Wearable device and exercise support method performed by the wearable device

Abstract

A wearable device and an exercise support method performed by the wearable device are disclosed. The exercise support method includes: receiving exercise setting information associated with a lower limb muscle selected by a user input; determining a torque curve to be applied to the wearable device based on the received exercise setting information; and operating an actuator of the wearable device based on the determined torque curve.

Description

Technical Field

[0001] At least one example embodiment relates to a wearable device and / or an exercise support method performed by the wearable device. Background Art

[0002] Walking assistance devices can be used to assist users who are inconvenienced in walking in general. This inconvenience in walking can be attributed to various reasons (e.g., disease or accident), and due to such reasons, users cannot easily walk alone. In such cases, walking assistance devices can be used to assist users during walking exercises. In addition, the recent problem of an aging society has led to more and more people who are inconvenienced and painful due to weakened muscle strength or joint problems due to aging. Therefore, there is a growing interest in walking assistance devices that enable elderly users or patients with weakened muscle strength or joint problems to walk with less effort. Walking assistance devices can be worn on the user's body, provide the user with the power required for walking and assist the user to walk with a normal gait pattern. Summary of the invention

[0003] At least one example embodiment is directed to an exercise support method performed by a wearable device.

[0004] In at least one example embodiment, the exercise support method may include: receiving exercise setting information via input, the exercise setting information indicating a user's selected lower limb muscles to be exercised; determining a torque curve based on the exercise setting information to apply to a wearable device; and operating an actuator of the wearable device based on the torque curve.

[0005] In at least one example embodiment, the step of determining the torque curve includes setting the torque curve so that a resistive torque that impedes movement of the user in one or more gait segments corresponding to the selected lower limb muscles is output.

[0006] In at least one example embodiment, the step of determining the torque curve includes determining a resistance torque application interval according to exercise setting information based on a gait phase of the user, wherein the step of operating the actuator applies the resistance torque during the resistance torque application interval within one or more gait segments of the gait phase.

[0007] In at least one example embodiment, the exercise setting information includes information associated with a lower limb muscle selected from among a plurality of lower limb muscles of the user.

[0008] In at least one example embodiment, receiving the exercise setting information includes receiving the exercise setting information from a remote controller configured to communicate with the wearable device.

[0009] In at least one example embodiment, the step of determining the torque curve includes: estimating a gait phase of the user based on sensor information sensed by one or more sensors of the wearable device; and determining the torque curve based on the gait phase and exercise setting information.

[0010] In at least one example embodiment, the step of determining the torque curve includes: identifying one or more gait segments of the gait phase corresponding to the selected lower limb muscles; and setting the torque curve so that the resistance torque is supplied to the actuator in the one or more gait segments.

[0011] In at least one example embodiment, determining the torque curve includes determining the torque curve so that an assisting torque supporting the user's leg movement is output in a first time interval and a resisting torque hindering the user's leg movement is output in a second time interval.

[0012] In at least one example embodiment, the wearable device is configured to operate in one of a walking assist mode and an exercise mode, such that in the walking assist mode, the wearable device assists the user's leg movements, and in the exercise mode, the wearable device outputs a resistance torque to hinder the user's leg movements.

[0013] At least one example embodiment is directed to a non-transitory computer-readable storage medium comprising computer-readable instructions that, when executed by a computer, cause the computer to perform the exercise support method.

[0014] At least one example embodiment is directed to an exercise support method performed by a wearable device.

[0015] In at least one example embodiment, the exercise support method may include: selectively setting the wearable device to an exercise mode; receiving exercise setting information via an input, the exercise setting information indicating a user's selected lower limb muscles to be exercised; and outputting a resistance distance that hinders the user's movement in one or more gait segments corresponding to the selected lower limb muscles via an actuator of the wearable device.

[0016] In at least one example embodiment, the step of outputting the resistance torque includes: setting a torque curve so that the resistance torque is output in the one or more gait segments corresponding to the selected lower limb muscles; and outputting the resistance torque through the actuator based on the torque curve.

[0017] At least one example embodiment relates to a wearable device.

[0018] In at least one example embodiment, the wearable device may include: an actuator configured to output a torque based on a torque curve; and a controller configured to: receive exercise setting information via input, the exercise setting information indicating a user's selected lower limb muscles to be exercised, and determine the torque curve based on the exercise setting information.

[0019] In at least one example embodiment, the controller is configured to set the torque curve so that a resistive torque that impedes movement of the user in one or more gait segments corresponding to selected lower limb muscles is output.

[0020] In at least one example embodiment, the wearable device further comprises: a sensor configured to sense movement of a user to generate sensing information, wherein the controller is configured to: estimate a gait phase of the user based on the sensing information, and determine a torque curve based on the gait phase and exercise setting information.

[0021] In at least one example embodiment, the controller is configured to: identify one or more gait segments of a gait phase corresponding to the selected lower limb muscles, and set the torque curve so that a resistive torque is supplied to the actuator in the one or more gait segments.

[0022] In at least one example embodiment, the controller is configured to determine a torque curve such that an assist torque supporting the user's leg movement is output in a first time interval and a resistance torque hindering the user's leg movement is output in a second time interval.

[0023] In at least one example embodiment, the wearable device is configured to operate in one of a walking assist mode and an exercise mode, such that in the walking assist mode, the wearable device assists the user's leg movements, and in the exercise mode, the wearable device outputs a resistance torque to hinder the user's leg movements.

[0024] In at least one example embodiment, the wearable device further includes a communicator configured to receive exercise setting information from a remote controller.

[0025] Additional aspects of example embodiments will be set forth in part in the description which follows and, in part, will be apparent from the description, or may be learned by practice of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] These and / or other aspects will become clear and more readily understood from the following description of example embodiments in conjunction with the accompanying drawings, in which:

[0027] Figure 1 is a diagram illustrating an example of a wearable device worn on a user according to at least one example embodiment;

[0028] Figure 2 is a diagram illustrating an example of a structure and function of a wearable device according to at least one example embodiment;

[0029] Figure 3 is a diagram illustrating an example of a configuration of a wearable device according to at least one example embodiment;

[0030] Figure 4 is a flowchart illustrating an example of an exercise support method performed by a wearable device according to at least one example embodiment;

[0031] Figure 5 is a diagram illustrating an example of changes in activation of lower limb muscles during walking exercise according to at least one example embodiment;

[0032] Figure 6 is a diagram illustrating an example of setting exercise setting information through a user input according to at least one example embodiment;

[0033] Figure 7 is a diagram illustrating an example of changes in activation of lower limb muscles over time during walking exercise according to at least one example embodiment;

[0034] Figure 8 is a diagram illustrating an example of changes in activation of lower limb muscles over time when a resistive torque is applied in all gait segments according to at least one example embodiment; and

[0035] Fig. 9 is a diagram illustrating an example of changes in activation of lower limb muscles over time when a resistive torque is applied in some gait segments according to at least one example embodiment. DETAILED DESCRIPTION

[0036] Hereinafter, some example embodiments will be described in detail with reference to the accompanying drawings. With respect to the reference numerals assigned to the elements in the accompanying drawings, it should be noted that, wherever possible, the same elements will be represented by the same reference numerals even if they are shown in different drawings. In addition, in the description of the embodiments, when it is considered that a detailed description of a well-known related structure or function will lead to an ambiguous interpretation of the present disclosure, such 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 that fall within the scope of the example embodiments. Throughout the description of the drawings, the same reference numerals represent the same elements.

[0038] In addition, 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 limit 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 first component is described as being "connected," "coupled," or "joined" to a second 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 specific embodiments only and are not intended to be limiting. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. It will also be understood that the terms "comprise" and / or "include" when used herein indicate the presence of the features, wholes, steps, operations, elements, components and / or groups thereof set forth, but do not exclude 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 optional embodiments, the functions / actions mentioned may not occur in the order mentioned in the drawings. For example, depending on the functions / actions involved, two figures shown in succession may actually be performed substantially simultaneously or may sometimes be performed in the reverse order.

[0041] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as that commonly understood by a person skilled in the art to which the disclosure of this application belongs. Unless explicitly defined as such 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 exemplary embodiments, when it is considered that a detailed description of a structure or function known therefrom after understanding the disclosure of the present application will lead to an obscure interpretation of the exemplary embodiments, such description will be omitted.

[0043] Various example embodiments will now be described more fully with reference to the accompanying drawings, in which some example embodiments are shown. In the drawings, the thicknesses of layers and regions are exaggerated for clarity.

[0044] Hereinafter, examples will be described in detail with reference to the accompanying drawings, and like reference numerals denote like elements throughout.

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

[0046] Reference 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 assist device (WAD) or a gait assist device. When the wearable device 110 is provided to perform such a walking assist function, the wearable device 110 may assist or support the entire leg or a portion of the leg of the user 100 to help the user 100 walk more easily. For example, when a person including, for example, a general user and an elderly user wears the wearable device 110, the wearable device 110 may help the person walk for a longer period of time to enhance the person's ability to walk or improve the person's abnormal gait. In addition, the wearable device 110 may provide the force required for the person to walk, enabling the person to walk independently.

[0047] The wearable device 110 may be used as follows Figure 1 The wearable exoskeleton is provided by the type shown in , and is configured to assist or support the user 100 when the user 100 walks to enhance muscle strength, thereby improving the walking motion or gait of the user 100 or enabling the user 100 to walk normally. For example, Figure 1 As shown in , the wearable device 110 is provided in a hip type that is worn on a hip joint or a thigh. However, the type of the wearable device 110 is not limited to the example shown, 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 portion of the leg (e.g., the ankle or knee).

[0048] In addition to being operable in a walking assist mode, the wearable device 110 may also be operated in an exercise mode, in which the wearable device 110 performs the walking assist function described above, and in which the wearable device 110 provides resistance to the user 100 to assist the user 100 in exercising. In the exercise mode, the resistance provided by the wearable device 110 to the body of the user 100 may act as a force that hinders the movement of the user 100 to increase the muscle strength of the user 100 or to help the user 100 recover. For example, the wearable device 110 may generate a resistance torque to provide resistance to the user 100 when the user 100 walks, and apply resistance to the movement of the user 100 based on the generated resistance torque.

[0049] According to an example embodiment to be described below, the user 100 may exercise at least one lower limb muscle that the user 100 desires to strengthen by performing exercise in an exercise mode of the wearable device 110 while wearing the wearable device 110. Here, the user 100 may select a lower limb muscle or a lower limb part that the user 100 desires to strengthen, and the wearable device 110 may generate a torque profile to strengthen the lower limb muscle selected by the user 100, and may apply resistance to the leg of the user 100 in a specific gait segment based on the generated torque profile. The term "gait segment" used herein may refer to a time interval in a gait phase. While wearing the wearable device 110, the user 100 may walk in an exercise mode, and the wearable device 110 may apply resistance to the user 100 in a specific gait segment of the gait phase of the user 100, thereby providing an exercise function to help the user 100 strengthen the lower limb muscle selected by the user 100. In this way, the lower limb muscles of the user 100 can be selectively strengthened, and the user 100 can be helped to effectively perform rehabilitation or exercise for a specific lower limb part. In addition, unlike other exercises that can also strengthen the target lower limb part (such as, for example, lunges, squats, and cycling), the walking exercise performed using the wearable device 110 does not strain the joints of the user 100, but has an exercise effect similar to that brought about by other exercises.

[0050] Figure 2 is a diagram illustrating an example of a structure and function of a wearable device according to at least one example embodiment.

[0051] Reference Figure 2 , when the wearable device 110 operates in the walking assist mode, the wearable device 110 generates a resistance 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 resistance torque provides an assist force for extension and / or flexion to the user 100 wearing the wearable device 110 through the transmitters 240L and 240R arranged above the knees of the user 100. The wearable device 110 senses the movement of the user 100 through one or more sensors, and estimates the gait phase or gait state of the user 100 based on the information of the sensed movement. The wearable device 110 determines the direction of the assist force to be provided to each leg of the user 100 at the current time point and the magnitude of the assist force to be provided at the current time point based on the estimated gait phase.

[0052] When the wearable device 110 is operated in the exercise mode, the controller 230 generates a resistance torque for all segments or one of the multiple segments of the gait phase of the user 100, and the generated resistance torque provides resistance through the transmitters 240L and 240R, which is a force for hindering the leg movement of the user 100. The controller 230 determines a torque curve of the resistance torque based on the lower limb muscle selected by the user input, and operates the actuator of the wearable device 110 based on the determined torque curve. The torque curve includes information associated with the magnitude of the torque to be applied to the actuator based on the elapsed time or the development of the gait phase and the direction of the torque.

[0053] According to an example embodiment, the user 100 selects a lower limb muscle or a lower limb part that the user 100 desires to exercise through the remote controller 250. The user 100 may select a lower limb muscle through an interface executed in the remote controller 250. Here, exercise setting information associated with the lower limb muscle selected by the user input may be sent from the remote controller 250 to the wearable device 110. Then, the controller 230 may determine a torque curve to be used in the exercise mode based on the exercise setting information received from the remote controller 250. The remote controller 250 may be a mobile device (such as, for example, a personal computer (PC), a laptop computer, a tablet PC, and a smart phone), other types of wearable devices including, for example, a smart watch, or another electronic device.

[0054] According to one example, the exercise setting information may be determined by a user input of a third person instead of the user input of the user 100 wearing the wearable device 110. The third person may be, for example, a rehabilitator, or a medical professional or medical staff, or an assistant who assists the user 100 in walking or exercising.

[0055] Figure 3 is a diagram illustrating an example of a configuration of a wearable device according to at least one example embodiment.

[0056] Reference 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 (eg, a remote controller).

[0057] The remote controller can control the overall operation of the wearable device 300 in response to user input. For example, the remote controller can start or end or pause or resume a function or operation of the wearable device 300. The remote controller can provide a user interface (UI) that enables operation or manipulation of the wearable device 300, and the user can control the functions and operations of the wearable device 300 through the UI. In addition, through the UI, the user can select the lower limb muscles or lower limb parts that the user desires to exercise, and select exercise characteristics including, for example, exercise intensity and exercise time. The communicator 360 can receive a control signal for remotely controlling the wearable device 300 from the remote controller, and / or exercise setting information associated with the lower limb muscles or exercise characteristics.

[0058] The sensor 340 may include various sensors. For example, the sensor 340 may include a sensor configured to sense or measure the gait phase or motion of the user wearing the wearable device 300, and a sensor configured to obtain information required for 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 to measure the user's motion and output the sensed information from the sensor 340. The sensor 340 may also include, for example, a torque sensor and / or a current / voltage sensor to sense or measure the torque transmitted by the actuator 350.

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

[0060] The controller 320 may include a processing circuit, which includes, 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 programmable logic unit, a microprocessor, an application-specific integrated circuit (ASIC), etc. The processing circuit may execute instructions to configure the processing circuit as a dedicated processing circuit, which generates a control signal to control the wearable device 300 to set a torque curve so that in one or more gait segments corresponding to the lower limb muscles selected by the user input, a resistance torque for hindering the movement of the user wearing the wearable device 300 is output. Hereinafter, the gait segment corresponding to the lower limb muscle means a gait segment corresponding to the activation of the lower limb muscle. Therefore, the processing circuit can improve the function of the wearable device 300 itself by allowing the wearable device 300 to selectively strengthen the selected lower limb muscles of the user 100 without joint strain associated with traditional exercises for strengthening the lower limb muscles (such as, for example, lunges, squats, and cycling).

[0061] For example, the controller 320 may generate a torque control signal based on the motion of the user sensed by the sensor 340 to control the torque to be provided by the wearable device 300. The controller 320 may perform one or more or all of the operations and functions of the wearable device described herein. The wearable device 300 may operate in one of a walking assist mode that assists the user in walking and an exercise mode that outputs a resistance torque as a force for hindering the leg motion of the user. The controller 320 may control the operation and function of the wearable device 300 according to each operation mode.

[0062] According to an example embodiment, the wearable device 300 may receive a user selection input for an operation mode of the wearable device 300. An operation algorithm for each operation mode may be provided in advance in the wearable device 300, and then each operation mode may operate according to the provided algorithm. The controller 320 may operate the wearable device 300 in response to the received user selection input.

[0063] When the walking assist mode is selected as the operation mode, the controller 320 may execute an algorithm for determining an assist force to assist the walking of the user wearing the wearable device 300. For example, the controller 320 may estimate the gait cycle of the user based on the sensing information sensed by the sensor 340, and generate a torque control signal based on the gait phase of the user based on the estimated gait cycle.

[0064] The actuator 350 may output a torque based on a torque control signal generated by the controller 320. The actuator 350 may provide a force (e.g., an assisting force or a resistance) to the movement of the two hip joints of the user. The actuator 350 may convert electrical energy into kinetic energy and apply the kinetic energy to the user's body to provide the user with the force required for the user's movement or to provide the user with a force that hinders the user's movement. For example, the actuator 350 may be provided as a plurality of actuators, and each actuator may be arranged on a portion corresponding to each position of the user's hip joint, and generate a torque for the bending and extension of the corresponding leg of the user.

[0065] The controller 320 may determine a state variable indicating a gait phase or gait state of the user based on the user's walking motion, and control the actuator 350 based on the determined state variable. The controller 320 may set parameters based on the state variable to control the assist torque, and output a torque control signal based on the set parameters to assist the user in walking.

[0066] The controller 320 may control the auxiliary torque to be provided by the wearable device 300 based on the state variable, and determine the control signal for controlling the auxiliary torque based on the state variable. The controller 320 may set a gain to adjust the strength of the auxiliary torque, and set a time delay to adjust the output time of the auxiliary torque. Then, the controller 320 may define the state variable based on the set gain and the set time delay.

[0067] When the exercise mode is selected as the operation mode, the controller 320 may execute an algorithm for determining resistance against movement of the user wearing the wearable device 300. In the exercise mode, the controller 320 may determine a torque curve of muscle exercise based on the user's walking exercise, and the actuator 350 may output a torque (e.g., a resistance torque) based on the determined torque curve.

[0068] For example, the controller 320 may receive exercise setting information associated with a lower limb muscle selected by user input, and determine a torque curve to be applied to the wearable device 300 based on the received exercise setting information. The exercise setting information may include information associated with at least one lower limb muscle selected by user input among the lower limb muscles of the user.

[0069] The user can select at least one lower limb muscle that the user desires to exercise and is set as a target for exercise, or select all lower limb muscles of the user through an interface provided in the wearable device 300 or the remote controller. The controller 320 can determine the torque curve based on the exercise setting information associated with the selected lower limb muscle. The exercise setting information may also include information associated with the selection of exercise intensity. For example, when the user selects a higher exercise intensity, the controller 320 can set the torque curve so that a greater intensity of resistance torque is output.

[0070] In some example embodiments, in addition to inputting the aforementioned exercise setting information, the user may also input the user's weight, and the controller 320 may adjust the magnitude of the torque in the torque curve based on the weight.

[0071] In some example embodiments, the exercise mode may include an initialization mode in which the controller 320 senses a base strength of the user's muscles to customize an amount of resistance applied to the user during the exercise mode based on the user's base strength.

[0072] In some example embodiments, in addition to inputting the aforementioned exercise setting information, the user may also input an abnormal gait type, and the controller 320 may adjust the force curve based on the abnormal gait type to compensate for the specific gait abnormality.

[0073] In some other example embodiments, the controller 320 may automatically select one or more lower limb muscles to exercise, rather than the user selecting at least one lower limb muscle to exercise. For example, in some example embodiments, the controller 320 may randomly select different ones of the lower limb muscles to exercise. In other example embodiments, the controller 320 may select lower limb muscles to exercise based on which muscles are most efficiently exercised at the user's current walking speed. In other example embodiments, the controller 320 may collect historical muscle strength information from the user during a previous exercise mode, and may select lower limb muscles to exercise based on the historical muscle strength information indicating, for example, which of the user's muscles are relatively weak.

[0074] Based on the exercise setting information, the controller 320 may set a torque curve so that a resistance torque for hindering the movement of the user wearing the wearable device 300 in a gait segment corresponding to the lower limb muscle selected by the user input is output. The controller 320 may estimate the gait phase of the user based on the sensing information obtained from the sensor 340, and determine the torque curve in the exercise mode based on the estimated gait phase and the exercise setting information. For example, the controller 320 may identify the gait segment of the gait phase corresponding to the lower limb muscle selected by the user input, and set the torque curve so that the resistance torque is supplied to the actuator 350 in the identified gait segment. As described above, the controller 320 may apply a resistance torque in a suitable gait segment based on the gait phase of the user, thereby assisting the user in exercising to strengthen the target lower limb muscle that the user desires to strengthen. The controller 320 may adjust the delay of the time point at which the torque will be applied in the torque curve, thereby adjusting the timing of the load to be applied to the user.

[0075] According to another example embodiment, the controller 320 may set a torque curve so that the auxiliary torque and the resistance torque are combined, or the auxiliary torque and the resistance torque are output simultaneously. For example, the controller 320 may set a torque curve so that the auxiliary torque for supporting the leg movement of the user wearing the wearable device 300 in a first time interval (e.g., 15 minutes) is output, and the resistance torque for hindering the leg movement of the user in a second time interval (e.g., 15 minutes) is output. For another example, the controller 320 may set a torque curve so that the auxiliary torque is output in one gait segment in one gait phase of the user, and the resistance torque is output in another gait segment of the gait phase of the user. For yet another example, the controller 320 may set a torque curve so that at the same time point, the actuator configured to apply the torque to the user's right leg outputs the auxiliary torque, and the actuator configured to apply the torque to the user's left leg outputs the resistance torque.

[0076] Figure 4 is a flowchart illustrating an example of an exercise supporting method performed by a wearable device according to at least one example embodiment.

[0077] As described above, the wearable device can operate in one of the operating modes (or, optionally, a combination thereof) of a walking assist mode for assisting a user wearing the wearable device in walking and an exercise mode for outputting a resistance torque as a force for hindering the user's leg movement and providing an exercise effect to the user.

[0078] Reference Figure 4 , in operation 410, when the wearable device executes an exercise mode based on a selection made by a user, the wearable device receives exercise setting information associated with a lower limb muscle selected by user input. The exercise setting information may include information associated with at least one lower limb muscle selected by user input from among the lower limb muscles of the user, as well as exercise intensity information and exercise time information selected by user input. For example, a user may input setting details for a lower limb exercise through a remote controller configured to communicate with the wearable device, and the input setting details may be sent to the wearable device by being included in the exercise setting information. For another example, the wearable device may include a UI that enables a user to input setting details for a lower limb exercise, and the user may determine the exercise setting information through the UI.

[0079] In operation 420, the wearable device determines a torque curve to be applied to the wearable device based on the exercise setting information. For example, the wearable device may estimate a gait phase of a user wearing the wearable device based on sensing information sensed by a sensor of the wearable device, and determine a torque curve based on the estimated gait phase and the exercise setting information. The wearable device may determine a resistance torque application interval to which a resistance torque will be applied according to the exercise setting information based on the gait phase of the user. The wearable device may identify a gait segment of the gait phase corresponding to a lower limb muscle selected by a user input, and set a torque curve so that a resistance torque for hindering the movement of the user is supplied to an actuator of the wearable device during the identified gait segment.

[0080] In addition, the wearable device may determine the strength of the resistance torque of the torque curve based on the exercise intensity set in the exercise setting information, and set the entire time interval in which the resistance torque is applied.

[0081] In operation 430, the wearable device operates an actuator of the wearable device based on the torque curve determined in operation 420. The wearable device may output a resistance torque that hinders the user's movement through the actuator based on the torque curve. The wearable device may output a resistance torque through the actuator in a gait segment corresponding to the lower limb muscle selected by the user input. When the resistance torque is output, the user may strengthen the muscle strength because the user needs to use a greater force or strength to move when subjected to resistance when the user performs walking exercise, compared to when the resistance torque is not applied. In addition, the resistance torque may be output at a time point corresponding to the lower limb muscle selected by the user (i.e., a time point corresponding to the activation of the lower limb muscle selected by the user), so the user may selectively exercise the lower limb muscle of the user. Such functions in the exercise mode may be extended to walking assistance. For example, by assisting or supporting the movement of the user's hip joint only at a specific time point of the gait, the movement of the knee joint or ankle joint may be helped.

[0082] Figure 5 is a diagram illustrating an example of changes in activation of lower limb muscles during walking exercise according to at least one example embodiment.

[0083] Reference Figure 5 , a gait phase or gait state may be defined based on one of the two legs of a user wearing the wearable device. Figure 5As shown in , the gait phase includes a stance phase and a swing phase based on the user's right leg. The stance phase can include double support, simple support, and double support in order. Simple support can be subdivided into initial support, middle support, and terminal support. According to the general gait mechanism, the gait phase of each leg may include a stance phase and a swing phase that alternate with each other.

[0084] Walking exercise as used herein may refer to exercise that enables a user to strengthen all muscles of the user's lower limbs. Figure 5 , the muscles mainly activated in the first double support phase in the stance phase include the gracilis, rectus femoris, vastus muscle, gluteus maximus, gluteus medius, biceps femoris and tibialis anterior muscle. In addition, the muscles mainly activated in the simple support phase in the stance phase include the gastrocnemius, soleus and tibialis posterior muscle. In addition, the muscles activated in the swing phase include the iliacus, gracilis and rectus femoris.

[0085] As described above, different lower limb muscles may be activated based on the gait phase during the walking exercise process. Therefore, in one or more example embodiments, by applying a resistance torque to the user in the segment in which specific lower limb muscles in the user's gait phase will be activated, exercise for strengthening the lower limb muscles may become possible. For example, applying a resistance torque to the right leg of a user wearing a wearable device in a segment corresponding to simple support in the stance phase may bring a greater exercise effect to the gastrocnemius, soleus, and tibialis posterior. For another example, applying a resistance torque to the right leg of a user wearing a wearable device in the early segment of the swing phase may bring a greater exercise effect to the iliacus, gracilis, and rectus femoris.

[0086] Figure 6 is a diagram illustrating an example of setting exercise setting information through a user input according to at least one example embodiment.

[0087] According to an example embodiment, the remote controller may provide a function that enables the user to intuitively set the Figure 6 The remote controller can output the shape and position of the lower limb muscles in the form of an image, so that the user can intuitively recognize the muscles through the UI.

[0088] The user can select at least one lower limb muscle or lower limb part that the user desires to exercise through the UI. For example, the user can select an image of at least one lower limb muscle that the user desires to exercise through touch input. In addition, through the UI, the user can set the exercise intensity or the entire exercise time for the selected lower limb muscle. Information associated with the details selected and set as described above can be sent to the wearable device by being included in the exercise setting information. In addition, the user can also select the lower limb muscle or lower limb part that the user desires to exercise through other input devices (e.g., microphone, keyboard, mouse, button, joystick, etc.), and select exercise characteristics including, for example, exercise intensity and exercise time.

[0089] Figure 7 is a diagram illustrating an example of changes in activation of lower limb muscles over time during walking exercise according to at least one example embodiment.

[0090] Reference Figure 7 , (A) shows the flow of a walking process of a user wearing a wearable device. (B1) and (B2) respectively show changes in activation of hip muscles including gluteus maximus and gluteus medius based on the flow of the user's walking process, and changes in activation of hamstring muscles including biceps femoris or muscles behind the user's knee based on the flow of the user's walking process. (B3) and (B4) respectively show changes in activation of quadriceps femoris muscles in front of the user's knee including rectus femoris based on the flow of the user's walking process, and changes in activation of ankle muscles including soleus muscles based on the flow of the user's walking process.

[0091] (B1), (B2), (B3) and (B4) are muscle activation graphs showing changes in muscle activation when a resistance torque is not applied to the user's walking exercise. In the muscle activation graphs, the horizontal axis corresponds to the elapsed time, and the vertical axis indicates the magnitude of muscle activation. In each muscle activation graph, the upper portion indicates changes in muscle activation of the lower limb muscles of the user's left leg, and the lower portion indicates changes in muscle activation of the lower limb muscles of the user's right leg.

[0092] The description of the muscle activation graphs shown in (B1), (B2), (B3) and (B4) can be applied to Figure 8 and Fig. 9 The muscle activation curve graph is shown in .

[0093] Figure 8 is a diagram illustrating an example of changes in activation of lower limb muscles over time when a resistive torque is applied throughout a gait segment according to at least one example embodiment.

[0094] Reference Figure 8, (B1), (B2), (B3) and (B4) show muscle activation curves of lower limb muscles, and (C) shows a torque curve to be applied to the wearable device. According to the torque curve, a resistance torque is applied in all gait segments 810. In the torque curve, the upper part indicates a change in the resistance torque to be applied to the actuator of the wearable device for the left hip joint of the user wearing the wearable device, and the lower part indicates a change in the resistance torque to be applied to the actuator of the wearable device for the right hip joint of the user.

[0095] According to the torque curve, throughout the user's walking, resistance can be applied to the user's movement. Figure 8 The muscle activation curve is shown in the circle, which is Figure 7 Compared to the changes in muscle activation during typical walking shown in , the gluteal muscles, the hamstring muscles behind the user's knees, and the quadriceps muscles in front of the knees shown in (B1), (B2), and (B3), respectively, are further activated.

[0096] When the user desires to strengthen the hip muscles, the posterior knee muscles, and the anterior knee muscles during the walking exercise process and selects such muscles, and the exercise setting information is determined accordingly, the wearable device may set the torque curve so that the resistance torque is generated in all segments of the user's gait phase, thereby enabling the user to experience the following Figure 8 The effects of muscle activation are shown in .

[0097] Fig. 9 is a diagram illustrating an example of changes in activation of lower limb muscles over time when a resistive torque is applied in some gait segments according to at least one example embodiment.

[0098] Reference Fig. 9 , (B1), (B2), (B3) and (B4) show muscle activation curves of lower limb muscles, and (C) shows a torque curve to be applied to the wearable device. In the torque curve, the upper part indicates a change in the resistance torque to be applied to the actuator of the wearable device for the left hip joint of the user wearing the wearable device, and the lower part indicates a change in the resistance torque to be applied to the actuator of the wearable device for the right hip joint of the user wearing the wearable device.

[0099] According to the torque curve, the resistance torque is applied in some gait segments 910 of all gait segments corresponding to one gait of the user. Therefore, the resistance can be applied to the movement of the user only in the gait segment 910. In this case, as shown by Fig. 9 The muscle activation curve is shown in the circle, which is Figure 7 Compared to the changes in muscle activation during normal walking shown in (B4), the ankle muscles are further activated.

[0100] When the user desires to strengthen the ankle muscles during the walking exercise process and selects such muscles, and the exercise setting information is determined accordingly, the wearable device may set the torque curve so that the resistance torque is generated in the time interval corresponding to the gait segment 910 of the user's gait phase. Fig. 9 As shown in , a user can strengthen ankle muscles through general walking exercises by performing walking exercises while wearing a wearable device. As described above, the wearable device can provide resistance to the user at the time point when each lower limb muscle is activated, thereby enabling the user to selectively exercise or rehabilitate the user's lower limb muscles.

[0101] The units and / or modules described herein can be implemented using hardware components and software components. For example, the hardware components may include a microphone, an amplifier, a bandpass filter, an audio to digital converter, and a processing device. The processing device can be implemented using one or more hardware devices configured to implement and / or execute program codes by performing arithmetic operations, logical operations, and input / output operations. (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 limited manner. The processing device can run an operating system (OS) and one or more software applications running on the OS. The processing device can also access, store, manipulate, process, and create data in response to the execution of the software. For the purpose of simplicity, 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 multiple types of processing elements. For example, the processing device may include multiple processors or a processor and a controller. In addition, different processing configurations are feasible (such as parallel processors).

[0102] Software may include computer programs, code segments, instructions, or some combination thereof, to independently or collectively instruct and / or configure a processing device to operate as desired, thereby turning the processing device into a special-purpose processor. Software and data may be implemented permanently or temporarily in any type of machine, component, physical or virtual equipment, computer storage medium or device, or in a propagating signal wave capable of providing instructions or data to or interpreted by a processing device. Software may also be distributed on networked computer systems so that the software is stored and executed in a distributed manner. Software and data may be stored by one or more non-transitory computer-readable recording media.

[0103] The method according to the above-mentioned example embodiment may be recorded in a non-transitory computer-readable medium, which includes program instructions for implementing various operations of the above-mentioned example embodiment. The medium may also include data files, data structures, etc., either alone or in combination with program instructions. The program instructions recorded on the medium may be program instructions specially designed and constructed for the purpose of the example embodiment, or they may be types known and available to technicians in the field of computer software. Examples of non-transitory computer-readable media include magnetic media (such as hard disks, floppy disks, and tapes), optical media (such as CD-ROM disks, DVDs, and / or Blu-ray disks), magneto-optical media (such as optical disks), and hardware devices (such as read-only memory (ROM), random access memory (RAM), flash memory (e.g., USB flash drive, memory card, memory stick, etc.) specially configured to store and execute program instructions. Examples of program instructions include both machine code (such as machine code generated by a compiler) and files containing high-level code that can be executed by a computer using an interpreter. The above-mentioned device may be configured to act as one or more software modules to perform the operations of the above-mentioned example embodiments, or vice versa.

[0104] A number of example embodiments have been described above. However, it should be understood that various modifications may be made to these example embodiments. For example, if the described techniques are performed in a different order and / or if components in the described systems, architectures, devices, or circuits are combined in a different manner and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Therefore, other implementations are within the scope of the claims.

Claims

1. An exercise support method performed by a wearable device, comprising: receiving exercise setting information from the remote controller, the exercise setting information including information about lower limb muscles selected by user input; and controlling the output of the resistance torque from the actuator of the wearable device based on the exercise setting information, The step of controlling the output of the resistance torque includes: A resistance torque is output to hinder the user's movement during the user's exercise during the time interval when the selected lower extremity muscles are activated.

2. The exercise support method according to claim 1, further comprising: determining a force curve to apply to the wearable device based on the received exercise setting information, The step of controlling the output of the resistance torque includes: The output of the resistance is controlled based on the determined torque curve.

3. The exercise support method according to claim 1, wherein: The steps to determine the torque curve include: determining one or more gait segments among a plurality of gait segments within a gait phase that correspond to selected lower extremity muscles; and A torque curve is determined such that a resistive torque is applied to the determined one or more gait segments.

4. The exercise support method according to claim 2, wherein: The steps to determine the torque curve include: Determine the resistance torque application interval based on the user's gait phase according to the exercise setting information, Wherein, the actuator is operated to apply the resistance torque during the resistance torque application interval in one or more gait segments of the gait phase.

5. The exercise support method according to claim 1, wherein: The exercise setting information includes information associated with a lower limb muscle selected from among a plurality of lower limb muscles of the user.

6. The exercise support method according to claim 1, wherein: The steps for receiving exercise setup information include: Exercise setting information is received from a remote controller configured to communicate with the wearable device.

7. The exercise support method according to claim 2, wherein: The steps to determine the torque curve include: estimating a gait phase of the user based on sensor information sensed by one or more sensors of the wearable device; and A torque curve is determined based on the gait phase and exercise setup information.

8. The exercise support method according to claim 7, wherein: The steps to determine the torque curve include: identifying one or more gait segments of a gait phase corresponding to selected lower extremity muscles; and The torque curve is arranged such that a resistive torque is supplied to the actuator in the one or more gait segments.

9. The exercise support method according to claim 2, wherein: The steps to determine the torque curve include: The torque curve is determined such that an assist torque that supports the leg movement of the user is output in a first time interval, and a resistance torque that hinders the leg movement of the user is output in a second time interval.

10. A non-transitory computer-readable medium comprising computer-readable instructions, which, when executed by a computer, cause the computer to perform the exercise support method of any one of claims 1 to 9.

11. A wearable device comprising: Actuator; and The controller is configured as: receiving exercise setting information from the remote controller, the exercise setting information including information about lower limb muscles selected by user input, and controlling the actuator output resistance torque based on the exercise setting information, The controller is configured as follows: The actuator is controlled to output a resistive torque to hinder the user's movement during a time interval when the selected lower limb muscles are activated during the user's exercise.

12. The wearable device according to claim 11, wherein: The controller is configured as: determining a force curve to apply to the wearable device based on the received exercise setting information, and The output of the resistance is controlled based on the determined torque curve.

13. The wearable device according to claim 12, further comprising: a sensor configured to sense a user's motion to generate sensing information, The controller is configured as follows: Estimate the user's gait phase based on the sensing information, Determine the torque curve based on gait phase and exercise setup information, identifying one or more gait segments of a gait phase corresponding to selected lower extremity muscles, and The torque curve is arranged such that a resistive torque is supplied to the actuator in the one or more gait segments.

14. The wearable device according to claim 12, wherein: The controller is configured to determine a torque curve such that an assist torque supporting the leg movement of the user is output in a first time interval, and a resistance torque hindering the leg movement of the user is output in a second time interval.

15. The wearable device according to claim 12, wherein: The wearable device is configured to operate in one of a walking assist mode and an exercise mode, such that in the walking assist mode, the wearable device assists the user's leg movements, and in the exercise mode, the wearable device outputs a resistance torque to hinder the user's leg movements.

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