Method for securely controlling wearable device for user and wearable device for performing method

Abstract

The wearable device may include: a driving module generating a torque applied to a body of a user; a leg driving frame for transmitting the generated torque to a leg of the user; a thigh fastening unit connected to the leg driving frame and fixing the leg driving frame to a leg of the user; at least one sensor obtaining sensor data including movement information on the wearable device; and at least one processor controlling the driving module based on the sensor data. The at least one processor may determine information (e.g., a movement score) indicative of a degree to which the wearable device moves or has moved based on the sensor data obtained using the at least one sensor, and may control whether to generate the torque based on the determined information (e.g., a movement score).

Description

Technical Field

[0001] Certain example embodiments relate to a method of securely controlling a wearable device for a user and / or a wearable device performing the method. Background Art

[0002] A walking assist device generally refers to a machine or device that helps patients who cannot walk on their own due to illness, accident or other reasons to perform walking exercises for rehabilitation treatment and / or helps users exercise. In our current, rapidly aging society, more and more people experience inconvenience when walking or have difficulty walking normally due to joint dysfunction, and there is an increasing interest in walking assist devices. For example, a walking assist device can be worn on the user's body to assist the user in walking by providing muscle strength and / or guide the user such as walking in a normal walking pattern. Summary of the invention

[0003] According to an example embodiment, a wearable device configured to be worn on a user's body may include: a drive module (including a motor and / or a circuit) configured to generate a torque to be applied to the user's body; a leg drive frame configured to transmit the generated torque to the user's leg; a thigh fastener directly or indirectly connected to the leg drive frame and configured to fix / operably connect the leg drive frame to the user's leg; a sensor module (including at least one sensor) configured to obtain sensor data including motion information of the wearable device; and a control module (including a processing circuit) configured to control the drive module based on the sensor data. The control module may be configured to determine information indicating the extent to which the wearable device moves and / or has moved during the time interval based on the sensor data obtained by the sensor module during the time interval (e.g., including at least a motion score), and control whether to generate the torque based on the determined information (e.g., the motion score).

[0004] According to an example embodiment, a method for controlling a wearable device may include: receiving a control command to start driving the wearable device; in response to receiving the control command, obtaining sensor data including motion information of the wearable device via at least one sensor module of the wearable device during a time interval after a time point when the control command is received; determining information indicating the extent to which the wearable device moves and / or has moved during the time interval based on the sensor data (for example, including at least a motion score); and controlling whether a drive module of the wearable device generates torque based on the determined information (for example, the motion score).

[0005] According to an example embodiment, a method of controlling a wearable device may include: generating a torque to be applied to a user's leg via at least one driving module of the wearable device; obtaining sensor data including motion information of the wearable device via at least one sensor module of the wearable device during a time interval; determining a motion score indicating the extent to which the wearable device moved during the time interval; and determining whether to stop generating the torque based on the determined motion score. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The above and other aspects, features and advantages of certain embodiments of the present disclosure will become more apparent through the following detailed description in conjunction with the accompanying drawings, in which:

[0007] Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an exemplary embodiment;

[0008] Figure 2 is a diagram illustrating a management system including a wearable device and an electronic apparatus according to an example embodiment;

[0009] Figure 3 is a schematic diagram showing a back side of a wearable device according to an example embodiment;

[0010] Figure 4 is a left side view showing a wearable device according to an example embodiment;

[0011] Figure 5a and Figure 5b is a diagram illustrating a configuration of a control system of a wearable device according to an example embodiment;

[0012] Figure 6 is a diagram illustrating an interaction between a wearable device and an electronic apparatus according to an example embodiment;

[0013] Figure 7 is a flowchart illustrating a method of controlling a wearable device according to an example embodiment;

[0014] Figure 8 is a diagram illustrating changing values ​​of sensor data over time according to an example embodiment;

[0015] Fig. 9 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment;

[0016] Fig.10 is a flowchart illustrating a method of controlling a wearable device according to an example embodiment;

[0017] Fig.11is a diagram illustrating an example of controlling a wearable device based on sensor data according to an example embodiment; and

[0018] Fig.12 is a diagram illustrating a configuration of an electronic device according to an example embodiment. DETAILED DESCRIPTION

[0019] The following detailed structural or functional description is provided only as an example, and various changes and modifications may be made to the examples. Here, the embodiments are not interpreted as being limited to the present disclosure, and should be understood to include all changes, equivalents, and replacements within the scope of the concept and technology of the present disclosure.

[0020] Unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms as well. It will be further understood that when used herein, the terms "include / comprise" and / or "comprising / including" specify the presence of stated features, integers, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof.

[0021] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by ordinary technicians in the field to which the examples belong. Terms (such as those defined in commonly used dictionaries) should be interpreted as having a meaning consistent with their meaning in the context of the relevant field, and should not be interpreted as an idealized or overly formal meaning unless explicitly defined as such herein.

[0022] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. When describing the embodiments with reference to the accompanying drawings, the same reference numerals denote the same elements, and repeated descriptions thereof will be omitted.

[0023] Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an embodiment.

[0024] Reference Figure 1, the wearable device 100 may be a device worn on the body of the user 110 to assist the user 110 in walking, exercising and / or working. In an embodiment, the wearable device 100 may be used to measure the physical fitness of the user 110 (e.g., walking ability, exercise ability, or exercise posture). In an embodiment, the term "wearable device 100" may be replaced with a "wearable robot", "walking assistance device", or "exercise assistance device". The user 110 may be a person or an animal, but is not limited thereto. The wearable device 100 may be worn on the body of the user 110 (e.g., the lower body (legs, ankles, knees, etc.) and / or waist), and apply an external force, such as an assisting force and / or a resistance force, to the body movement of the user 110. The assisting force may be a force applied in the same direction as the direction of the body movement of the user 110 to assist the body movement of the user 110. The resistance force may be a force applied in the opposite direction to the direction of the body movement of the user 110 to hinder the body movement of the user 110. The term "resistance" may also be referred to as "exercise load".

[0025] In an embodiment, the wearable device 100 may operate in a walking assist mode to assist the walking of the user 110. In the walking assist mode, the wearable device 100 may assist the walking of the user 110 by applying an assist force generated via the drive module 120 of the wearable device 100 to the body of the user 110. The wearable device 100 may extend the walking ability of the user 110 by providing the force required for the user 110 to walk to allow the user 110 to walk independently or for a long time. The wearable device 100 may also improve the walking of a user with an inappropriate walking habit or posture.

[0026] In an embodiment, the wearable device 100 may operate in an exercise assist mode to enhance the effect of exercise on the user 110. In the exercise assist mode, the wearable device 100 may hinder the body movement of the user 110 or resist the body movement of the user 110 by applying resistance generated by the driving module 120 of the wearable device 100 to the body of the user 110. When the wearable device 100 is a hip-type wearable device worn on the waist (or pelvis) of the user 110 and the legs (e.g., thighs) of the user 110, the wearable device 100 worn on the legs of the user 110 may enhance the effect of exercise on the legs of the user 110 by providing an exercise load to the movement of the legs of the user 110. Alternatively, the wearable device 100 may apply an auxiliary force to the body of the user 110 to assist the exercise of the user 110. For example, when a disabled person or an elderly person wears the wearable device 100 to exercise, the wearable device 100 may provide an auxiliary force to assist body movement during exercise. In an embodiment, the wearable device 100 may provide a combination of assistive force and resistance by exercise phase or time interval, for example, providing assistive force in one exercise phase and providing resistance in another exercise phase.

[0027] In an embodiment, the wearable device 100 can operate in a physical fitness measurement mode (or exercise ability measurement mode) to measure (including the measurement of exercise ability) the physical fitness of the user 110. When the user 110 performs walking and exercise, the wearable device 100 can measure the user's motion information by using one or more sensors (e.g., an angle sensor 125 and an inertial measurement unit (IMU) (or inertial sensor) 135) included in the wearable device 100, and the wearable device 100 and an electronic device (e.g., an inertial measurement unit) interacting with the wearable device 100 can be connected to the wearable device 100. Figure 2 The electronic device 210 of the wearable device 100 may estimate the user's physical fitness or exercise ability based on the measured motion information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, or exercise motion) of the user 110 may be estimated through the motion information of the user 110 measured by the wearable device 100. The physical fitness measurement mode may include an exercise motion estimation mode to estimate the user's exercise motion (or exercise posture) when the user performs exercise.

[0028] In the exemplary embodiment, for ease of description, as Figure 1 As shown, the wearable device 100 is described as an example of a hip-type wearable device, but the embodiment is not limited thereto. As described above, the wearable device 100 can be worn on a body part (e.g., an upper arm, a lower arm, a hand, a calf, or a foot) other than the waist and the leg (specifically, the thigh), and the shape and configuration of the wearable device 100 can vary depending on the body part on which the wearable device 100 is worn.

[0029] In an embodiment, the wearable device 100 may include: a support frame (eg, Figure 3 The waist support frame 20) is used to support the body of the user 110 when the wearable device 100 is worn on the body of the user 110; the driving module 120 (for example, Figure 3 10 ) for generating torque applied to the legs of the user 110; a leg drive frame (e.g., Figure 3 The first leg driving frame 55 and the second leg driving frame 50 are used to transmit the torque generated by the driving module 120 to the legs of the user 110; the sensor module (for example, Figure 5a The sensor module 520 includes one or more sensors for obtaining sensor data including motion information about the body motion (e.g., leg motion or upper body motion) of the user 110; and the control module 130 (e.g., Figure 5a and Figure 5b A control module 510) is used to control the wearable device 100.

[0030] The sensor module may include an angle sensor 125 and an IMU 135. The angle sensor 125 may measure the rotation angle of the leg-driven frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg-driven frame measured by the angle sensor 125 may be estimated as the hip joint angle value (or leg angle value) of the user 110. The angle sensor 125 may include, for example, an encoder and / or a Hall sensor. In an embodiment, the angle sensor 125 may be located close to a position where a motor included in the driving module 120 is directly or indirectly connected to the leg-driven frame. The inertial sensor 135 may include an acceleration sensor and / or an angular velocity sensor, and measure changes in acceleration and / or angular velocity according to the movement of the user 110. For example, the inertial sensor 135 may measure the base body (e.g., Figure 3 The motion value of the base body 80) or the waist support frame measured by the inertial sensor 135 may be estimated as the upper body motion value of the user 110.

[0031] In an embodiment, the control module 130 and the inertial sensor 135 may be located on a base body (eg, Figure 3 The base body 80 is within the base body 80 of the wearable device 100. When the user 110 wears the wearable device 100, the base body can be on the waist (or waist area) of the user 110. The base body can be formed on or attached to the outside of the waist support frame of the wearable device 100.

[0032] In an embodiment, the control module 130 may control whether the drive module 120 generates torque based on the sensor data obtained by the sensor module. For example, when the motion score determined based on the sensor data satisfies a condition (for example, when the motion score is greater than a threshold), the control module 130 may allow the torque to be generated. When the motion score does not meet the condition, the control module 130 may not allow the torque to be generated or stop generating the torque.

[0033] In an embodiment, the control module 130 may determine whether the user 110 is wearing (e.g., properly wearing) the wearable device 100 based on the sensor data. When it is determined that the user 110 is wearing the wearable device 100, the control module 130 may control the drive module 120 to generate torque. When it is determined that the user 110 is not wearing the wearable device 100, the control module 130 may control the drive module 120 not to generate torque, thereby preventing or reducing the chance of a safety-related accident that the user 110 may encounter when the user 110 is not wearing the wearable device 100, wherein the accident may be caused by the leg driving the frame to move through the torque generated by the drive module 120. In various embodiments, the case where it is determined that the user 110 is not wearing the wearable device 100 may include a case where the wearable device 100 is not properly worn and a case where the user 110 is not wearing the wearable device 100 at all.

[0034] In an embodiment, when the user 110 gives a command to start driving to the wearable device 100 but it is determined that the user 110 is not wearing the wearable device 100, the control module 130 may control the drive module 120 not to generate torque despite the command to start driving. In addition, when it is determined that the user 110 is not wearing the wearable device 100 when the wearable device 100 is driven, the control module 130 may stop the driving of the wearable device 100 and control the drive module 120 not to generate torque.

[0035] When the drive module 120 stops generating torque, the wearable device 100 may provide a guidance notification to the user 110 to notify that the wearable device 100 is not properly worn and that the wearable device 100 or an electronic device interoperating with the wearable device 100 (e.g., Figure 2 The electronic device 210 of the wearable device 100 is used to guide (or induce) the appropriate wearing of the wearable device 100. In an embodiment, the guidance notification may be provided in the form of a voice guidance output from the wearable device 100 or a pop-up window and / or sound (or voice) notification displayed on the electronic device. The guidance notification may include guidance on how to wear the wearable device 100 desirably.

[0036] When the wearable device 100 is driven in a case where the user 110 is not wearing the wearable device 100 at all or is not wearing the wearable device 100 properly, a safety problem that may injure the user 110 may occur due to the movement of the leg driving frame. According to various embodiments, when the wearable device 100 is not properly worn on the body of the user 110, the wearable device 100 may control the wearable device 100 not to be driven. In an embodiment, when the user 110 starts walking or exercising, the wearable device 100 may not generate torque immediately, but may generate torque when it is determined based on changes in sensor data (e.g., sensor data of the angle sensor 125 and sensor data of the inertial sensor 135) that the user 110 is properly wearing the wearable device 100. When the change in sensor data measured by the angle sensor 125 when the user 110 is walking or exercising is small, or when the sensor data of the angle sensor 125 changes only in one direction or only for one leg, the wearable device 100 may determine that the user 110 is not wearing the wearable device 100 properly and stop generating torque. The wearable device 100 may notify the user 110 of an inappropriate wearing state through the guide notification and induce the user 110 to wear the wearable device 100 appropriately.

[0037] As described above, when it is confirmed that the wearable device 100 is properly worn, the wearable device 100 may generate torque, and when it is not confirmed that it is properly worn, the torque may not be generated or may be stopped, thereby preventing or reducing the chance that the leg-driven frame of the wearable device 100 causes harm or damage to the body of the user 110. In an embodiment, the control of determining whether the wearable device 100 is properly worn and determining whether to generate (or stop generating) torque may be performed by an electronic device (e.g., Figure 2 electronic device 210) to execute.

[0038] Figure 2 is a diagram illustrating an exercise management system including a wearable device and an electronic apparatus according to an embodiment.

[0039] Reference Figure 2 , the exercise management system 200 may include the wearable device 100, the electronic apparatus 210, other wearable devices 220, and the server 230. In an embodiment, at least one of the components of the exercise management system 200 (e.g., other wearable devices 220 or server 230) may be omitted, or one or more other devices (e.g., a controller device dedicated to the wearable device 100) may be added.

[0040] In an embodiment, the wearable device 100 can be worn on the user's body in a walking assistance mode to assist the user's movement. For example, the wearable device 100 worn on the user's leg can assist the user in walking by generating an assist force for assisting the movement of the user's leg.

[0041] In an embodiment, in order to enhance the effect of exercise on the user in the exercise assisting mode, the wearable device 100 may generate a resistance for preventing the user's body movement or an auxiliary force for assisting the user's body movement and apply such a force to the user's body. In the exercise assisting mode, through the electronic device 210, the user can select an exercise program (e.g., squats, splits, dumbbell squats, lunges and knee raises, stretches, etc.) that the user expects to exercise by using the wearable device 100 and / or the exercise intensity to be applied to the wearable device 100. The wearable device 100 can control the drive module of the wearable device 100 according to the exercise program selected by the user, and obtain sensor data including the user's motion information through the sensor module. The wearable device 100 can adjust the strength of the resistance or auxiliary force applied to the user according to the exercise intensity selected by the user. For example, the wearable device 100 can control the drive module to generate resistance corresponding to the exercise intensity selected by the user.

[0042] In an embodiment, the wearable device 100 may be used to measure the user's physical fitness by interoperating with the electronic device 210. The wearable device 100 may operate in a physical fitness measurement mode (i.e., a mode for measuring the user's physical fitness) by controlling the electronic device 210, and may send sensor data obtained by the user's motion in the physical fitness measurement mode to the electronic device 210. The electronic device 210 may estimate the user's physical fitness by analyzing the sensor data received from the wearable device 100.

[0043] The electronic device 210 can communicate with the wearable device 100, and can remotely control the wearable device 100 or provide the user with status information about the status (e.g., startup status, charging status, sensing status, or error status) of the wearable device 100. The electronic device 210 can receive sensor data obtained by a sensor module of the wearable device 100 from the wearable device 100, and estimate the user's exercise results or physical fitness based on the received sensor data. The electronic device 210 can provide the user with the user's exercise results or physical fitness through a graphical user interface (GUI).

[0044] In an embodiment, the user may execute a program (eg, an application) in the electronic device 210 to control the wearable device 100, and the program may adjust the slave module (eg, Figure 3 The torque intensity output from the drive modules 35 and 45), the torque intensity output from the sound output module (e.g., Figure 5a and 5b The audio intensity and light unit (eg, Figure 3The program executed by the electronic device 210 may provide a GUI for interacting with a user. The electronic device 210 may be a device in various forms. For example, the electronic device 210 may include a portable communication device (e.g., a smart phone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, or a projector device), but the examples are not limited to the aforementioned devices.

[0045] In an embodiment, the electronic device 210 may be connected to the server 230 by using short-range wireless communication or cellular communication. The server 230 may receive user profile information of a user of the wearable device 100 from the electronic device 210, and store and manage the received user profile information. The user profile information may include, for example, at least one of name, age, gender, height, weight, and body mass index (BMI). The server 230 may receive exercise history information about exercises performed by the user from the electronic device 210, and may store and manage the received exercise history information. The server 230 may provide the electronic device 210 with various exercise programs or physical fitness measurement programs to be provided to the user.

[0046] In an embodiment, the wearable device 100 and / or the electronic device 210 may be directly or indirectly connected to other wearable devices 220. The other wearable devices 220 may include, for example, wireless headphones 222, smart watches 224, or smart glasses 226, but the examples are not limited to the aforementioned devices. In an embodiment, the smart watch 224 may measure a bio-signal including the user's heart rate information, and may send the measured bio-signal to the electronic device 210 and / or the wearable device 100. The electronic device 210 may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, or average heart rate) based on the bio-signal received from the smart watch 224, and provide the estimated heart rate information to the user.

[0047] In an embodiment, the user's exercise result information, physical fitness information, and / or exercise motion estimation information determined by the electronic device 210 may be sent to other wearable devices 220 and provided to the user via the other wearable devices 220. The status information of the wearable device 100 may be sent to other wearable devices 220 and provided to the user via the other wearable devices 220. In an embodiment, the wearable device 100, the electronic device 210, and the other wearable devices 220 may communicate with each other via wireless communication (e.g., Bluetooth). TM or Wireless Fidelity (Wi-Fi) communication) to connect to each other.

[0048] In an embodiment, the wearable device 100 may provide (or output) feedback (e.g., visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device 100 according to the control signal received from the electronic device 210. For example, the wearable device 100 may provide (or output) feedback (e.g., visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device 100 through the light emitting unit ( Figure 3 The light unit 85 provides visual feedback, and the sound output module (e.g., Figure 5a and Figure 5b The sound output module 550) provides auditory feedback.

[0049] Figure 3 is a schematic diagram showing the back side of the wearable device according to the embodiment. Figure 4 is a left side view showing a wearable device according to an embodiment.

[0050] Reference Figure 3 and Figure 4 , the wearable device 100 may include a base body 80, a waist support frame 20, drive modules 35 and 45, a first leg drive frame 55 and a second leg drive frame 50, a first thigh fastener 2 and a second thigh fastener 1, and a waist fastener 60. The base body 80 may include a light emitting unit 85. In an embodiment, at least one of the above components (e.g., the light emitting unit 85) may be omitted from the wearable device 100, or one or more other components may be added to the wearable device 100.

[0051] When the user wears the wearable device 100, the base body 80 may be on the user's waist. The base body 80 worn on the user's waist may cushion the user's waist and support the user's waist. When the user wears the wearable device 100, the base body 80 may be above the user's hips so that the wearable device 100 does not deviate downward due to gravity. The base body 80 may distribute some of the weight of the wearable device 100 to the user's waist when the wearable device 100 is worn. The base body 80 may be directly or indirectly connected to the waist support frame 20. A waist support frame connection element (not shown) that may be directly or indirectly connected to the waist support frame 20 may be located at both edges of the base body 80.

[0052] In an embodiment, the light emitting unit 85 may be on the outer surface of the base body 80. The light emitting unit 85 may include a light source (e.g., a light emitting diode (LED)). The light emitting unit 85 may be controlled by a control processor (not shown) (e.g., Figure 5a and Figure 5b According to an embodiment, the processor may control the light emitting unit 85 to provide (or output) visual feedback corresponding to the state of the wearable device 100.

[0053] When the wearable device 100 is worn on the user's body, the waist support frame 20 can support the user's body (e.g., waist). The waist support frame 20 can extend from both edges of the base body 80. The user's waist can be accommodated inside the waist support frame 20. The waist support frame 20 may include one or more rigid beams. Each beam may be a curved shape with a preset curvature so that the beam can surround the user's waist. The waist fastener 60 may be directly or indirectly connected to the edge of the waist support frame 20. The drive modules 35 and 45 may be directly or indirectly connected to the waist support frame 20.

[0054] In an embodiment, a processor, a memory, an IMU (e.g., Figure 1 Inertial sensor 135 or Figure 5b Inertial sensor 522), communication module (e.g., Figure 5a and Figure 5b communication module 516), a sound output module (e.g., Figure 5a and Figure 5b The base body 80 may include a sound output module 550 and a battery (not shown). The base body 80 may protect the components inside the base body 80. The processor may generate a control signal to control the operation of the wearable device 100. The processor may control the actuators of the drive modules 35 and 45. The processor and the memory may be included by the control circuit. The control circuit may also include a power supply circuit to provide power from the battery to each component of the wearable device 100.

[0055] In an embodiment, the wearable device 100 may include a sensor module (not shown) for obtaining sensor data from one or more sensors (e.g., Figure 5a The sensor module 520 may obtain sensor data including motion information of the user and / or motion information of components of the wearable device 100. The sensor module may include, for example, an IMU (e.g., Figure 1 Inertial sensor 135 or Figure 5b An inertial sensor 522) and an angle sensor (e.g., Figure 1 Angle sensor 125, Figure 5b The first angle sensor 524 or Figure 5b The sensor module may include a second angle sensor 524-1, but the example is not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a bio-signal sensor, and a proximity sensor.

[0056] The waist fastener 60 may be directly or indirectly connected to the waist support frame 20 and secure the waist support frame 20 to the user's waist. The waist fastener 60 may include, for example, a pair of straps.

[0057] The drive modules 35 and 45 can generate an external force (or torque) to be applied to the user's body based on a control signal generated by the processor. For example, the drive modules 35 and 45 can generate an auxiliary force or resistance to be applied to the user's legs. In an embodiment, the drive modules 35 and 45 may include a first drive module 45 located at a position corresponding to the position of the user's right hip joint and a second drive module 35 located at a position corresponding to the position of the user's left hip joint. The first drive module 45 may include a first actuator and a first joint component, and the second drive module 35 may include a second actuator and a second joint component. The first actuator may provide power to be transmitted to the first joint component, and the second actuator may provide power to be transmitted to the second joint component. The first actuator and the second actuator may respectively include a motor ( Figure 5b The motors 534 and 534-1 are shown in FIG. 1 . When driven by receiving electric power, the motors may generate a force (assistive force) for assisting the user's body movement or a force (resistance) for hindering the user's body movement. In an embodiment, the control module may adjust the intensity and direction of the power generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0058] In an embodiment, the first joint component and the second joint component can receive power from the first actuator and the second actuator respectively, and external force can be applied to the user's body based on the received power. The first joint component and the second joint component can be respectively in a position corresponding to the user's joint. One side of the first joint component can be directly or indirectly connected to the first actuator, and the other side of the first joint component can be directly or indirectly connected to the first leg drive frame 55. The first joint component can be rotated by the power transmitted from the first actuator. An encoder or a Hall sensor that can be used as an angle sensor to measure the rotation angle (corresponding to the user's joint angle) of the first joint component or the first leg drive frame 55 can be located on one side of the first joint component. One side of the second joint component can be directly or indirectly connected to the second actuator, and the other side of the second joint component can be directly or indirectly connected to the second leg drive frame 50. The second joint component can be rotated by the power transmitted from the second actuator. An encoder or a Hall sensor that can be used as an angle sensor to measure the rotation angle of the second joint component or the second leg drive frame 50 can be located on one side of the second joint component.

[0059] In an embodiment, the first actuator can be in the transverse direction of the first joint component, and the second actuator can be in the transverse direction of the second joint component. The rotation axis of the first actuator and the rotation axis of the first joint component can be spaced apart from each other, and the rotation axis of the second actuator and the rotation axis of the second joint component can also be spaced apart from each other. However, the example is not limited to the aforementioned example, and the actuator and the joint component can share the rotation axis. In an embodiment, the actuator can be spaced apart from the joint component respectively. In this case, drive modules 35 and 45 can also include a power transmission module (not shown) for transmitting power from the actuator to the joint component. The power transmission module can be a rotating body such as a gear or a longitudinal member such as an electric wire, cable, rope, spring, belt or chain. However, the scope of the embodiment is not limited to the power transmission structure and positional relationship between the above-mentioned actuator and the joint component.

[0060] In an embodiment, when the wearable device / equipment 100 is worn on the user's leg, the first leg drive frame 55 and the second leg drive frame 50 can transmit the torque generated by the drive modules 35 and 45 to the user's body (e.g., leg). The transmitted torque can be used as an external force applied to the movement of the user's leg. The edges of the first leg drive frame 55 and the second leg drive frame 50 can be directly or indirectly connected to the joint member and rotate, and the other edges of the leg drive frames 50 and 55 can be directly or indirectly connected to the first thigh fastener 2 and the second thigh fastener 1, and transmit the torque generated by the drive modules 35 and 45 to the user's thigh while supporting the user's thigh. For example, the first leg drive frame 55 and the second leg drive frame 50 can push or pull the user's thigh. The first leg drive frame 55 and the second leg drive frame 50 can extend in the longitudinal direction of the user's thigh. The first leg drive frame 55 and the second leg drive frame 50 can be bent to wrap around at least part of the periphery of the user's thigh. The first leg driving frame 55 and the second leg driving frame 50 may include a first leg driving frame 55 for transmitting torque to the right leg of the user and a second leg driving frame 50 for transmitting torque to the left leg of the user.

[0061] The first thigh fastener 2 and the second thigh fastener 1 are directly or indirectly connected to the first leg drive frame 55 and the second leg drive frame 50, respectively, and can fix the wearable device 100 to the user's leg (specifically, thigh). For example, the first thigh fastener 2 and the second thigh fastener 1 may include a first thigh fastener 2 for fixing the wearable device 100 to the user's right thigh and a second thigh fastener 1 for fixing the wearable device 100 to the user's left thigh.

[0062] In an embodiment, the first thigh fastener 2 may include a first cover, a first fastening frame and a first belt, and the second thigh fastener 1 may include a second cover, a second fastening frame and a second belt. The first cover and the second cover may apply the torque generated by the drive modules 35 and 45 to the user's thigh. The first cover and the second cover may be located on one side of the user's thigh to push or pull the user's thigh. The first cover and the second cover may be on the front surface of the user's thigh. The first cover and the second cover may be in the circumferential direction of the user's thigh. The first cover and the second cover may extend to both sides around the other edge of the first leg drive frame 55 and the second leg drive frame 50, and may include a curved surface corresponding to the user's thigh. The edge of the first cover and the second cover may be connected to the fastening frame, and the other edge of the first cover and the second cover may be connected to the belt.

[0063] For example, the first fastening frame and the second fastening frame may surround at least a portion of the periphery of the user's thigh to prevent or reduce the chance of the user's thigh being separated from the wearable device 100. The first fastening frame may have a fastening structure that connects the first cover to the first band, and the second fastening frame may have a fastening structure that connects the second cover to the second band.

[0064] The first band may surround the remainder of the circumference of the user's right thigh that is not surrounded by the first cover and the first fastening frame, and the second band may surround the remainder of the circumference of the user's left thigh that is not surrounded by the second cover and the second fastening frame. The first band and the second band may include, for example, elastic material (e.g., a band).

[0065] Figure 5a and Figure 5b is a diagram illustrating a configuration of a control system of a wearable device according to an embodiment.

[0066] Reference Figure 5a , a wearable device (e.g., wearable device 100) may be controlled by a control system 500. The control system 500 may include a control module 510, a communication module 516, a sensor module 520, a drive module 530, an input module 540, and a sound output module 550. The drive module 530 may include a motor 534 for generating power (e.g., torque) and a motor driver circuit 532 for driving the motor 534. Figure 5a A drive module 530 including a motor driver circuit 532 and a motor 534 is shown, but Figure 5a The examples are just examples. Figure 5b , the control system 500-1 may include a plurality of (two or more) motor driver circuits (e.g., motor driver circuits 532 and 532-1) and motors (e.g., motors 534 and 534-1). The driving module 530 including the motor driver circuit 532 and the motor 534 may correspond to Figure 3The first driving module 45, and the driving module 530-1 including the motor driver circuit 532-1 and the motor 534-1 may correspond to Figure 3 The following description of the motor driver circuit 532 and the motor 534 can also be applied to Figure 5b The motor driver circuit 532-1 and the motor 534-1 are shown in FIG.

[0067] Reference Figure 5a , the sensor module 520 may include at least one sensor. The sensor module 520 may obtain sensor data including the user's motion information or the wearable device's motion information. The sensor module 520 may send the obtained sensor data to the control module 510. The sensor module 520 may include Figure 5b The inertial sensor 522 and the angle sensor (e.g., the first angle sensor 524 and the second angle sensor 524-1) shown. The inertial sensor 522 can measure the upper body motion values ​​of the user. For example, the inertial sensor 522 can sense the acceleration and angular velocity of the X-axis, Y-axis, and Z-axis according to the user's motion. In addition, the inertial sensor 522 can obtain the motion values ​​(e.g., acceleration values ​​and angular velocity values) of the waist support frame of the wearable device. The angle sensor can measure the hip joint angle value according to the movement of the user's legs. The sensor data that can be measured by the angle sensor may include, for example, the hip joint angle value of the right leg, the hip joint angle value of the left leg, and information about the movement direction of the leg. Figure 5b The first angle sensor 524 can obtain the hip joint angle value of the user's right leg, and the second angle sensor 524-1 can obtain the hip joint angle value of the user's left leg. The first angle sensor 524 and the second angle sensor 524-1 can each include, for example, an encoder and / or a Hall sensor. In addition, the first angle sensor 524 and the second angle sensor 524-1 can obtain the motion value of the leg driving frame of the wearable device. For example, the first angle sensor 524 can obtain the motion value of the first leg driving frame 55, and the second angle sensor 524-1 can obtain the motion value of the second leg driving frame 50.

[0068] In an embodiment, the sensor module 520 may also include a position sensor, a proximity sensor, a biosignal sensor, and a temperature sensor, wherein the position sensor can obtain a position value of the wearable device, the proximity sensor can detect the proximity of an object, the biosignal sensor can detect a user's biosignal, and the temperature sensor can sense the ambient temperature.

[0069] The input module 540 may receive a command or data from the outside of the wearable device (eg, a user) to be used by another component of the wearable device (eg, the processor 512). The input module 540 may include, for example, a key (eg, a button) or a touch screen.

[0070] The sound output module 550 may output a sound signal to the outside of the wearable device. The sound output module 550 may include a guidance sound signal (eg, a driving start sound or an operation error notification sound) and a speaker for playing music content or a guidance voice.

[0071] In an embodiment, the control system 500 may further include a battery (not shown) to supply power to each component of the wearable device. The wearable device may convert the power of the battery into power suitable for the operating voltage of each component of the wearable device, and provide the converted power to each component.

[0072] The driving module 530 may generate an external force to be applied to the user's legs by the control of the control module 510. The driving module 530 may be in a position corresponding to the position of the user's hip joint, and may generate a torque to be applied to the user's legs based on a control signal generated by the control module 510. The control module 510 may send a control signal to the motor driver circuit 532, and the motor driver circuit 532 may control the operation of the motor 534 by generating a current signal (or voltage signal) corresponding to the control signal and supplying the current signal (or voltage signal) to the motor 534. The current signal may not be supplied to the motor 534 according to the control signal. When the current signal is supplied to the motor 534 and the motor is driven, the motor 534 may generate a force for assisting the user's leg movement or a torque for hindering the user's leg movement.

[0073] The control module 510 may control the overall operation of the wearable device and may generate a control signal to control each component (eg, the driving module 530 ). The control module 510 may include a processor 512 and a memory 514 .

[0074] The processor 512 may execute, for example, software to control at least one other component (e.g., a hardware component or a software component) of the wearable device that is directly or indirectly connected to the processor 512, and may perform various types of data processing or operations. According to an embodiment, as at least part of data processing or calculation, the processor 512 may store instructions or data received from another component (e.g., the communication module 516) in the memory 514, may process the instructions or data stored in the memory 514, and may store the result data in the memory 514. According to an embodiment, the processor 512 may include a main processor (e.g., a central processing unit (CPU) or an application processor (AP)) or an auxiliary processor (e.g., a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a sensor hub processor, or a communication processor (CP)) that may operate independently of the main processor or in conjunction with the main processor. The auxiliary processor may be implemented separately from the main processor or as part of the main processor.

[0075] The memory 514 may store various data used by at least one component of the control module 510 (e.g., the processor 512). The various data may include, for example, software for instructions associated therewith, sensor data, input data, or output data. The memory 514 may include volatile memory or non-volatile memory (e.g., random access memory (RAM), dynamic RAM (DRAM), or static RAM (SRAM)).

[0076] The communication module 516 can support communication between the control module 510 and another component of the wearable device 100 or an external electronic device (eg, Figure 2 A direct (e.g., wired) communication channel or a wireless communication channel is established between the electronic device 210 or other wearable device 220, and communication is performed via the established communication channel. For example, the communication module 516 can send sensor data obtained by the sensor module 520 to an external electronic device (e.g., Figure 2 The communication module 516 may include one or more CPs that can operate independently of the processor 512 and support direct (e.g., wired) communication or wireless communication. According to an embodiment, the communication module 516 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. A corresponding one of these communication modules may communicate with the user via a short-range communication network (e.g., Bluetooth TM, Wi-Fi, ANT or Infrared Data Association (IrDA)) or a long-distance communication network (such as a traditional cellular network, a fifth generation (5G) network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN))) to communicate with another component of the wearable device and / or an external electronic device.

[0077] In an embodiment, the wearable device 100 may include: a driving module 530, 530-1 for generating a torque to be applied to the user's body; a first leg driving frame 55 and a second leg driving frame 50 for transmitting the generated torque to the user's legs; a first thigh fastener 2 and a second thigh fastener 1, which are respectively connected to the first leg driving frame 55 and the second leg driving frame 50 and are used to fix the first leg driving frame 55 and the second leg driving frame 50 to the user's legs respectively; a sensor module 520 for obtaining sensor data including motion information of the wearable device 100; and a control module 510 for controlling the driving modules 530, 530-1 based on the sensor data. The sensor module 520 may include: a first angle sensor 524 and a second angle sensor 524-1 for obtaining sensor data including motion values ​​of the first leg driving frame 55 and the second leg driving frame 50; and an inertial sensor 522 for obtaining sensor data including motion values ​​(e.g., acceleration values ​​and / or angular velocity values) of the waist support frame 20 of the wearable device 100.

[0078] In an embodiment, the control module 510 may perform a test to determine whether the wearable device 100 is correctly or appropriately worn on the user's body based on the sensor data of the sensor module 520. The control module 510 may control to provide a guidance notification about the execution of the test to the user before performing the test. The control module 510 may control the sound output module 550 to output a guidance voice reading "We are going to test whether the wearable device is worn. Please walk comfortably while wearing the wearable device" to the user.

[0079] The control module 510 may perform a test based on the sensor data of the first angle sensor 524, the second angle sensor 524-1, and the inertial sensor 522. When it is determined that the sensor value of each of the first angle sensor 524, the second angle sensor 524-1, and the inertial sensor 522 has sufficiently changed during the last three seconds and the user walks three or more steps at the start of driving of the wearable device 100 (for example, when the user expects to start walking or exercising using the wearable device 100), the control module 510 may control the driving modules 530, 530-1 to generate torque. A sufficient change in the sensor value may indicate a sufficient change in both directions, not just one direction.

[0080] In an embodiment, when it is determined that the sensor value of each of the first angle sensor 524, the second angle sensor 524-1, and the inertial sensor 522 has not changed sufficiently during the last five seconds or the user has been sitting for three seconds or more when the user performs walking or exercise after the wearable device 100 starts to be driven, the control module 510 can control the driving module 530, 530-1 to stop generating torque. A sufficient change in the sensor value may indicate a sufficient change in both directions, not just one direction. The determination of whether to stop generating torque may be performed periodically (or non-periodically) during the driving of the wearable device 100.

[0081] The control module 510 can determine a motion score indicating the extent to which the wearable device 100 moved during the time interval based on the sensor data obtained by the sensor module 520 during the time interval. The time interval can be a predefined time interval starting from the time point when the test starts, and the length of the defined time interval can vary. The time interval can be adjusted to optimize for the user.

[0082] In an embodiment, the control module 510 may control whether the drive module 530, 530-1 generates torque based on the determined motion score. The control module 510 may determine whether the user is properly wearing the wearable device 100 based on the motion score. When it is determined that the user is not properly wearing the wearable device 100, the control module 510 may control the drive module 530, 530-1 not to generate torque or stop generating torque.

[0083] The time point at which the test starts to determine the motion score can vary. For example, in response to the wearable device 100 receiving a control command to start driving from the electronic device 210, the control module 510 can determine the motion score based on the sensor data obtained during the time interval (e.g., three seconds) after the time point at which the control command is received. As another example, in response to detecting the motion of the wearable device 100 after the wearable device 100 is initially turned on, the control module 510 can determine the motion score based on the sensor data obtained during the time interval (e.g., three seconds) after the time point at which the motion is detected. For example, when the wearable device 100 is turned on, the control module 510 can determine the motion score based on the sensor data obtained during the time interval from the time point at which the motion of the first leg drive frame 55 and the second leg drive frame 50 is detected or from the time point at which a predetermined number of steps (e.g., two steps or three steps) of the user is detected. As another example, the control module 510 can perform the test periodically or non-periodically not only before the wearable device 100 starts its operation but also during its operation. The control module 510 may determine the athletic score based on sensor data obtained during a time interval (eg, three seconds) while torque is being generated by the drive module 530 , 530 - 1 .

[0084] In an embodiment, the control module 510 may determine the motion score based on at least one of the sensor data of the first angle sensor 524 and the second angle sensor 524 - 1 and the sensor data of the inertial sensor 522 .

[0085] In an embodiment, the control module 510 may determine the first cumulative value of the first angle change of the first leg driving frame 55 and the second cumulative value of the second angle change of the second leg driving frame 50 based on the sensor data of the first angle sensor 524 and the second angle sensor 524-1, and determine the motion score based on the first cumulative value and the second cumulative value. The first cumulative value may correspond to the smaller cumulative value of the cumulative value of the positive first angle change measured during the time interval and the cumulative value of the negative first angle change measured during the time interval. The second cumulative value may correspond to the smaller cumulative value of the cumulative value of the positive second angle change measured during the time interval and the cumulative value of the negative second angle change measured during the time interval. The motion score may be based on the result value obtained by multiplying the first cumulative value with the second cumulative value. For example, the motion score may correspond to the result value obtained by multiplying the first cumulative value and the second cumulative value or the result value of weighted multiplication. However, the motion score calculation method is not limited to this.

[0086] In an embodiment, the control module 510 may also determine a third cumulative value of a first motion change in a first axis (e.g., X-axis) direction of the lumbar support frame 20, a fourth cumulative value of a second motion change in a second axis (e.g., Y-axis) direction of the lumbar support frame 20, and a fifth cumulative value of a third motion change in a third axis (e.g., Z-axis) direction of the lumbar support frame 20 based on the motion value (e.g., acceleration value) of the lumbar support frame 20, and determine a motion score based on the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value, and the fifth cumulative value. The third cumulative value may correspond to a smaller cumulative value of a cumulative value of a positive first motion change measured during a time interval and a cumulative value of a negative first motion change measured during a time interval. The fourth cumulative value may correspond to a smaller cumulative value of a positive second motion change measured during a time interval and a negative second motion change measured during a time interval. The fifth cumulative value may correspond to a smaller cumulative value of a cumulative value of a positive third motion change measured during a time interval and a cumulative value of a negative third motion change measured during a time interval. The motion score can be based on the result value obtained by multiplying the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value and the fifth cumulative value. For example, the motion score can correspond to the result value obtained by multiplying the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value and the fifth cumulative value or the result value of weighted multiplication. However, the motion score calculation method is not limited to this. Each of the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value and the fifth cumulative value is a change in the direction opposite to the direction of the large change in the sensor data, and can be considered to correspond to actual kinetic energy. As at least one of the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value and the fifth cumulative value is closer to 0, the motion score can be closer to 0. In an embodiment, the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value and the fifth cumulative value can be a value converted to a radian as a unified unit.

[0087] In certain example embodiments, positive angle and motion changes may represent changes in a first direction (e.g., a forward direction) relative to the user, and negative angle and motion changes may represent changes in a second direction (e.g., a rearward direction) relative to the user, where the second direction is opposite to the first direction.

[0088] In an embodiment, the control module 510 may control the torque generated by the drive module 530, 530-1 based on the motion score and the threshold. In response to the motion score being greater than the threshold, the control module 510 may control the drive module 530, 530-1 to start its operation or continue to operate in order to generate torque. When the motion score is greater than the threshold, it may indicate that the user is properly wearing the wearable device 100. When the motion score is less than or equal to the threshold, it may indicate that the user is not properly wearing the wearable device 100.

[0089] In an embodiment, in response to the motion score being less than or equal to the threshold, the control module 510 may control the drive module 530, 530-1 not to generate torque or stop generating torque. If the result of performing the test while the drive module 530, 530-1 is being driven determines that the motion score is less than or equal to the threshold, the control module 510 may cut off the power provided to the drive module 530, 530-1 or control the drive module 530, 530-1 not to generate torque.

[0090] In an embodiment, in response to the motion score being less than or equal to the threshold, the control module 510 may control a guidance notification (eg, a guidance voice inducing appropriate wearing) for guiding the wearable device 100 to be provided to the user. The guidance notification may be provided to the user through the electronic device 210.

[0091] In an embodiment, the control module 510 may determine the first motion score based on at least one of the first angle change of the first leg drive frame 55 and the second angle change of the second leg drive frame 50 during the time interval. The control module 510 may determine the second motion score based on at least one of the first ratio of the motion amount of the first leg drive frame 55 to the total motion amount of both the first leg drive frame 55 and the second leg drive frame 50 and the second ratio of the motion amount of the second leg drive frame 50 to the total motion amount of both the first leg drive frame 55 and the second leg drive frame 50. The control module 510 may control whether to generate torque based on the first motion score and the second motion score. For example, in response to the first motion score being greater than the first threshold and the second motion score being greater than the second threshold, the control module 510 may control the drive module 530, 530-1 to start its operation or continue to operate in order to generate torque. In response to the first motion score being less than or equal to the first threshold and the second motion score being less than or equal to the second threshold, the control module 510 may control the drive module 530, 530-1 not to generate torque or stop generating torque.

[0092] In an embodiment, the cumulative value of the positive first angle change may correspond to the cumulative value of the angle change of the first leg driving frame 55 generated by the user's right leg moving forward relative to the user. The cumulative value of the negative first angle change may correspond to the cumulative value of the angle change of the first leg driving frame 55 generated by the user's right leg moving backward relative to the user. The cumulative value of the positive first motion change may correspond to the cumulative value of the first motion change of the waist support frame 20 generated by the movement of the user's upper body toward the front direction (e.g., +X axis direction). The cumulative value of the negative first motion change may correspond to the cumulative value of the first motion change of the waist support frame 20 generated by the movement of the user's upper body toward the backward direction (e.g., -X axis direction). The control module 510 can obtain information about the actual movement of the user by dividing the cumulative value based on the sensor data into a positive cumulative value and a negative cumulative value according to the direction in which the user moves.

[0093] A small motion score may indicate that the amount of motion of the user's legs and / or upper body is small, and a large motion score may indicate that the amount of motion of the user's legs and / or upper body is relatively large. If at least one of the legs or upper body does not move or hardly moves, the motion score may be significantly small, and the control module 510 may identify a state in which the user's leg motion and / or upper body motion is small by comparing the motion score with a threshold. When it is determined that the motion score of the wearable device 100 is less than or equal to the threshold, the control module 510 may determine that the wearable device 100 is not properly worn on the user's body, and may prevent the drive modules 530, 530-1 from generating torque.

[0094] Figure 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.

[0095] Reference Figure 6 , the wearable device 100 can communicate with the electronic device 210. For example, the electronic device 210 can be a user terminal of a user using the wearable device 100 or a controller device dedicated to the wearable device 100. In an embodiment, the wearable device 100 and the electronic device 210 can communicate via short-range wireless communication (e.g., Bluetooth TM or Wi-Fi communication) to connect to each other.

[0096] In an embodiment, the electronic device 210 may check the state of the wearable device 100 or execute an application to control or operate the wearable device 100. A screen of a user interface (UI) may be displayed on the display 212 of the electronic device 210 by executing the application to control the operation of the wearable device 100 or determine the operation mode of the wearable device 100. The UI may be, for example, a GUI.

[0097] In an embodiment, a user may input a command (e.g., a command to execute a walking assistance mode, a motion assistance mode, or a physical fitness measurement mode) through a GUI screen on a display 212 of the electronic device 210 to control the operation of the wearable device 100 or change the setting of the wearable device 100. The electronic device 210 may generate a control command (or a control signal) corresponding to the operation control command or the setting change command input by the user, and send the generated control command to the wearable device 100. The wearable device 100 may operate according to the received control command, and send a control result according to the received control command and / or sensor data sensed by a sensor module of the wearable device 100 to the electronic device 210. The electronic device 210 may provide the user with result information (e.g., gait ability information, exercise ability information, or exercise motion estimation information) derived by analyzing the control result and / or the sensor data through the GUI screen.

[0098] Figure 7 is a flowchart illustrating a method of controlling a wearable device according to an embodiment.

[0099] Figure 7 1 is a flowchart showing the operation of a control method of the wearable device 100, which is used to determine whether the user wears the wearable device 100 appropriately when starting the operation to control the driving of the wearable device 100 according to whether the wearable device 100 is appropriately worn. In an embodiment, Figure 7 At least one of the operations may be performed simultaneously or in parallel with each other, and the order of the operations may be changed. In addition, at least one of the operations may be omitted, or other operations may be performed in addition.

[0100] The wearable device 100 may receive a control command to start driving of the wearable device 100. The wearable device 100 may receive a control command from the electronic device 210 or receive a user input received through the input module 540 of the wearable device 100. For example, a user may select a desired operation mode (e.g., a walking assistance mode and an exercise assistance mode) for the wearable device 100 through an application installed on the electronic device 210, and the electronic device 210 may send a control command to the wearable device 100 to start driving for the selected operation mode.

[0101] In operation 710, in response to receiving the control command, the wearable device 100 may obtain sensor data including motion information of the wearable device 100 using the sensor module 520 of the wearable device 100 during a time interval after a time point at which the control command is received.

[0102] As described above, the sensor module 520 may include: a first angle sensor 524 and a second angle sensor 524-1, which obtain sensor data including motion values ​​of the first leg driving frame 55 and the second leg driving frame 50; and an inertial sensor 522, which obtains sensor data including motion values ​​of the waist support frame 20 of the wearable device 100.

[0103] In operation 720, the wearable device 100 may determine a motion score indicating the extent to which the wearable device 100 moved during the time interval based on the sensor data. For example, the wearable device 100 may determine the motion score based on the sensor data for the last three seconds. The phrase "three seconds" is provided as an example only.

[0104] In an embodiment, the wearable device 100 may determine a first cumulative value of a first angle change of the first leg driving frame 55 and a second cumulative value of a second angle change of the second leg driving frame 50 based on sensor data of the first angle sensor 524 and the second angle sensor 524-1, and determine an exercise score based on the first cumulative value and the second cumulative value.

[0105] According to an embodiment, based on the sensor data of the inertial sensor 522, the wearable device 100 may determine not only the first cumulative value and the second cumulative value, but also a third cumulative value of a first motion change in the first axis direction of the waist support frame 20 of the wearable device 100, a fourth cumulative value of a second motion change in the second axis direction of the waist support frame 20, and a fifth cumulative value of a third motion change in the third axis direction of the waist support frame 20. The wearable device 100 may determine the motion score based on the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value, and the fifth cumulative value.

[0106] In operation 730, the wearable device 100 may determine whether the motion score satisfies a condition. For example, the wearable device 100 may determine whether the motion score is greater than a threshold value. When the motion score is greater than the threshold value, it may be determined that the condition is satisfied, and when the motion score is less than or equal to the threshold value, it may be determined that the condition is not satisfied. The wearable device 100 may determine whether the user is appropriately wearing the wearable device 100 based on the motion score. When the motion score is greater than the threshold value, it may be determined that the user is appropriately wearing the wearable device 100, and when the motion score is less than or equal to the threshold value, it may be determined that the user is not appropriately wearing the wearable device 100.

[0107] The wearable device 100 may control whether the drive module 530, 530-1 of the wearable device 100 generates torque based on the determined motion score. When the motion score does not meet the condition ("No" in operation 730), the wearable device 100 may control the drive module 530, 530-1 not to generate torque and return to operation 710 to perform the operation of obtaining sensor data during the time interval through the sensor module again. When the motion score meets the condition ("Yes" in operation 730), in operation 740, the wearable device 100 may generate torque through the drive module 530, 530-1. The wearable device 100 may start driving according to the operation mode selected by the user.

[0108] In an embodiment, when the wearable device 100 starts normal operation and starts generating torque through the driving module 530, 530-1, the wearable device 100 can determine the motion score periodically or non-periodically based on the sensor data as in the above method, and determine whether the user is properly wearing the wearable device 100 based on the motion score. When it is determined that the user is not properly wearing the wearable device 100, the wearable device 100 can stop driving the operation of the driving module 530, 530-1 and stop generating torque. Fig.10 A control method while the wearable device 100 is being driven is described in detail.

[0109] Figure 8 is a diagram illustrating changing values ​​of sensor data over time according to an embodiment.

[0110] According to an embodiment, the sensor module 520 included in the wearable device 100 may include an inertial sensor 522 and a first angle sensor 524 and a second angle sensor 524-1. The first angle sensor 524 and the second angle sensor 524-1 may measure a change in angle according to the movement of the first leg driving frame 55 and the second leg driving frame 50 corresponding to the movement of the user's legs. For example, the first angle sensor 524 and the second angle sensor 524-1 may measure a first angle for the first leg driving frame 55 and a second angle for the second leg driving frame 50. The control module 510 may determine a first cumulative value of a first angle change of the first leg driving frame 55 and a second cumulative value of a second angle change of the second leg driving frame 50 based on the measured angle data.

[0111] The inertial sensor 522 may measure the change in acceleration and / or rotational speed according to the movement of the waist support frame 20 corresponding to the movement of the upper body (or waist) of the user. For example, the inertial sensor 522 may measure the acceleration in the first axis direction, the acceleration in the second axis direction, and the acceleration in the third axis direction according to the movement of the waist support frame 20. The control module 510 may determine a third cumulative value of the first movement change in the first axis direction, a fourth cumulative value of the second movement change in the second axis direction, and a fifth cumulative value of the third movement change in the third axis direction based on the measured acceleration data.

[0112] Figure 8 The curve 810 shown in the figure may be, for example, a curve representing the change over time of one of the first cumulative value of the first angle change, the second cumulative value of the second angle change, the third cumulative value of the first motion change, the fourth cumulative value of the second motion change, and the fifth cumulative value of the third motion change. Hereinafter, for ease of description, it is assumed that the curve 810 represents the change over time of the first cumulative value of the first angle change.

[0113] In an embodiment, a user may start wearing the wearable device 100 and be in a stationary state at time ta. Thereafter, the user may command the wearable device 100 to start driving by manipulating an application of the electronic device 210 or an input module 540 of the wearable device 100, and may move while wearing the wearable device 100. For example, the user may extend the right leg forward or step forward while wearing the wearable device 100 to perform a walking motion between time ta and time tb. Between time ta and time tb, the first cumulative value of the first angle change of the first leg drive frame 55 may indicate a positive first angle change. Therefore, the first cumulative value may gradually increase in the interval from time ta to time tb.

[0114] The user can extend the right leg until time tb, lift the right leg at a maximum or high angle at time tb, and begin to lower the right leg. When the maximum or high angle is reached, the user's right leg can begin to move in the rear direction of the user. From then on, the first angle change of the first leg drive frame 55 can indicate a negative first angle change. Therefore, the first cumulative value can gradually decrease from time tb. The first cumulative value can gradually decrease until the right leg reaches a maximum or high angle in the rear direction.

[0115] In an embodiment, the wearable device 100 may determine a motion score based on sensor data obtained during an interval from time ta to time tc corresponding to the time interval in the curve 810, and determine whether to generate torque by the driving module 530, 530-1 based on the motion score. For example, the interval from time ta to time tc may be a three-second time interval after motion is detected while the user is wearing the wearable device 100, but is not limited thereto.

[0116] The wearable device 100 may determine a first cumulative value of a first angle change of the first leg driving frame 55 in a time interval corresponding to an interval from time ta to time tc based on the sensor data. The first cumulative value of the first angle change measured in the time interval may include a cumulative value of a first angle change of the first leg driving frame 55 in a front direction relative to the user and a cumulative value of a first angle change of the first leg driving frame 55 in a rear direction relative to the user. The wearable device 100 may determine a motion score based on a smaller value of a cumulative value of a change in the movement of the first leg driving frame 55 in a positive direction (relative to the front direction of the user) measured from time ta to time tb and a cumulative value of a change in the movement of the first leg driving frame 55 in a negative direction (relative to the rear direction of the user) measured from time tb to time tc.

[0117] The wearable device 100 can determine the second cumulative value, the third cumulative value, the fourth cumulative value, and the fifth cumulative value in a manner similar to the manner in which the first cumulative value of the first angle change is determined in the time interval.

[0118] Fig. 9 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment.

[0119] Fig. 9 Shown are first sensor data 920 representing a change in a first angle of the first leg driving frame 55 of the wearable device 100, second sensor data 910 representing a change in a first angle of the second leg driving frame 50, first torque data 940 representing a change in a first torque to be transmitted by the driving module 530, 530-1 to the first leg driving frame 55, and second torque data 930 representing a change in a second torque to be transmitted by the driving module 530, 530-1 to the second leg driving frame 50.

[0120] In an embodiment, the user may start wearing the wearable device 100 to use the wearable device 100 and may start by selecting an exercise (or walk) through an application of the electronic device 210. The user may move the user's body by following the motion guidance requested by the application while wearing the wearable device 100. In this case, as shown in the time interval 950, the change in the first sensor data 920 and the change in the second sensor data 910 may be detected by the sensor module 520 of the wearable device 100. Even when the user's body movement is detected at the beginning of the use of the wearable device 100, the wearable device 100 may not immediately generate torque through the driving module 530, 530-1, but may first check whether the user is wearing the wearable device 100 properly before generating the torque. For example, as shown with reference to FIGS. 5 and 6 Figure 7As described, the wearable device 100 may perform a test to determine whether the user is wearing the wearable device 100 appropriately. The wearable device 100 may determine whether the wearing condition of the wearable device 100 is satisfied based on the sensor data of each of the angle sensor and the inertial sensor obtained within the most recent predetermined time interval. The wearable device 100 may determine that only the change occurring in the direction opposite to the direction in which a large change occurs in the sensor data measured by each of the angle sensor and the inertial sensor is actual kinetic energy. For example, the wearable device 100 may determine the motion score based on the angle value of the first angle sensor 524, the angle value of the second angle sensor 524-1, and the angular velocity value of each axis (X-axis, Y-axis, and Z-axis) of the inertial sensor 522. The wearable device 100 may determine whether the user is wearing the wearable device 100 appropriately based on the comparison result between the motion score and the threshold.

[0121] When it is determined that the user is not wearing the wearable device 100 properly, the wearable device 100 may control the driving modules 530 and 530-1 not to generate torque. When it is determined that the user is wearing the wearable device 100 properly, the wearable device 100 may start generating torque through the driving modules 530 and 530-1. The illustrated embodiment is a case where it is determined that the user is wearing the wearable device 100 properly, and it is shown that the first torque for the right leg and the second torque for the left leg are generated after the time interval 950 from when the user's leg movement is first detected passes (e.g., time interval 960). Therefore, when the user's movement is first detected, the wearable device 100 may not generate torque immediately within the time interval 950, but after determining that the user is wearing the wearable device 100 properly by performing a test process for determining whether the user is wearing the wearable device 100 properly based on the sensor data obtained by the sensor module 520 within a predetermined time. Therefore, the risk of accidents (e.g., accidents in which a torque-driven leg support frame attacks a user's body) that may occur due to torque generated by the wearable device 100 even if the user is not wearing or is wearing the wearable device 100 improperly can be reduced.

[0122] Fig.10 is a flowchart illustrating a method of controlling a wearable device according to an embodiment. Fig.10The flowchart of the control method of the wearable device 100 after the start operation is used to periodically or non-periodically determine whether the user is properly wearing the wearable device 100 to control the operation of the wearable device 100 according to whether the wearable device 100 is worn. In an embodiment, the wearable device 100 can select exercise (or walking) to start through the application of the electronic device 210, and determine whether the user is properly wearing the wearable device 100 every five seconds while the wearable device 100 is being driven. The phrase "five seconds" is provided only as an example.

[0123] In an embodiment, Fig.10 At least one of the operations may be performed simultaneously or in parallel with each other, and the order of the operations may be changed. In addition, at least one of the operations may be omitted, or other operations may be performed in addition.

[0124] In operation 1010, the wearable device 100 may generate a torque to be applied to the user's leg through the driving module 530, 530-1 of the wearable device 100. For example, Fig.10 Operation 1010 may correspond to Figure 7 Operation 740.

[0125] In operation 1020, the wearable device 100 may obtain sensor data using the sensor module 520 while the wearable device 100 is being driven. The wearable device 100 may obtain sensor data including motion information of the wearable device 100 using the sensor module 520 during a time interval. In an embodiment, the wearable device 100 may obtain sensor data at predetermined time intervals. For example, the wearable device 100 may obtain sensor data for testing whether the wearable device 100 is worn at predetermined time intervals (e.g., every 10 seconds).

[0126] In operation 1030, the wearable device 100 may determine a motion score indicating the extent to which the wearable device 100 moved during the time interval based on the sensor data. Operation 1030 corresponds to Figure 7 Operation 720 is performed, and any repeated description related thereto is omitted.

[0127] In an embodiment, after starting to generate torque, the wearable device 100 can determine whether the user is wearing the wearable device 100 based on sensor data obtained at predetermined time intervals. In an embodiment, the wearable device 100 can determine that the user is wearing the wearable device 100 (1) when the user wears the wearable device 100 and moves sufficiently, (2) when the user moves both legs, and (3) when the user moves a leg only in one direction and then moves the leg in the opposite direction.

[0128] In operation 1040, the wearable device 100 may determine whether the motion score satisfies a condition. For example, the wearable device 100 may determine whether the motion score is greater than a threshold. When the motion score is greater than the threshold, it may be determined that the condition is satisfied, and when the motion score is less than or equal to the threshold, it may be determined that the condition is not satisfied. Operation 1040 corresponds to Figure 7 Operation 730 is performed, and any repeated description related thereto is omitted.

[0129] The wearable device 100 may control whether the driving module 530, 530-1 of the wearable device 100 generates torque based on the motion score. For example, the wearable device 100 may determine whether to stop generating torque based on the motion score.

[0130] When the motion score does not satisfy the condition ("No" in operation 1040) (for example, when the motion score is less than or equal to the threshold), in operation 1050, the wearable device 100 can stop the drive module 530, 530-1 from generating torque. Thereafter, the wearable device 100 can output a guide notification (for example, a guide voice) to notify the user of the improper wearing of the wearable device 100 and guide the proper wearing. When the motion score satisfies the condition ("Yes" in operation 1040) (for example, when the motion score is greater than the threshold), the wearable device 100 can return to operation 1010 and continue the operation.

[0131] Through the above-described control method, the wearable device 100 can prevent or reduce the chance of safety-related accidents caused by the movement of the first leg driving frame 55 and the second leg driving frame 50 by stopping the planned torque generation and supply when the user stops moving.

[0132] Each embodiment herein may be used in combination with any other embodiment described herein.

[0133] Fig.11 is a diagram illustrating an example of controlling a wearable device based on sensor data according to an embodiment. As used herein, "based on" encompasses at least based on.

[0134] Fig.11 Shown are first sensor data 1120 representing changes in the first angle of the first leg driving frame 55 of the wearable device 100 over time, second sensor data 1110 representing changes in the first angle of the second leg driving frame 50, first torque data 1140 representing changes in the first torque to be transmitted to the first leg driving frame 55 by the driving module 530, 530-1, and second torque data 1130 representing changes in the second torque to be transmitted to the second leg driving frame 50 by the driving module 530, 530-1.

[0135] Even when the user is wearing the wearable device 100, the wearable device 100 may continuously check whether the user is properly wearing the wearable device 100. For example, the wearable device 100 may check whether the user is properly wearing the wearable device 100 according to the reference Fig.10 The described operation continuously checks whether the user is wearing the wearable device 100. When it is determined that the user is not properly wearing the wearable device 100 while the wearable device 100 is being driven, the wearable device 100 may stop the driving module 530, 530-1 from generating torque.

[0136] For example, when the wearable device 100 is loosely fastened to the right leg of the user at a predetermined time point, within a predetermined time interval (e.g., time interval 1150), the first angle of the first leg driving frame 55 may be detected as a small value different from the previous cycle. In this case, the wearable device 100 may determine that the wearable device 100 is not properly worn and may stop driving the wearable device 100 to prevent or reduce the chance of safety-related accidents. For example, when it is detected that the user is not wearing the wearable device 100 properly, the wearable device 100 may stop the drive module 530, 530-1 from generating torque or gradually reduce the magnitude of the generated torque in the time interval 1160. After the improper wearing of the wearable device 100 by the user is detected in the time interval 1150, the first torque and the second torque are not generated in the time interval 1160. Thereafter, the wearable device 100 may enter a standby mode, notify the user of the improper wearing of the wearable device 100, and provide a guidance notification to guide proper wearing. The guidance notification may be provided in the form of a voice guidance output from the wearable device 100 or a notification output by the electronic device 210 interoperating with the wearable device 100. Then, the wearable device 100 may continuously check whether the user is properly wearing the wearable device 100. When it is determined that the user is properly wearing the wearable device 100, the wearable device 100 may exit the standby mode and start driving of the driving module 530, 530-1 again.

[0137] Fig.12 is a diagram illustrating a configuration of an electronic device according to an embodiment.

[0138] Reference Fig.12 , the electronic device 210 may include: a processor 1210 including a processing circuit; a memory 1220; a communication module 1230 including a communication circuit; a display module 1240 including a display; a sound output module 1250; and an input module 1260. In an embodiment, at least one of the above components (e.g., the sound output module 1250) may be omitted from the electronic device 210, or one or more other components (e.g., a sensor module including at least one sensor, a haptic module, and a battery) may be added to the electronic device 210.

[0139] The processor 1210 may control at least one other component (e.g., a hardware component or a software component) of the electronic device 210, and may perform various types of data processing or operations. In an embodiment, as at least part of the data processing or operation, the processor 1210 may store instructions or data received from another component (e.g., the communication module 1230) in the memory 1220, process the instructions or data stored in the memory 1220, and store the resultant data in the memory 1220.

[0140] In an embodiment, processor 1210 may include a main processor (e.g., a CPU or AP) or an auxiliary processor (e.g., a GPU, an NPU, an ISP, a sensor hub processor or CP) that can operate independently of the main processor or in conjunction with the main processor.

[0141] The memory 1220 may store various data used by at least one component of the electronic device 210 (e.g., the processor 1210 or the communication module 1230). The data may include, for example, a program (e.g., an application) and input data or output data for commands related thereto. The memory 1220 may include at least one instruction executable by the processor 1210. The memory 1220 may include a volatile memory or a non-volatile memory.

[0142] The communication module 1230 may support establishing a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device 210 and another electronic device (e.g., wearable device 100, other wearable devices 220, and server 230), and perform communication via the established communication channel. The communication module 1230 may include a communication circuit for performing a communication function. The communication module 1230 may include one or more CPs that may operate independently of the processor 1210 (e.g., AP) and support direct (e.g., wired) communication or wireless communication. In an embodiment, the communication module 1230 may include a wireless communication module (e.g., Bluetooth) that performs wireless communication. TM The communication module 1230 may include a communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication (PLC) module). For example, the communication module 1230 may send a control command to the wearable device 100, and receive from the wearable device 100 at least one of sensor data including body motion information of a user wearing the wearable device 100, state data of the wearable device 100, and control result data corresponding to the control command.

[0143] The display module 1240 can visually provide information to the outside of the electronic device 210 (e.g., a user). The display module 1240 may include, for example, a light emitting diode (LCD) or an organic light emitting diode (OLED) display, a hologram device, or a projector device. The display module 1240 may also include a control circuit to control the drive of the display. In an embodiment, the display module 1240 may also include a touch sensor configured to sense a touch or a pressure sensor configured to sense the strength of the force generated by the touch. The display module 1240 may output a UI screen for controlling the wearable device 100 or providing various information (e.g., motion estimation information or setting information of the wearable device 100). In response to the electronic device 210 receiving a notification signal indicating that the wearable device 100 is not properly worn on the user's body from the wearable device 100, the display module 1240 may output a guide screen to notify the user of the improper wearing of the wearable device 100 or guide the proper wearing.

[0144] The sound output module 1250 may output a sound signal to the outside of the electronic device 210. The sound output module 1250 may include a guide sound signal (e.g., a drive start sound or an operation error notification sound) based on the state of the wearable device 100 and a speaker for playing music content or a guide voice. In response to the electronic device 210 receiving a notification signal indicating that the wearable device 100 is not properly worn on the user's body from the wearable device 100, the sound output module 1250 may output a guide voice to notify the user of improper wearing of the wearable device 100 or guide proper wearing.

[0145] The input module 1260 may receive commands or data from outside the electronic device 210 (e.g., a user) to be used by other components of the electronic device 210 (e.g., the processor 1210). The input module 1260 may include an input component circuit and receive user input. The input module 1260 may include, for example, a touch recognition circuit for recognizing a touch on a key (e.g., a button) and / or a screen.

[0146] It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to specific embodiments, but include various changes, equivalent forms or alternative forms of the corresponding embodiments. In conjunction with the description of the accompanying drawings, the same reference numerals may be used for similar or related components. It will be understood that the singular form of the noun corresponding to the project may include one or more things, unless the relevant context clearly indicates otherwise. As used herein, each of "A or B", "at least one of A and B", "at least one of A or B", "A, B or C", "at least one of A, B and C" and "at least one of A, B or C" may include any one of the items listed together in the corresponding phrase in the phrase, or all possible combinations thereof. Terms such as "1st", "2nd" or "first" or "second" may be used simply to distinguish a component from other components discussed, and do not limit the component in other aspects (e.g., importance or order). It will be understood that if an element (e.g., a first element) is referred to as being “coupled with”, “coupled to”, “connected to”, or “connected to” another element (e.g., the second element), with or without the term “operably” or “communicatively,” it means that the element may be coupled with the other element directly (e.g., via a cable), wirelessly, or via at least a third element.

[0147] As used in conjunction with various embodiments of the present disclosure, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "portion," or "circuit"). A module may be a single integrated component adapted to perform one or more functions or the smallest unit or portion of the single integrated component. For example, depending on the embodiment, a module may be implemented in the form of an application specific integrated circuit (ASIC). Therefore, each "module" herein may include a circuit.

[0148] Software may include a computer program, a piece of code, an instruction, or some combination thereof, to independently or jointly instruct or configure a processing device to operate as required. Software and data may be implemented permanently or temporarily in any type of machine, component, physical or virtual equipment or computer storage medium or a device capable of providing instructions or data to a processing device or providing instructions or data interpreted by a processing device. Software may also be distributed on a network-connected computer system so that the software is stored and executed in a distributed manner. Software and data may be stored in a non-transitory computer-readable recording medium. The embodiments set forth herein may be implemented as software including one or more instructions stored in a machine-readable storage medium. For example, a processor of a machine may call at least one of the one or more instructions stored in a storage medium and execute it. This allows the machine to be operated to perform at least one function according to at least one instruction called. One or more instructions may include a code generated by a compiler or a code executable by an interpreter. A machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term “non-transitory” simply means that the storage medium is a tangible device and does not include signals (eg, electromagnetic waves), but the term does not distinguish between data being semi-permanently stored in the storage medium and data being temporarily stored in the storage medium.

[0149] According to an embodiment, the method according to the embodiment may be included and provided in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be released in the form of a machine-readable storage medium (e.g., a compact disk read-only memory (CD-ROM)), or may be downloaded via an application store (e.g., PlayStore). TM ) online publishing (e.g., downloading or uploading) of the computer program product, or directly distributing between two user devices (e.g., smart phones). If published online, at least part of the computer program product may be temporarily generated or at least part of the computer program product may be at least temporarily stored in a machine-readable storage medium (such as a memory of a manufacturer's server, a server of an application store, or a forwarding server).

[0150] According to an embodiment, each component (e.g., module or program) in the above-mentioned components may include a single entity or multiple entities, and some of the multiple entities may be separately arranged in different components. According to an embodiment, one or more of the above-mentioned components or operations may be omitted, or one or more other components or operations may be added. Alternatively or additionally, multiple components (e.g., modules or programs) may be integrated into a single component. In this case, the integrated component may still perform the one or more functions of each of the multiple components in the same or similar manner as the corresponding one of the multiple components before integration. According to an embodiment, the operations performed by a module, a program or another component may be performed sequentially, in parallel, repeatedly or heuristically, or one or more operations in the operations may be run in different orders or omitted, or one or more other operations may be added.

[0151] Although the present disclosure has been illustrated and described with reference to various embodiments, it should be understood that the various embodiments are intended to be illustrative rather than restrictive. It will be further understood by those skilled in the art that various changes may be made in form and detail without departing from the true spirit and full scope of the present disclosure including the appended claims and their equivalents. It will also be understood that any embodiment described herein may be used in combination with any other embodiment described herein.

Claims

1. A wearable device (100) configured to be worn on a user's body, the wearable device comprising: Driver module (530; 530-1), including a motor and / or a circuit, the driving module (530; 530-1) is configured to generate a torque to be applied to the user's body; a leg drive frame (50; 55) configured to transmit the generated torque to at least one leg of the user; a thigh fastener (1; 2) connected to the leg drive frame (50; 55) and configured to connect the leg drive frame (50; 55) to the user's leg; at least one sensor configured to obtain sensor data including motion information of the wearable device (100); as well as at least one processor configured to control the driving module (530; 530-1) based on the sensor data, Wherein, the at least one processor is configured to: Determining information indicating the extent to which the wearable device (100) moves and / or has moved based on sensor data obtained by the sensor module; as well as Whether the torque is generated is controlled based on the determined information.

2. The wearable device (100) according to claim 1, wherein: The at least one processor is configured to: in response to the wearable device (100) receiving a control command to start driving from an electronic device (210), determine the information including the exercise score based on sensor data obtained during a time interval after a time point when the control command is received.

3. The wearable device (100) according to claim 1 or 2, wherein: The at least one processor is configured to, in response to detecting movement of the wearable device (100) after the wearable device (100) is turned on, determine the information including the movement score based on sensor data obtained during a time interval after a time point when the movement is detected.

4. The wearable device (100) according to any one of claims 1 to 3, wherein: The at least one processor is configured to determine the information including the sporty score based on sensor data obtained during a time interval when the torque is being generated.

5. The wearable device (100) according to any one of claims 1 to 4, wherein: The at least one processor is configured to: in response to the information including the motion score being less than or equal to a threshold, control the drive module (530; 530-1) to not generate the torque and / or stop generating the torque.

6. The wearable device (100) according to any one of claims 1 to 5, wherein: The at least one processor is configured to: determining whether the user is wearing the wearable device (100) appropriately based on the information; and In response to determining that the user is not wearing the wearable device (100) properly, the driving module (530; 530-1) is controlled not to generate the torque and / or stops generating the torque.

7. The wearable device (100) according to any one of claims 1 to 6, wherein: The at least one sensor comprises: An angle sensor (524; 524-1) configured to obtain sensor data including movement values ​​of the leg drive frame (50; 55); and an inertial sensor (522) configured to obtain sensor data including a motion value of a waist support frame (20) of the wearable device (100), Wherein, the at least one processor is configured to determine the information based on at least one of sensor data of the angle sensor (524; 524-1) and sensor data of the inertial sensor (522).

8. The wearable device (100) according to claim 7, wherein: The at least one processor is configured to: Determining a first cumulative value of a first angle change of a first leg drive frame (55) and a second cumulative value of a second angle change of a second leg drive frame (50) based on sensor data of the angle sensor (524; 524-1); and The information is determined based on the first cumulative value and the second cumulative value.

9. The wearable device (100) according to claim 8, wherein: The first cumulative value corresponds to a smaller cumulative value of a positive first angular change measured during a time interval and a cumulative value of a negative first angular change measured during the time interval, and The second cumulative value corresponds to a smaller cumulative value of a cumulative value of positive second angular changes measured during the time interval and a cumulative value of negative second angular changes measured during the time interval.

10. The wearable device (100) according to claim 8, wherein: The at least one processor is configured to: Based on the motion value of the waist support frame (20), further determining a third cumulative value of a first motion change in a first axis direction of the waist support frame (20), a fourth cumulative value of a second motion change in a second axis direction of the waist support frame (20), and a fifth cumulative value of a third motion change in a third axis direction of the waist support frame (20); as well as The information is determined based on the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value, and the fifth cumulative value.

11. The wearable device (100) according to claim 10, wherein: the third cumulative value corresponds to a smaller cumulative value of the positive first motion changes measured during the time interval and the cumulative value of the negative first motion changes measured during the time interval, The fourth cumulative value corresponds to a smaller cumulative value of the positive second motion changes measured during the time interval and the cumulative value of the negative second motion changes measured during the time interval, and The fifth cumulative value corresponds to a smaller cumulative value of a cumulative value of positive third motion changes measured during the time interval and a cumulative value of negative third motion changes measured during the time interval.

12. The wearable device (100) according to claim 10, wherein: The information including the exercise score is based on a result value obtained by at least multiplying the first cumulative value, the second cumulative value, the third cumulative value, the fourth cumulative value, and the fifth cumulative value.

13. The wearable device (100) according to claim 7, wherein: In determining the information indicative of the extent to which the wearable device (100) moves and / or has moved during the time interval, the at least one processor is configured to: determining a first motion score based on at least one of a first angular change of the first leg driven frame (55) and a second angular change of the second leg driven frame (50) during the time interval; Determine a second movement score based on at least one of a first ratio of the movement amount of the first leg driving frame (55) to the total movement amount of the first leg driving frame (55) and the second leg driving frame (50) and a second ratio of the movement amount of the second leg driving frame (50) to the total movement amount of the first leg driving frame (55) and the second leg driving frame (50); as well as Whether the torque is generated is controlled based on the first sport score and the second sport score.

14. A method for controlling a wearable device (100), the method comprising: receiving a control command to start driving the wearable device (100); In response to receiving the control command, obtaining sensor data including motion information of the wearable device (100) after a point in time when the control command is received; determining a motion score indicating the extent to which the wearable device (100) is moving and / or has moved based on the sensor data; as well as Whether the wearable device (100) will generate torque is controlled based on the determined motion score.

15. A method for controlling a wearable device (100), the method comprising: Via the drive module (530) of the wearable device (100); 530-1) generates a torque to be applied to the user's legs, the driving module (530; 530-1) comprising a motor and / or a circuit; Obtaining sensor data including motion information of the wearable device (100); determining a motion score indicating the extent to which the wearable device (100) is moving and / or has moved based on the sensor data; as well as A determination is made whether to stop generating the torque based on the determined sport score.

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