulate the situation where the user falls.

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