Wearable device and operating method thereof

Abstract

A wearable device may include a driving module configured to generate and output a torque; a communication module performing communication with an electronic device; a sensor that measures a joint angle of a user to generate angle data; and at least one processor configured to receive selection information including a motion selected by a user from the electronic device through the communication module, generate angular velocity data by using the generated angular velocity data, determine a parameter related to a mode of output torque based on the received selection information, and transmit the determined parameter to the electronic device. Control information for generating the torque is determined based on the generated angle data, the generated angular velocity data, and the determined parameters, and a drive module is controlled to generate the torque based on the determined control information.

Description

Technical Field

[0001] Example embodiments relate to wearable devices and / or methods of operating the same. Background Art

[0002] Generally, a walking assist device may refer to a mechanism or device that can help patients who cannot walk independently due to various diseases, accidents, etc. to perform walking exercises for rehabilitation treatment, and / or a mechanism or device that helps people walk and / or perform exercises related to walking. With the recent increasingly aging society, more and more people experience inconvenience in walking or difficulty in walking normally due to dysfunctional joint problems, and interest in walking assist devices is increasing. A walking assist device can be worn on the user's body to assist the user in walking by providing the necessary muscle strength and inducing the user to walk in a normal walking pattern. Summary of the invention

[0003] According to an example embodiment, a wearable device worn on a user's body may include: a drive module, a communication module, a sensor, and at least one processor, wherein the drive module is configured to generate and output torque, the communication module is configured to perform communication with an electronic device, and the sensor is configured to generate angle data by measuring the user's joint angle. The at least one processor may be configured to receive selection information including an exercise selected by the user from the electronic device through the communication module. The at least one processor may be configured to generate angular velocity data based on the generated angle data. The at least one processor may be configured to determine parameters related to a mode of outputting torque based on the received selection information. The at least one processor may be configured to determine control information for generating torque based on the generated angle data, the generated angular velocity data, and the determined parameters. The at least one processor may be configured to control the drive module to generate torque based on the determined control information.

[0004] According to an example embodiment, a method for operating a wearable device worn on a user's body may include: receiving selection information including an exercise selected by a user from an electronic device, generating angle data by measuring a joint angle of the user, generating angular velocity data based on the generated angle data, determining parameters related to a mode of outputting torque from the wearable device based on the received selection information, and controlling a drive module of the wearable device to generate torque based on the generated angle data, the generated angular velocity data, and based on the determined control information. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] 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:

[0006] Figure 1is a diagram showing an overview of a wearable device worn on a user's body according to an example embodiment;

[0007] Figure 2 is a diagram illustrating a management system including a wearable device and an electronic device according to an example embodiment;

[0008] Figure 3 is a schematic diagram showing a rear view of a wearable device according to an example embodiment;

[0009] Figure 4 is a left side view showing a wearable device according to an example embodiment;

[0010] Figure 5a and Figure 5b is a diagram showing a configuration of a control system of a wearable device according to an example embodiment;

[0011] Figure 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an example embodiment;

[0012] Figure 7 is a block diagram illustrating an example of a configuration of a wearable device according to an example embodiment;

[0013] Figure 8 and Fig. 9 is a diagram illustrating an example of exercise supported by a wearable device according to an example embodiment;

[0014] Fig.10 and Fig.11 is a diagram illustrating an example of a spring model for providing torque of a wearable device according to an example embodiment;

[0015] Fig.12 and Fig.13 is a diagram illustrating an example of an unfolding spring model for providing torque of a wearable device according to an example embodiment;

[0016] Figures 14 to 25 is a diagram illustrating torque patterns in a first mode and a second mode of a wearable device according to an example embodiment;

[0017] Fig.26 and Fig. 27 is a graph of torque of a wearable device according to an exemplary embodiment;

[0018] Figure 28 to Figure 31 , Figure 32a-32c , Fig.33 and Fig.34 is a diagram illustrating torque patterns in a third mode and a fourth mode of a wearable device according to an example embodiment;

[0019] Fig.35is a flow chart illustrating an example of selecting a torque generation algorithm by a wearable device according to an example embodiment;

[0020] Fig.36 is a diagram illustrating an example of a stable operation of a wearable device according to an example embodiment; and

[0021] Fig.37 is a flowchart illustrating an operating method of a wearable device according to an example embodiment. DETAILED DESCRIPTION

[0022] The following detailed structural or functional description is provided only as an example, and various changes and modifications may be made to the embodiments. Here, the embodiments are not to be 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.

[0023] Terms such as first, second, etc. may be used herein to describe components. Each of these terms is not used to define the nature, order, or sequence of the corresponding component, but is only used to distinguish the corresponding component from other components. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0024] It should be noted that if one component is described as being “connected,” “coupled,” or “engaged” to another component, at least a third component may be “connected,” “coupled,” or “engaged” between the first and second components, but the first component may be directly connected, coupled, or engaged to the second component.

[0025] 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" and / or "comprise" 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.

[0026] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. 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 art and should not be interpreted as an idealized or overly formal meaning unless explicitly defined as such herein.

[0027] 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.

[0028] Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an example embodiment.

[0029] refer to Figure 1 In an embodiment, 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 ability of the user 110 (e.g., walking ability, exercise ability, or exercise posture). In an embodiment, the term "wearable device" may be replaced with "wearable robot", "robot trainer", "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., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces such as assistive force and / or resistance to the body movement of the user 110. The assistive force may be a force applied in the same direction as the body movement direction of the user 110, which is used to assist the body movement of the user 110. The resistance may be a force applied in the opposite direction to the body movement direction of the user 110, which hinders the body movement of the user 110.

[0030] In an embodiment, the wearable device 100 may operate in a walking assist mode to assist the user 110 in walking. In the walking assist mode, the wearable device 100 may assist the user 110 in walking by applying an assist force generated by a drive module 120 (including a motor and / or a circuit) of the wearable device 100 to the body of the user 110. The wearable device 100 may allow the user 110 to walk independently or for a long time by providing the force required for the user 110 to walk, so as to extend the walking ability of the user 110. The wearable device 100 may help improve abnormal walking habits or walking postures of walkers.

[0031] In an embodiment, the wearable device 100 may operate in an exercise assist mode for enhancing the exercise effect of the user 110. In the exercise assist mode, the wearable device 100 may hinder the body movement of the user 110 or provide resistance to the body movement of the user 110 by applying resistance generated by the driving module 120 to the body of the user 110. When the wearable device 100 is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user 110, the wearable device 100 may provide an exercise load to the leg movement of the user 110 when worn on the legs, thereby enhancing the exercise effect on the legs of the user 110. In an embodiment, the wearable device 100 may apply an auxiliary force to the body of the user 110 to assist the user 110 in exercising. For example, when a disabled person or an elderly person wants to wear the wearable device 100 for exercise, the wearable device 100 may provide an auxiliary force for assisting body movement during the exercise process. In an embodiment, the wearable device 100 may provide assistive force and resistance in combination for each exercise portion or time portion in a manner that provides assistive force in some exercise portions and provides resistance in other exercise portions.

[0032] In an embodiment, the wearable device 100 may operate in a physical ability measurement mode for measuring the physical ability of the user 110. The wearable device 100 may measure the user's motion information using sensors (e.g., angle sensor 125 and inertial measurement unit (IMU) 135) provided in the wearable device 100 when the user walks or exercises, and evaluate the user's physical ability based on the measured motion information. For example, a gait index or an exercise ability index (e.g., muscle strength, endurance, balance, or exercise posture) 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 posture measurement mode for measuring the user's exercise posture.

[0033] In various embodiments of the present disclosure, for ease of description, the wearable device 100 is described as an example of a hip-type wearable device. Figure 1 As shown, but the embodiment is not limited thereto. As described above, the wearable device 100 can be worn on another body part (e.g., upper arm, lower arm, hand, calf, and foot) other than the waist and legs (particularly thighs), 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.

[0034] According to an embodiment, the wearable device 100 may include: a support frame (e.g., Figure 3 The leg support frames 50 and 55 and the waist support frame 20 are configured to support the body of the user 110 when the wearable device 100 is worn on the body of the user 110; the sensor module (e.g., Figure 5a The sensor module 520 is configured to obtain sensor data including motion information about the body motion (eg, leg motion and upper body motion) of the user 110; the driving module 120 ( Figure 3 , drive modules 35 and 45 ) configured to generate torque to be applied to the legs of the user 110 ; and a control module 130 (e.g., Figure 5a and Figure 5b The control module 510 is configured to control the wearable device 100.

[0035] The wearable device 100 may include an angle sensor 125 configured to measure the joint angle of the user and an IMU 135 configured to measure the change of acceleration and rotation speed according to the body movement of the user 110. The angle sensor 125 may measure the rotation angle (or angular velocity) of the leg support frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg support 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 present near each of the right hip joint and the left hip joint of the user 110. The IMU 135 may include an acceleration sensor and / or an angular velocity sensor (e.g., a gyroscope sensor), and may measure the change of acceleration and / or angular velocity (or rotation speed) according to the movement of the user 110. The IMU 135 may measure, for example, the rotation angle of the leg support frame (or base ( Figure 3 The upper body movement value corresponding to the movement value of the base 80) of the waist support frame. The movement value of the waist support frame measured by the IMU135 can be estimated as the upper body movement value of the user 110. In this article, "IMU" can also be called "inertial sensor".

[0036] In an embodiment, the control module 130 and the IMU 135 may be disposed on a base (eg, Figure 3 The base 80 of the wearable device 100 is placed in the base 80 of the wearable device 100. When the user 110 wears the wearable device 100, the base can be placed on the waist area (the area of ​​the lower back) of the user 110. The base can be formed or attached to the outside of the waist support frame of the wearable device 100. The base can be installed on the waist area of ​​the user 110 to provide a cushioning feeling to the lower back of the user 110, and can support the lower back of the user 110 together with the waist support frame.

[0037] Figure 2 is a diagram illustrating a management system including a wearable device and an electronic device according to example embodiments.

[0038] Reference Figure 2 , the exercise management system 200 may include a wearable device 100 to be worn on a user's body, an electronic device 210, another wearable device 220, and a server 230. In an embodiment, at least one of these devices (e.g., other wearable device 220 or server 230) may be omitted from the exercise management system 200, or one or more other devices (e.g., a dedicated controller device for the wearable device 100) may be added to the exercise management system 200.

[0039] 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 can be worn on the user's legs to help the user walk by generating an assistive force for assisting the user's leg movement.

[0040] In an embodiment, the wearable device 100 may generate resistance for hindering the user's body movement or auxiliary force for assisting the user's body movement, and apply the generated resistance or auxiliary force to the user's body in the exercise assistance mode to enhance the user's exercise effect. In the exercise assistance mode, the user can select an exercise program (e.g., squats, back kicks, splits, dumbbell squats, lunges and knee lifts, stretches, etc.) performed using the wearable device 100 and / or the exercise intensity applied to the wearable device 100 through the electronic device 210. 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.

[0041] In an embodiment, the wearable device 100 may be used to measure the physical ability of a user interoperating with the electronic device 210. The wearable device 100 may operate in a physical ability measurement mode, which is a mode for measuring the physical ability of the user, under the control of the electronic device 210, and may send sensor data obtained by the user's movement in the physical ability measurement mode to the electronic device 210. The electronic device 210 may estimate the user's physical ability by analyzing the sensor data received from the wearable device 100.

[0042] 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 of the wearable device 100 (e.g., startup status, charging status, sensing status, or error status). The electronic device 210 can receive sensor data obtained by sensors in the wearable device 100 from the wearable device 100, and estimate the user's physical ability or exercise results based on the received sensor data. In an embodiment, when a user wears the wearable device 100 to exercise, the wearable device 100 can use sensors to obtain sensor data including the user's motion information, and send the obtained sensor data to the electronic device 210. The electronic device 210 can extract the user's motion value from the sensor data, and evaluate the user's exercise posture based on the extracted motion value. The electronic device 210 can provide the user with exercise posture measurement values ​​and exercise posture evaluation information related to the user's exercise posture through a graphical user interface (GUI).

[0043] In one embodiment, the electronic device 210 may execute a program (e.g., an application) configured to control the wearable device 100, and the user may adjust the operation or setting value of the wearable device 100 (e.g., from the driving module (e.g., Figure 3 The magnitude of the torque output from the driving modules 35 and 45), the volume of the audio output from the sound output module (e.g., the speaker), or the lighting unit (e.g., Figure 3 The program executed by the electronic device 210 may provide a GUI for interacting with the user. The electronic device 210 may include various types of devices. 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 is not limited thereto.

[0044] According to an embodiment, the electronic device 210 may be connected to the server 230 using short-range wireless communication or cellular communication. The server 230 may receive user profile information of a user using 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, information about at least one of name, age, gender, height, weight, or body mass index (BMI). The server 230 may receive exercise history information about exercises performed by the user from the electronic device 210, and store and manage the received exercise history information. The server 230 may provide the electronic device 210 with various exercise programs or physical ability measurement programs that may be provided to the user.

[0045] According to an embodiment, the wearable device 100 and / or the electronic device 210 may be connected to another wearable device 220. The other wearable device 220 may include, for example, a wireless headset 222, a smart watch 224, or a smart glasses 226, but is not limited thereto. In an embodiment, the smart watch 224 may measure a bio-signal including the user's heart rate information, and 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, and average heart rate) based on the bio-signal received from the smart watch 224, and provide the estimated heart rate information to the user.

[0046] In an embodiment, the user's exercise result information, physical ability information (e.g., walking evaluation information), and / or exercise posture evaluation information evaluated by the electronic device 210 may be transmitted to another wearable device 220 and provided to the user through the another wearable device 220. The state information of the wearable device 100 may also be transmitted to another wearable device 220 and provided to the user through the another wearable device 220. In an embodiment, the wearable device 100, the electronic device 210, and the other wearable devices 220 may be connected to each other through wireless communication (e.g., Bluetooth communication or Wi-Fi communication).

[0047] 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 a lighting unit (e.g., Figure 3 The electronic device 210 may provide visual feedback through a lighting unit 85 of the wearable device 100, and provide auditory feedback through a sound output module (e.g., a speaker). The wearable device 100 may include a tactile module, and provide tactile feedback to the user's body in the form of vibration through the tactile module. The electronic device 210 may also provide (or output) feedback corresponding to the state of the wearable device 100 (e.g., visual feedback, auditory feedback, or tactile feedback).

[0048] In an embodiment, the electronic device 210 may present a personalized exercise target to the user in the exercise assistance mode. The personalized exercise target may include a corresponding target exercise amount for the exercise type (e.g., strength exercise, balance exercise, and aerobic exercise) desired by the user determined by the electronic device 210 and / or the server 230. When the server 230 determines the target exercise amount, the server 230 may send information about the determined target exercise amount to the electronic device 210. The electronic device 210 may personalize and present a target exercise amount for an exercise type (such as strength exercise, aerobic exercise, and balance exercise) according to a desired exercise program (e.g., squats, split lunges, or lunges and knee raises) and / or the user's physical characteristics (e.g., age, height, weight, and BMI). The electronic device 210 may display a GUI screen on a display that displays the target exercise amount for the corresponding exercise type.

[0049] In an embodiment, the electronic device 210 and / or the server 230 may include a database in which information about a plurality of exercise programs to be provided to the user through the wearable device 100 is stored. In order to achieve the user's exercise goals, the electronic device 210 and / or the server 230 may recommend an exercise program suitable for the user. The exercise goals may include, for example, at least one of muscle strength improvement, physical strength improvement, cardiovascular endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device 210 and / or the server 230 may store and manage the exercise programs performed by the user, the results of performing the exercise programs, and the like.

[0050] According to an embodiment, the electronic device 210 may evaluate the walking ability of a user interacting with the wearable device 100. For example, the electronic device 210 may estimate a gait index, which is an indicator of the user's walking state, based on sensor data obtained from a sensor module of the wearable device 100 worn by the user. The gait index may be a criterion for determining the quality of walking performed by the user. The gait index estimated by the electronic device 210 may include, for example, at least one of walking speed, step time, step length, stride length, walking distance, gait symmetry index, gait variability index, or walking ratio. When the user walks wearing the wearable device 100, the electronic device 210 may calculate the gait index in real time. Referring to Fig.10 Explain in detail the stride length and stride width.

[0051] When the user walks (or exercises) while wearing the wearable device 100, the wearable device 100 can use sensors to obtain sensor data including motion information related to the user's walking, and send the obtained sensor data to the electronic device 210. The electronic device 210 can estimate the user's walking evaluation information based on the sensor data, and provide the estimated walking evaluation information to the user. The walking evaluation information may include, for example, various gait indexes (e.g., walking speed, step time, step or stride length, gait symmetry index, gait variability index, and walking ratio) related to the user's walking when the user wears the wearable device 100 to walk. The electronic device 210 can provide feedback information to the user based on the walking evaluation information to improve the user's walking state. For example, when it is determined that the measured step or stride length of the user is less than the expected step or stride length, the electronic device 210 can suggest that the user walk with a wider step or stride length.

[0052] The wearable device 100 and the electronic device 210 may use an angle sensor (eg, Figure 1 Angle sensor 125) and IMU (e.g., Figure 1 The wearable device 100 and the electronic device 210 can estimate the gait index, such as the walking speed, by using the IMU 135 of the wearable device 100 without using a global positioning system (GPS) sensor to track the user's position, so the gait index can be estimated not only outdoors but also indoors. In addition, even when the user walks at a fixed position (such as on a treadmill), the wearable device 100 and the electronic device 210 can estimate the gait index, and can estimate the gait index reflecting the individual characteristics of the user. The electronic device 210 can provide the user using the wearable device 100 with evaluation information about the user's walking state, thereby increasing the user's interest in walking or exercising.

[0053] Figure 3 is a schematic diagram showing a rear portion of a wearable device according to an example embodiment. Figure 4 is a left side view showing a wearable device according to an example embodiment.

[0054] Reference Figure 3 and Figure 4 , the wearable device 100 according to the embodiment may include a base 80, a waist support frame 20, drive modules 35 and 45, leg support frames 50 and 55, thigh fastening parts 1 and 2, and a waist fastening part 60. The base 80 may include a lighting unit 85. In an embodiment, at least one of these components (e.g., the lighting unit 85) may be omitted from the wearable device 100, or one or more other components (e.g., a haptic module) may be added to the wearable device 100.

[0055] When the user wears the wearable device 100, the base body 80 may be placed on the user's waist area. The base body 80 may be mounted on the user's waist area to provide a cushioning feeling to the user's lower back and may support the user's lower back. The base body 80 may be suspended on the hip area (area of ​​the buttocks) to prevent or reduce the chance of the wearable device 100 being separated downward due to gravity when the user wears the wearable device 100. When the user wears the wearable device 100, the base body 80 may distribute a portion of the weight of the wearable device 100 to the user's lower back. The base body 80 may be directly or indirectly connected to the waist support frame 20. A waist support frame connection element (not shown) directly or indirectly connected to the waist support frame 20 may be provided at both ends of the base body 80.

[0056] In an embodiment, the lighting unit 85 may be arranged on the outer side of the base 80. The lighting unit 85 may include a light source (eg, a light emitting diode (LED)). The lighting unit 85 may be controlled by a control module (not shown) (eg, Figure 5a and Figure 5b In some embodiments, the control module may control the lighting unit 85 to provide (or output) visual feedback corresponding to the state of the wearable device 100 to the user through the lighting unit 85.

[0057] The waist support frame 20 may extend from both ends of the base 80. The waist region of the user may be accommodated in the waist support frame 20. The waist support frame 20 may include at least one rigid beam. Each beam may be a curved shape with a preset curvature to surround the waist region of the user. The waist fastening portion 60 may be directly or indirectly connected to the ends of the waist support frame 20. The driving modules 35 and 45 may be directly or indirectly connected to the waist support frame 20.

[0058] In an embodiment, a control module, an IMU (not shown) (e.g., Figure 1 IMU 135), a communication module (not shown) (e.g., Figure 5a and Figure 5b The communication module 516 of the wearable device 100 and the battery (not shown) can be arranged in the base 80. The base 80 can protect the control module, the IMU, the communication module and the battery. The control module can generate a control signal for controlling the operation of the wearable device 100. The control module may include a control circuit including a processor and a memory configured to control the actuators of the drive modules 35 and 45. The control module may also include a power module (not shown) configured to supply power to each of the components of the wearable device 100 from the battery.

[0059] In an embodiment, the wearable device 100 may include a sensor module (not shown) configured to obtain sensor data from at least one sensor (e.g., Figure 5a The sensor module 520 may obtain sensor data that changes according to the user's motion. In an embodiment, the sensor module may obtain sensor data including the user's motion information and / or the motion information of the components of the wearable device 100. The sensor module may include, for example, an IMU (e.g., Figure 1 IMU 135) and angle sensors (e.g., Figure 1 The IMU is configured to measure the user's upper body motion value or the motion value of the waist support frame 20, and the angle sensor is configured to measure the user's hip joint angle value or the motion value of the leg support frames 50 and 55, but is not limited thereto. For example, the sensor module may also include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

[0060] The waist fastening portion 60 may be directly or indirectly connected to the waist support frame 20 to fasten the waist support frame 20 to the user's waist. The waist fastening portion 60 may include, for example, a pair of straps.

[0061] The drive modules 35 and 45 can generate an external force (or torque) to be applied to the user's body based on the control signal generated by the control module. 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 and a second drive module 35, the first drive module 45 is arranged at a position corresponding to the position of the user's right hip joint, and the second drive module 35 is arranged 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 each include a motor configured to generate power (or torque) by receiving power from the battery. When the motor is supplied with power and driven, the motor may generate a force (auxiliary 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 force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0062] In an embodiment, the first joint component and the second joint component can receive power from the first actuator and the second actuator respectively, and can apply external force to the user's body based on the received power. The first joint component and the second joint component can be arranged at positions corresponding to the user's joints respectively. 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 support frame 55. The first joint component can be rotated by the power received from the first actuator. An encoder or a Hall sensor that can be operated as an angle sensor can be arranged on one side of the first joint component, and the angle sensor is configured to measure the rotation angle of the first joint component (corresponding to the user's joint angle). 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 support frame 50. The second joint component can be rotated by the power received from the second actuator. An encoder or a Hall sensor that can be operated as an angle sensor can be arranged on one side of the second joint component, and the angle sensor is configured to measure the rotation angle of the second joint component.

[0063] In an embodiment, the first actuator can be arranged in the transverse direction of the first joint component, and the second actuator can be arranged 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 embodiment is not limited thereto, and the actuator and the joint component can share a rotation axis. In one embodiment, each actuator can be spaced apart from the corresponding joint component. In this case, each of the drive modules 35 and 45 can also include a power transmission module (not shown), which is configured to transfer 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, a cable, a rope, a spring, a belt or a chain. However, the scope of the embodiment is not limited by the positional relationship between the above-mentioned actuator and the joint assembly and the power transmission structure.

[0064] In an embodiment, when the wearable device 100 is worn on the user's leg, the leg support frames 50, 55 can support the user's leg (e.g., thigh). For example, the leg support frames 50 and 55 can transmit the power (torque) generated by the drive modules 35 and 45 to the user's thigh, and the power can be used as an external force to be applied to the movement of the user's leg. When one end of the leg support frames 50 and 55 is directly or indirectly connected to the joint member for rotation, and the other end of the leg support frames 50 and 55 is directly or indirectly connected to the thigh fastening parts 1 and 2, the leg support frames 50 and 55 can transmit the power generated by the drive modules 35 and 45 to the user's thigh while supporting the user's thigh. For example, the leg support frames 50 and 55 can push or pull the user's thigh. The leg support frames 50 and 55 can extend in the longitudinal direction of the user's thigh. The leg support frames 50 and 55 can be bent to surround at least a portion of the circumference of the user's thigh. The leg support frames 50 and 55 may include a first leg support frame 55 configured to support a right leg of a user and a second leg support frame 50 configured to support a left leg of a user.

[0065] The thigh fastening parts 1 and 2 may be directly or indirectly connected to the leg support frames 50 and 55, and may fix the leg support frames 50 and 55 to the thighs. The thigh fastening parts 1 and 2 may include a first thigh fastening part 2 configured to fasten the first leg support frame 55 to the right thigh of the user and a second thigh fastening part 1 configured to fasten the second leg support frame 50 to the left thigh of the user.

[0066] In an embodiment, the first thigh fastening portion 2 may include a first cover, a first fastening frame and a first belt, and the second thigh fastening portion 1 may include a second cover, a second fastening frame and a second belt. In an embodiment, the first cover and the second cover may apply the torque generated by the drive modules 35 and 45 to the user's thigh. For example, the first cover and the second cover may be arranged 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 arranged on the front surface of the user's thigh. The first cover and the second cover may be arranged in the circumferential direction of the user's thigh. The first cover and the second cover may extend from the other end of the leg support frames 50 and 55 to both sides, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end thereof may be directly or indirectly connected to the belt.

[0067] The first fastening frame and the second fastening frame may be arranged, for example, to surround at least some portion of the circumference of the user's thighs, thereby preventing or reducing the chance of the user's thighs being separated from the leg support frames 50 and 55. The first fastening frame may have a fastening structure connecting the first cover and the first belt, and the second fastening frame may have a fastening structure connecting the second cover and the second belt.

[0068] The first band may enclose the remaining portion of the circumference of the user's right thigh not covered by the first cover and the first fastening frame, and the second band may enclose the remaining portion of the circumference of the user's left thigh not covered by the second cover and the second fastening frame. The first band and the second band may include, for example, elastic material (e.g., band).

[0069] Figure 5a and Figure 5b is a diagram showing a configuration of a control system of a wearable device according to an example embodiment.

[0070] Reference Figure 5a , wearable devices (e.g. Figure 1 and Figure 3 The wearable device 100) can be controlled by the control system 500. Figure 5b , wearable devices (e.g. Figure 1 and Figure 3 The wearable device 100) can be controlled by a control system 500-1. Figure 5a The control system 500 may include a control module 510 , a sensor module 520 , a driving module 530 , and a battery 540 . Figure 5b The control system 500-1 may include a control module 510, sensor modules 520 and 520-1, drive modules 530 and 530-1, and a battery 540. The drive module 530 may include a motor 534 for generating power (eg, torque) and a motor driver circuit 532 for driving the motor 534. Figure 5a In the example of FIG. 5 , a sensor module 520 and a drive module 530 including a motor driver circuit 532 and a motor 534 are shown, however, this is only an example. Figure 5b As in the illustrated embodiment, a plurality of (eg, two or more) sensor modules 520 and 520-1, motor driver circuits 532 and 532-1, and motors 534 and 534-1 may be provided. The drive module 530 including the motor driver circuit 532 and the motor 534 may correspond to Figure 3 The first driving module 45, and the driving module 530-1 including the motor driver circuit 532-1 and the motor 534-1 may correspond to Figure 3 The following description of each of the sensor module 520, the motor driver circuit 532, and the motor 534 can also be applied to Figure 5b , the sensor module 520 - 1 , the motor driver circuit 532 - 1 , and the motor 534 - 1 shown in FIG.

[0071] Reference Figure 5a, the sensor module 520 may include at least one sensor. The sensor module 520 may include sensor data, which includes the user's motion information. For example, the sensor module 520 may obtain sensor data that changes according to the user's leg motion. The sensor module 520 may send the obtained sensor data to the control module 510. The sensor module 520 may include, for example, an IMU, an angle sensor (e.g., an encoder), a position sensor, a proximity sensor, a biosignal sensor, and a temperature sensor. The IMU may measure acceleration information and posture information when the user walks. For example, the IMU may sense X-axis, Y-axis, and Z-axis accelerations and X-axis, Y-axis, and Z-axis angular velocities according to the user's walking motion. The angle sensor may measure angle information about the user's hip joint angle. The angle information measured by the angle sensor may include, for example, the hip joint angle of the right leg, the hip joint angle of the left leg, and information about the direction of movement of the leg.

[0072] The battery 540 can supply power to each component of the wearable device. The wearable device can convert the power of the battery 540 into power suitable for the operating voltage of each component of the wearable device, and supply the converted power to each component.

[0073] The driving module 530 may generate an external force to be applied to the user's legs under the control of the control module 510. The driving module 530 may be set at 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 generate a current signal corresponding to the control signal and supply the current signal to the motor 534 to control the operation of the motor 534. The current signal may not be supplied to the motor 534 according to the control signal. When the motor 534 is driven as the current signal is supplied to the motor 534, the motor 534 may generate a torque for assisting the user's leg movement (hereinafter, referred to as "assistance torque") or a torque for hindering the leg movement (hereinafter, referred to as "resistance torque").

[0074] 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 drive module 530 ). The control module 510 may include at least one processor 512 , a memory 514 , and a communication module 516 .

[0075] At least one processor 512 may run, for example, software to control at least one other component (e.g., hardware or software component) of the wearable device directly or indirectly connected to the at least one processor 512, and may perform various data processing or calculations. According to an embodiment, as at least part of the data processing or calculation, the at least one 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 at least one processor 512 may include one or more or any combination of 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)), and the auxiliary processor may operate independently of the main processor or in combination with the main processor. The auxiliary processor may be implemented separately from the main processor or as part of the main processor.

[0076] The memory 514 may store various data used by at least one component of the control module 510 (e.g., the processor 512). The data may include, for example, software, sensor data, and input data or output data for instructions associated therewith. The memory 514 may include volatile memory or non-volatile memory (e.g., random access memory (RAM), dynamic RAM (DRAM), or static RAM (SRAM)).

[0077] The communication module 516 including the communication circuit can support communication between the control module 510 and another component of the wearable device or an external electronic device (e.g., 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 the user's sensor data and / or walking assessment information to the external electronic device. According to an embodiment, the communication module 516 may include one or more CPs that are operable 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 can communicate via a short-range communication network (such as Bluetooth TM, Wireless Fidelity (Wi-Fi), Adaptive Network Topology (ANT), or Infrared Data Association (IrDA)) or a remote communication network (such as a traditional cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN)))) to communicate with another component of the wearable device and / or an external electronic device.

[0078] Figure 6 is a diagram illustrating interaction between a wearable device and an electronic device according to example embodiments.

[0079] refer to 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.

[0080] 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 to control the operation of the wearable device 100 or determine the operation mode of the wearable device 100 by executing an application. The UI may be, for example, a GUI.

[0081] In an embodiment, a user may input an instruction for controlling the operation of the wearable device 100 (e.g., an execution instruction for a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the setting of the wearable device 100 through a GUI screen on a display 212 of the electronic device 210. The electronic device 210 may generate a control instruction (or a control signal) corresponding to the operation control instruction or the setting change instruction input by the user, and send the generated control instruction to the wearable device 100. The wearable device 100 may operate according to the received control instruction, and send a control result according to the control instruction and / or sensor data measured 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., walking ability information, exercise ability information, or exercise posture evaluation information) derived by analyzing the control result and / or the sensor data through the GUI screen.

[0082] Figure 7 is a block diagram illustrating an example of a configuration of a wearable device according to an example embodiment.

[0083] refer to Figure 7According to an embodiment, the wearable device 700 (e.g., the wearable device 100) may include a processor 710 (e.g., the processor 512), a driving module 720 (e.g., the driving module 530), a communication module 730 (e.g., the communication module 516) and a sensor 740.

[0084] Figure 7 The wearable device 700 may further include a driving module corresponding to the driving module 530-1.

[0085] In an embodiment, the communication module 730 may perform communication with an electronic device (eg, the electronic device 210 or other wearable device 220). The communication module 730 may receive selection information including a user-selected exercise from the electronic device 210.

[0086] In an embodiment, the sensor 740 may generate angle data by measuring the user's joint angles. The sensor 740 may include, for example, the angle sensor 125 and / or the IMU 135.

[0087] In an embodiment, the processor 710 may receive the generated angle data from the sensor 740 and generate angular velocity data based on the generated angle data.

[0088] In an embodiment, the processor 710 may receive selection information including an exercise selected by a user from the communication module 730, and determine a parameter related to a mode (or torque mode) of outputting torque from the wearable device 700 based on the received selection information. As described later, the parameter may include at least one of an angle value α or a hysteresis value μ. The angle value α and the hysteresis value μ will be described later. The processor 710 may select a parameter mapped to an exercise selected by the user.

[0089] In an embodiment, the processor 710 may determine control information for generating a torque (e.g., an assist torque or a resistance torque) based on the generated angle data, the generated angular velocity data, and the determined parameters. The selection information may include a motion intensity (or motion intensity) set by a user. The processor 710 may determine a gain associated with the magnitude of the torque based on the motion intensity in the selection information. The processor 710 may determine control information for generating a torque based on the determined gain, the generated angle data, the generated angular velocity data, and the determined parameters.

[0090] In an embodiment, the processor 710 may control the driving module 720 based on the determined control information. The driving module 720 may generate and output torque under the control of the processor 710. Through the torque, assistive force or resistance may be provided from the wearable device 700 to the user.

[0091] In an embodiment, the selected exercise may include exercise 1 in which the joint angle increases and exercise 2 in which the joint angle decreases. The processor 710 may control the wearable device 700 to operate in one of a plurality of modes according to the selection information.

[0092] In an embodiment, the plurality of modes may include a first mode to a fourth mode. The first mode may be a mode in which the wearable device 700 outputs torque in the same direction in motion 1 and motion 2 and outputs an auxiliary torque that assists a specified motion (e.g., a main motion) in motion 1 and motion 2. The second mode may be a mode in which the wearable device 700 outputs torque in the same direction in motion 1 and motion 2 and outputs a resistance torque that provides resistance to a specified motion (e.g., a main motion) in motion 1 and motion 2. The third mode may be a mode in which the wearable device 700 outputs torque in different directions in motion 1 and motion 2 and outputs an auxiliary torque that assists motion 1 and motion 2. The fourth mode may be a mode in which the wearable device 700 outputs torque in different directions in motion 1 and motion 2 and outputs a resistance torque that provides resistance to motion 1 and motion 2.

[0093] As described in detail later, the wearable device 700 according to an embodiment can output torque (e.g., assisting torque or resisting torque) according to a torque mode corresponding to the exercise selected by the user, thereby providing appropriate force (e.g., assisting force or resisting force) to the user at a more accurate time point.

[0094] Figure 8 and Fig. 9 is a diagram illustrating an example of exercise supported by a wearable device according to an example embodiment.

[0095] An exercise may be a movement in which the user repeatedly rotates a joint from a reference pose to possible angles and then returns to the reference pose.

[0096] The exercise may include Movement 1 representing an interval in which the joint angle θ increases from a reference posture and Movement 2 representing an interval in which the joint angle θ decreases from a posture in which the user rotates the joint to a maximum value or a high value. The reference posture may be a posture in which the joint angle θ is 0 degrees. Movement 1 may correspond to an interval from the reference posture to a posture in which the user rotates the joint to a maximum value. Movement 2 may correspond to an interval in which the user returns to the reference posture from a posture in which the user rotates the joint to a maximum value. The angular velocity of the joint angle in Movement 1 can be positive, and the angular velocity of the joint angle in motion 2 Can be negative. Angular velocity It can be expressed as angular velocity ω.

[0097] According to an embodiment, movement 1 may be a decrease in joint angle θ (or angular velocity is negative), and movement 2 can be an increase in joint angle θ (or angular velocity is positive) interval.

[0098] As an example of movement, Figure 8 A squat is shown.

[0099] exist Figure 8 In the example shown, the joint angles (e.g., θ squat ) can be the angle formed by the upper body and the lower body.

[0100] exist Figure 8 In the example shown, the reference pose 810 may be the joint angle θ squat The pose is 0 degrees. The joint angle θ squat θ may increase during the movement from the reference pose 810 to the pose 820, and the joint angle may increase during the movement from the pose 820 to the pose 830. The pose 830 may be a user rotating the joint to the maximum joint angle θ. squat The joint angle θ squat may decrease during the movement from pose 830 to pose 840, and the joint angle θ squat May decrease during movement from pose 840 to base pose 850.

[0101] Movement 1 of the squat can be the joint angle θ squat The movement 2 of squatting can be an interval in which the joint angle increases (or an interval in which the joint angular velocity is positive), and the movement 2 of squatting can be an interval in which the joint angle decreases (or an interval in which the joint angular velocity is negative).

[0102] In the motion 1 and the motion 2 of the squat, the user can receive a relatively large exercise load when performing the motion 2, and the auxiliary motion 2 can be one of the functions of the wearable device 700. In the motion 1 and the motion 2 of the squat, the motion 2 can be designated as the main motion. This designation can be performed in advance, or can be performed by the wearable device 700 (or the electronic device 210). According to an embodiment, the motion 1 of the squat can be designated as the main motion.

[0103] As another example of exercise, Fig. 9 The back kick is shown in FIG.

[0104] exist Fig. 9 In the example shown, the joint angles of the back kick (e.g., θ kickback ) can be the angle of a hip joint.

[0105] exist Fig. 9 In the example shown, the reference pose 910 may be the joint angle θ kickback The pose is 0 degrees. The joint angle θ kickbackcan be increased during the movement from the reference pose 910 to the pose 920. The joint angle θ kickback May decrease during movement from pose 920 to base pose 930.

[0106] The motion 1 of the back kick can be the joint angle θ kickback Increased interval (or joint angular velocity is a positive interval), and the motion 2 of the back kick can be the joint angle θ kickback The reduced interval (or joint angular velocity is a negative interval).

[0107] In an embodiment, Figure 8 and Fig. 9 As shown in the example shown, each of Exercise 1 and Exercise 2 of the exercise can be divided into a first half and a second half. As described later, according to the exercise selected by the user, the wearable device 700 can output a stronger torque in the first half of Exercise 1 than in the second half of Exercise 1, or output a stronger torque in the second half of Exercise 1 than in the first half of Exercise 1. According to the exercise selected by the user, the wearable device 700 can output a stronger torque in the first half of Exercise 2 than in the second half of Exercise 2, or output a stronger torque in the second half of Exercise 2 than in the first half of Exercise 2.

[0108] In the motion 1 and the motion 2 of the back kick, the user can receive a relatively large exercise load when performing the motion 1, and the auxiliary motion 1 can be one of the functions of the wearable device 700. In the motion 1 and the motion 2 of the back kick, the motion 1 can be designated as the main motion. This designation can be performed in advance, or can be performed by the wearable device 700 (or the electronic device 210). According to an embodiment, the motion 2 of the back kick can be designated as the main motion.

[0109] Fig.10 and Fig.11 is a diagram illustrating an example of a spring model for providing torque of a wearable device according to example embodiments.

[0110] refer to Fig.10 , shows an example of a compression spring model.

[0111] The compression spring model may be a spring model that generates a force in a direction that causes the legs to be separated (e.g., a direction in which the joint angle θ increases) when the user brings the separated legs together (e.g., when the joint angle θ decreases). When the user separates the legs, the compression spring model may provide an assisting force (or assisting torque) to the user. According to an embodiment, when the user separates the legs, the compression spring model may provide a resistance (or a resistance torque) to the user.

[0112] Fig.10The graph 1010 in can be a graph between torque τ and joint angle θ in a compression spring model. In the compression spring model, the torque τ can be determined according to the equation τ=k*(α-θ). In the equation, "*" can represent a multiplication symbol, and k can represent a gain related to the magnitude of the torque. The angle value α can be a predetermined constant value, for example, taking into account exercise. The angle value can be, for example, a maximum value of a range of motion (ROM) when exercising or a joint angle in an ideal exercise posture. In the compression spring model, the angle value α can correspond to a state in which the compression spring is stretched to its maximum (or an initial position of the compression spring).

[0113] In an embodiment, the angle value α may vary according to the exercise. Figure 8 The angle value α of the squat described (e.g., the angle value α squat ) can be compared with reference Fig. 9 The angle value α of the back kick exercise described (e.g., the angle value α kickback )different.

[0114] In an embodiment, a user may set or adjust the angle value α through an electronic device (eg, the electronic device 210 or other wearable device 220 ).

[0115] In an embodiment, the user may set or adjust the exercise intensity through an electronic device (eg, electronic device 210 or other wearable device 220). The wearable device 700 may determine the gain according to the set exercise intensity (or adjusted exercise intensity).

[0116] In an embodiment, when the user performs an exercise (e.g., a back kick), the wearable device 700 may output torque through a compression spring model. At this time, the output torque may correspond to an auxiliary torque that assists the main motion (e.g., motion 1) of the back kick during the main motion, and may correspond to a resistance torque that provides resistance to another motion (e.g., motion 2) of the back kick during another motion. In other words, the wearable device 700 may provide an auxiliary force to the motion 1 of the back kick and provide resistance to the motion 2 of the back kick when the user performs a back kick.

[0117] refer to Fig.11 , shows an example of a tension spring model.

[0118] The extension spring model may be a spring model that generates a force in a direction of bringing the legs together (e.g., a direction in which the joint angle θ decreases) when the user separates the legs in a state where the joint angle θ is 0 degrees (e.g., when the joint angle θ increases). When the user separates the legs, the extension spring model may provide resistance (or resistance torque) to the user. According to an embodiment, when the user separates the legs, the extension spring model may provide an assist force (or assist torque) to the user.

[0119] Fig.11 The graph 1110 in FIG. 1 may be a graph between torque τ and joint angle θ in a tension spring model. In the tension spring model, the torque may be determined according to the equation τ=−k*θ.

[0120] In an embodiment, when the user performs an exercise (e.g., a back kick), the wearable device 700 may output torque through a tension spring model. At this time, the output torque may correspond to a resistance torque that provides resistance to the main motion (e.g., motion 1) of the back kick during the main motion, and may correspond to an auxiliary torque that assists another motion (e.g., motion 2) of the back kick during another motion. In other words, the wearable device 700 may provide resistance to motion 1 of the back kick and provide auxiliary force to motion 2 of the back kick when the user performs a back kick.

[0121] Fig.12 and Fig.13 is a diagram showing an example of an extending spring model for providing torque of a wearable device according to an example embodiment.

[0122] Fig.12 A graph 1010 of torque in a compression spring model is shown in FIG.

[0123] When the user performs an exercise (e.g., a back kick), the wearable device 700 may output torque through a compression spring model. When the user performs a back kick, the wearable device 700 may provide an auxiliary force (or auxiliary torque) to the back kick motion 1, and provide resistance (or resistance torque) to the back kick motion 2. At this time, the resistance (or resistance torque) may cause discomfort to the user performing motion 2. In other words, when the user lowers his or her legs, the user may receive resistance from the wearable device 700, and the resistance may cause discomfort to the user.

[0124] In an embodiment, the hysteresis factor (eg, the hysteresis value μ and the angular velocity ) may be applied to the compression spring model. The hysteresis factor may be a factor that changes the torque magnitude of the compression spring model, for example, according to the user's motion direction (e.g., the direction in which the joint angle increases or the direction in which the joint angle decreases). The hysteresis value μ may be a constant and corresponds to the angular velocity The coefficient of . Fig.12 In the example shown, the hysteresis factor (e.g. ) can be applied to the torque τ = k*(α-θ) of the compression spring model, so that the torque of the expanded compression spring model to which the compression spring model is expanded can be determined Fig.12 The curve 1210 in the graph may be a hysteresis factor (e.g., ), and Fig.12 The graph 1220 may be a graph of torque of an extended compression spring model. The graph 1220 may correspond to an example of a torque pattern based on an extended compression spring model.

[0125] refer to Fig.12 1220, when the user performs motion 1, the wearable device 700 can output a relatively stronger torque than when the user performs motion 2. For example, the user can perform a back kick. Compared with the compression spring model, the wearable device 700 can output a relatively large auxiliary force (or auxiliary torque) during motion 1 through the extended compression spring model, and output a relatively small resistance (or resistance torque) during motion 2. Therefore, when the user performs motion 2 of the back kick, the user can receive a relatively weak resistance, and therefore, the discomfort felt by the user can be reduced or alleviated compared with the compression spring model.

[0126] The curve 1110 of the torque in the extension spring model is Fig.13 Shown in.

[0127] In an embodiment, the hysteresis factor (eg, the hysteresis value μ and the angular velocity ) can be applied to the stretch spring model. When the hysteresis factor is applied to the stretch spring model, the torque magnitude of the stretch spring model can be changed according to the user's movement direction (e.g., the direction in which the joint angle increases or the direction in which the joint angle decreases). Fig.13 In the example shown, the hysteresis factor (e.g. ) can be applied to the torque of the extension spring model τ = -k*θ, so that the torque of the extended extension spring model to which the extension spring model is extended can be determined Fig.13 The curve 1310 in the graph may be a hysteresis factor (e.g., ), and Fig.13 The graph 1320 may be a graph of torque of an extended extension spring model. The graph 1320 may correspond to an example of a torque pattern based on an extended extension spring model.

[0128] refer to Fig.13 In the graph 1320, when the user performs exercise 1, the wearable device 700 can output a relatively stronger torque than when the user performs exercise 2. For example, the user can perform a kickback. Compared with the extension spring model, the wearable device 700 can output a relatively large resistance (or resistance torque) during exercise 1 and a relatively small assist force (or assist torque) during exercise 2 through the extended extension spring model.

[0129] In an embodiment, the hysteresis value μ may vary depending on the exercise. For example, the hysteresis value μ for a squat (e.g., the hysteresis value μsquat ) and the hysteresis value of the kickback (e.g., the hysteresis value μ kickback ) can be different from each other.

[0130] In an embodiment, the user may set or adjust the hysteresis value μ through an electronic device (eg, the electronic device 210 or other wearable device 220 ).

[0131] Hereinafter, a torque pattern based on an extended spring model (eg, an extended compression spring model and an extended tension spring model) will be described.

[0132] Figures 14 to 25 is a diagram illustrating torque patterns in a first mode and a second mode of a wearable device according to an example embodiment.

[0133] refer to Fig.14 , shows a back kicking motion 1 1410 and a knee-lifting motion 1 1420. The knee-lifting motion may include a motion 1 for increasing the hip joint angle and a motion 2 for decreasing the hip joint angle. In the knee-lifting motion 1 and the motion 2, the motion 1 may be the main motion.

[0134] As described above, Movement 1 1410 or 1420 may be divided into a first half and a second half. Fig.15 An example of a torque pattern for assisting the first half of movement 1 1410 or 1420 is shown in FIG. Fig.16 An example of a torque pattern for the second half of assist motion 1 1410 or 1420 is shown in FIG.

[0135] exist Fig.15 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 1510. exist Fig.16 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 1610. The torque according to the torque pattern 1510 and the torque according to the torque pattern 1610 may have the same rotation direction, but may correspond to the assist torque in the motion 1 1410 or 1420 ( Fig.15 and Fig.16 ① in motion 2, and can correspond to the resistance torque in motion 2 ( Fig.15 and Fig.16 ② in the figure.

[0136] In an embodiment, the user may select an exercise (hereinafter referred to as "exercise A") for the first half of the main motion of a back kick (or knee lift) assisted by an electronic device, and may set the exercise intensity of exercise A. The processor 710 of the wearable device 700 may receive the exercise A selected by the user and the exercise intensity of exercise A from the electronic device through the communication module 730 including a communication circuit. The processor 710 may select a parameter (e.g., α) mapped to exercise A. A and μ A ), and determine (or set) a gain (e.g., k) based on the received exercise intensity A ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). A ), and based on the received angle data (e.g., θ A ) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, α A and μ A ), the determined gain (e.g., k A ), angle data (e.g., θ A )) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 (including the motor and / or the circuit) based on the determined control information to output torque according to the torque mode 1510 corresponding to the selected exercise A. The wearable device 700 may Output torque.

[0137] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise B”) for the second half of the main motion of the back kick (or knee lift) assisted by the electronic device, and may set the exercise intensity of the exercise B. The processor 710 of the wearable device 700 may receive the exercise B selected by the user and the exercise intensity of the exercise B from the electronic device through the communication module 730. The processor 710 may select a parameter (e.g., μm) mapped to the exercise B. B ), and determine (or set) a gain (e.g., k) based on the received exercise intensity B ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). B ), and based on the received angle data (e.g., θ B ) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, μ B ), the determined gain (e.g., μ B ), angle data (e.g., θ B) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 1610 corresponding to the selected exercise B based on the determined control information. Output torque.

[0138] refer to Fig.17 , showing the movement 1 1710 of the back kick and the movement 1 1720 of the knee lift.

[0139] Fig.18 An example of a torque pattern for providing resistance to the first half of movement 1 1710 or 1720 is shown in FIG. Fig.19 An example of a torque pattern for providing resistance to the second half of motion 1 1710 or 1720 is shown in FIG.

[0140] exist Fig.18 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 1810. exist Fig.19 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 1910. The torque according to the torque pattern 1810 and the torque according to the torque pattern 1910 may have the same rotational direction, but may correspond to the resistance torque in the motion 1 1710 or 1720 ( Fig.18 and Fig.19 ① in motion 2, and can correspond to the auxiliary torque in motion 2 ( Fig.18 and Fig.19 ② in the figure.

[0141] In an embodiment, the user may select an exercise (hereinafter referred to as "exercise C") in which the wearable device 700 provides resistance to the first half of the main exercise (e.g., exercise 1) of the back kick (or knee lift) through the electronic device, and may set the exercise intensity of the exercise C. The processor 710 of the wearable device 700 may receive the exercise C and the exercise intensity of the exercise C selected by the user from the electronic device through the communication module 730. The processor 710 may select the parameters (e.g., α ... C and μ C ), and determine (or set) a gain (eg, -k based on the received exercise intensity C ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). C ), and based on the received angle data (e.g., θ C) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, α C and μ C ), a certain gain (e.g., -k C ), angle data (e.g., θ C ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 1810 corresponding to the selected exercise C based on the determined control information. Output torque.

[0142] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise D”) in which the wearable device 700 provides resistance to the second half of the main motion of the back kick (or knee lift) through the electronic device, and may set the exercise intensity of the exercise D. The processor 710 of the wearable device 700 may receive the exercise D and the exercise intensity of the exercise D selected by the user from the electronic device through the communication module 730. The processor 710 may select a parameter (e.g., μm) mapped to the exercise D. D ), and determine (or set) a gain (eg, -k based on the received exercise intensity D ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). D ), and based on the received angle data (e.g., θ D ) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, μ D ), a certain gain (e.g., -k D ), angle data (e.g., θ D ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 1910 corresponding to the selected exercise D based on the determined control information. Output torque.

[0143] refer to Fig. 20 , showing the main movement of the squat (e.g., movement 2).

[0144] As described above, the main movement of the squat (eg, movement 2 2010) may be divided into a front half and a back half.

[0145] exist Fig.21 An example of a torque pattern for the first half of exercise 2 2010 for assisting a deep squat is shown in Fig. 22 An example of a torque pattern for the second half of Exercise 2 2010 for assisting a deep squat is shown in FIG.

[0146] exist Fig.21 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 2110. exist Fig. 22 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 2210. The torque according to the torque pattern 2110 and the torque according to the torque pattern 2210 may have the same rotation direction, but may correspond to the movement 2 ( Fig.21 and Fig. 22 The auxiliary torque in ②) and can correspond to the movement 1 of the squat ( Fig.21 and Fig. 22 The resistance torque in ①).

[0147] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise E”) for the first half of the main exercise (e.g., exercise 2) of the squat assisted by the electronic device, and may set the exercise intensity of the exercise E. The processor 710 of the wearable device 700 may receive the exercise E and the exercise intensity of the exercise E selected by the user from the electronic device through the communication module 730. The processor 710 may select a parameter (e.g., μm) mapped to the exercise E. E ), and determine (or set) a gain (eg, -k based on the received exercise intensity E ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). E ), and based on the angle data (e.g., θ E ) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, μ E ), a certain gain (e.g., -k E ), angle data (e.g., θ E ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 2110 corresponding to the selected exercise E based on the determined control information. Output torque.

[0148] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise F”) for the second half of the main exercise (e.g., exercise 2) of the squat assisted by the electronic device, and may set the exercise intensity of the exercise F. The processor 710 of the wearable device 700 may receive the exercise F and the exercise intensity of the exercise F selected by the user from the electronic device through the communication module 730. The processor 710 may select a parameter (e.g., α) mapped to the exercise F. F and μ F ), and determine (or set) a gain (eg, -k based on the received exercise intensity F ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). F ), and based on the angle data (e.g., θ F ) to generate angular velocity data (e.g., ). The processor 710 may select a parameter (eg, α F and μ F ), a certain gain (e.g., -k F ), angle data (e.g., θ F ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 2210 corresponding to the selected exercise F based on the determined control information. Output torque.

[0149] refer to Fig.23 , showing the main movement of the squat (e.g., movement 2).

[0150] exist Fig.24 An example of a torque pattern for providing resistance to the first half of the squat movement 2 2310 is shown in FIG. Fig.25 An example of a torque pattern for providing resistance to the second half of Movement 2 2310 of a squat is shown in FIG.

[0151] exist Fig.24 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 2410. exist Fig.25 In the example shown, when the user is exercising, the wearable device 700 can output torque according to the torque mode 2510. The torque according to the torque pattern 2410 and the torque according to the torque pattern 2510 may have the same rotation direction, but may correspond to the movement 2 of the squat ( Fig.24 and Fig.25The resistance torque in ②) can correspond to the movement 1 of the squat ( Fig.24 and Fig.25 The auxiliary torque in ①).

[0152] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise G”) in which the wearable device 700 provides resistance to the first half of the main movement of the squat (e.g., exercise 2) through the electronic device, and may set the exercise intensity of the exercise G. The processor 710 of the wearable device 700 may receive the exercise G and the exercise intensity of the exercise G selected by the user from the electronic device through the communication module 730. The processor 710 may select the parameters (e.g., μm) mapped to the exercise G. G ), and determine (or set) a gain (e.g., k) based on the received exercise intensity G ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). G ). The processor 710 may calculate the angle of the image based on the angle data (e.g., θ G ) to determine (or generate) angular velocity data (e.g., ). The processor 710 may select a parameter (eg, μ G ), determine the gain (e.g., k G ), angle data (e.g., θ G ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 2410 corresponding to the selected exercise G based on the determined control information. Output torque.

[0153] In an embodiment, the user may select an exercise (hereinafter referred to as “exercise H”) in which the wearable device 700 provides resistance to the second half of the main movement of the squat (e.g., exercise 2) through the electronic device, and may set the exercise intensity of the exercise H. The processor 710 of the wearable device 700 may receive the exercise H and the exercise intensity of the exercise H selected by the user from the electronic device through the communication module 730. The processor 710 may select the parameters (e.g., α ... H and μ H ), and determine (or set) a gain (e.g., k) based on the received exercise intensity H ). The processor 710 may receive angle data (eg, θ) from a sensor 740 (eg, an angle sensor 125). H ). The processor 710 may calculate the angle of the image based on the angle data (e.g., θH ) to determine (or generate) angular velocity data (e.g., ). The processor 710 may select a parameter (eg, α H and μ H ), determine the gain (e.g., k H ), angle data (e.g., θ H ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 2510 corresponding to the selected exercise H based on the determined control information. Output torque.

[0154] In an embodiment, in a first mode, the wearable device 700 can output torque in the same direction (or torque in one direction) during movement 1 and movement 2, and output an auxiliary torque (e.g., torque according to torque mode 1510, 1610, 2110, or 2210) to assist a specified movement (e.g., a main movement) in movement 1 and movement 2.

[0155] In an embodiment, in the second mode, the wearable device 700 can output torque in the same direction (or torque in one direction) during movement 1 and movement 2, and output a resistance torque (e.g., torque according to torque mode 1810, 1910, 2410, or 2510) that provides resistance to a specified movement (e.g., main movement) in movement 1 and movement 2.

[0156] Fig.26 and Fig. 27 is a graph of torque of a wearable device according to an example embodiment.

[0157] refer to Fig.26 , graph 2610 may be a graph for torque based on a compression spring model as a function of time (eg, τ=k·(α-θ)), and graph 2620 may be a graph for torque based on a compression spring model as a function of time (eg, ) is a graph. Graph 2630 may represent a joint angle (or angle data) θ when a user performs an exercise (eg, a back kick exercise), and graph 2640 may represent an angular velocity (or angular velocity data)

[0158] Comparing graph 2610 with graph 2620 in exercise 1, the wearable device 700 can output a larger assist torque in the extended compression spring model than in the compression spring model. Comparing graph 2610 with graph 2620 in exercise 2, the wearable device 700 can output a smaller resistance torque in the extended compression spring model than in the compression spring model. Therefore, the user can receive a larger assist force when raising the leg and receive a smaller resistance when lowering the leg.

[0159] refer to Fig. 27 , graphs 2710 and 2720 of torque according to joint angle are shown.

[0160] Graph 2710 may be for torque based on a compression spring model of extension according to joint angle (eg, ), and graph 2720 may be a graph for torque based on a compression spring model according to the joint angle (eg, τ=k·(α-θ)).

[0161] Referring to graph 2720, the same magnitude of torque may be output at the same joint angle regardless of the user's motion direction (e.g., a direction in which the joint angle increases or a direction in which the joint angle decreases). For example, in graph 2720, at the same joint angle, the magnitude of torque for motion 1 may be the same as the magnitude of torque for motion 2.

[0162] Referring to graph 2710, different magnitudes of torque may be output at the same joint angle according to the user's movement direction (e.g., a direction in which the joint angle increases and a direction in which the joint angle decreases). For example, in graph 2710, at the same joint angle, the magnitude of the torque of movement 1 may be different from the magnitude of the torque of movement 2.

[0163] Figure 28 to Figure 31 , Figure 32a-32c , Fig.33 and Fig.34 is a diagram illustrating torque patterns in third and fourth modes of a wearable device according to an example embodiment.

[0164] Reference Fig.28 , the wearable device 700 may use the IMU 2810 (e.g., the IMU 135) and / or the angle sensor 125 to determine (or generate) an angle (or hip joint angle) θ formed by a line 2812 of the upper body and a line 2811 of the lower body of the user. joint The angle may correspond to the joint angle θ for an exercise (e.g., a squat) squat The embodiment is not limited thereto, and the wearable device 700 may generate angle data θ obtained by measuring the joint angle using the angle sensor 125. squat .

[0165] Fig.28 The angle θ in may be the angle θ formed by the Y-axis of the IMU 2810 relative to a reference line (e.g., the line of gravity) imu .

[0166] Fig.28 The angle in can be the leg angle θ leg , and corresponds to the angle θ joint and angle θ imu The difference between.

[0167] As described later, in an embodiment, the wearable device 700 may be configured to or Output torque. In this case, θ can be the angle of a joint (for example, θ joint.left or θ joint.right ), or it can be the average of the angles of the two joints (θ joint.left +θ joint.right ) / 2.

[0168] In an embodiment, the wearable device 700 may calculate the average value θ of the angles of the two legs. leg.mean =(θ leg.left +θ leg.right ) / 2, the difference between the angles of the two legs θ leg.diff =θ leg.left -θ leg.right Or the difference in angles between the two joints θ joint.diff =θ joint.left -θ joint.right at least one or all of .

[0169] refer to Fig.29 , the graph 2910 may represent the calculated joint angle (or angle data) θ joint , the graph 2920 may represent the calculated joint angular velocity (or angular velocity data) Graph 2930 may represent the joint angular velocity filtered by a low pass filter (LPF) And the curve graph 2940 may represent the reference angular velocity. The reference angular velocity may represent the actual hip joint angular velocity of the user.

[0170] The waveform of the graph 2920 is not smooth. In other words, the calculated joint angular velocity corresponding to the graph 2920 may include noise. The calculated joint angular velocity may include noise caused by shaking according to the wearing state of the wearable device 700 and instantaneous movement caused by the torque generated by the motor.

[0171] When the calculated joint angular velocity is filtered by the LPF, the waveform may be smoothed, as shown in graph 2930. However, the filtering may cause a delay in graph 2930 compared to graph 2940 (eg, reference angular velocity). The torque output may differ in time from the reference angular velocity, so the torque may be output at an inappropriate time point.

[0172] To ensure that torque is delivered at the appropriate time, a scaling factor can be applied to

[0173] refer to Fig.30 , the graph 3010 may represent the reference angular velocity, and the graph 3020 may represent the filtered joint angular velocity (or filtered angular velocity data) The graph 3030 may represent the calculated joint angle (or angle data) θ joint , and the graph 3040 may represent the calculated joint angle θ joint Applied as a scaling factor The results (for example, ).

[0174] The waveform of the graph 3040 (or ) can be compared to the waveform of graph 3020 (or ) is more similar to the waveform of graph 3010 (e.g., reference angular velocity).

[0175] According to an embodiment, the offset angular velocity Can be applied to For example, it can satisfy

[0176] Can be determined The optimal value of can be as close to the reference angular velocity as possible. For example, it can be determined so that The root mean square error (RMSE) between the reference angular velocity and As in Fig.31 In the example shown in , the RMSE( Fig.31 The offset error) can be found in e.g. When is 20, it is at the minimum of 3100. Not limited to the above examples, Can vary depending on user, workout type, etc.

[0177] In an embodiment, the wearable device 700 may apply a gain (e.g., k or −k) to The wearable device 700 may be configured according to Output auxiliary torque or according to Output resistance torque. For ease of description, It can be simply expressed as And θ joint It can be simply expressed as θ.

[0178] Fig.32a An example of a torque pattern 3201 in the third mode is shown. Figure 32b An example of torque pattern 3203 in the fourth mode is shown

[0179] exist Fig.32a In the example shown, in motion 1 ( Fig.32a ①) and Movement 2( Fig.32a In ②), the torque in different directions is output. Similarly, in Figure 32b In the example shown, in motion 1 ( Figure 32b ①) and Movement 2( Figure 32b In ②), torques in different directions are output.

[0180] In an embodiment, a user may select an exercise assisted by the wearable device 700 (e.g., an exercise of exercise 1 and exercise 2 of squats assisted by the wearable device 700) (hereinafter, referred to as "exercise 1") and set the exercise intensity of exercise 1 through the electronic device. The processor 710 of the wearable device 700 may receive the exercise 1 and the exercise intensity of exercise 1 selected by the user from the electronic device through the communication module 730. The processor 710 may select a parameter mapped to exercise 1 (e.g., ), and determine (or set) a gain (e.g., k) based on the received exercise intensity I ). The processor 710 may determine (or generate) angle data (eg, θ) from a sensor 740 (eg, an IMU 135 or an angle sensor 125). I ). The processor 710 may calculate the angle of the image based on the angle data (e.g., θ I ) to determine (or generate) angular velocity data (e.g., ). The processor 710 may be configured to generate a signal based on the selected parameters (e.g., ), determine the gain (e.g., k I ), angle data (e.g., θ I )) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 3201 corresponding to the selected exercise I based on the determined control information. Output torque.

[0181] In an embodiment, the user may select an exercise for which the wearable device 700 provides resistance (e.g., an exercise for which the wearable device 700 provides resistance to exercise 1 and exercise 2 of a squat) (hereinafter, referred to as “exercise J”) through the electronic device and set the exercise intensity of exercise J. The processor 710 of the wearable device 700 may receive the exercise J and the exercise intensity of exercise J selected by the user from the electronic device through the communication module 730. The processor 710 may select a parameter mapped to exercise J (e.g., ), and determine (or set) a gain (eg, -k based on the received exercise intensity J Processor 710 may receive angle data (e.g., θ ) from sensor 740 (e.g., IMU 135 or angle sensor 125). J ). The processor 710 may calculate the angle of the image based on the angle data (e.g., θ J ) to determine (or generate) angular velocity data (e.g., ). The processor 710 may determine the gain (eg, -k) based on the selected parameter (eg, J ), angle data (e.g., θ J ) and angular velocity data (e.g., ) to determine control information for generating torque (e.g., ). The processor 710 may control the driving module 720 to output torque according to the torque mode 3203 corresponding to the selected exercise J based on the determined control information. Output torque.

[0182] Reference Fig.32c , the curve 3210 may represent the reference angular velocity, and the curve 3220 may represent the filtered angular velocity The graph 3230 may represent the calculated joint angle (or angle data) θ joint , and the curve graph 3240 can represent

[0183] Comparing graph 3240 with graph 3220, the time point of torque redirection can be faster, such as Figure 32c In the graph 3220 , the direction of the torque may be changed later than the time of switching from motion 1 to motion 2 , while in the graph 3240 , the direction of the torque may be changed at the time of switching from motion 1 to motion 2 .

[0184] Comparing the graph 3240 with the graph 3220 , the timing of the peak angular velocity of the graph 3240 may be faster, as shown in ②. The time point of the peak angular velocity of the graph 3240 may be earlier than the time point of the peak angular velocity of the graph 3220 .

[0185] Comparing graph 3240 with graph 3220 , the time point of the stopping torque (eg, resistance torque or assist torque) may be faster in graph 3240 than in graph 3220 , as shown in ③.

[0186] refer to Fig.33 , the graph 3310 may represent the joint angular velocity (or angular velocity data) according to time. Graph 3320 may represent filtered joint angular velocity as a function of time. Graph 3330 may represent torque as a function of angle (e.g., ) mode, and the curve graph 3340 can represent the torque according to the angle (e.g., ) mode.

[0187] Filtering can reduce the noise in graph 3320 compared to graph 3310. Compared with the mode, filtering can make the torque The mode is stable.

[0188] refer to Fig.34 , the curve graph 3320 can represent the filtered joint angular velocity according to time The curve graph 3410 can represent the Graph 3340 may be torque as a function of angle (e.g., ) mode, and the curve graph 3420 can be torque according to angle (e.g., ) mode.

[0189] Comparing the graphs 3410 and 3420 with the graphs 3320 and 3340, the point in time at which the output torque (e.g., resistance torque) is stopped may be faster in the interval in which the user stands. In the graphs 3320 and 3340, force (e.g., resistance) may be provided to the user even when the user is in the reference posture. In the graphs 3410 and 3420, the force (e.g., resistance) provided to the user may be temporarily suspended when the user is in the reference posture.

[0190] In an embodiment, the electronic device 210 may display an exercise list (e.g., an exercise list including exercises A to J) on a display, receive a selection input from a user for a predetermined exercise on the exercise list, and receive an exercise intensity for the exercise selected by the user. The electronic device 210 may send the exercise and exercise intensity selected by the user to the wearable device 700. The wearable device 700 may select (or determine) the parameters and torque generation algorithm mapped to the exercise selected by the user. Table 1 below shows examples of exercises and parameters / torque generation algorithms respectively mapped to the exercises.

[0191] [Table 1]

[0192]

[0193]

[0194] In Table 1 above, α A , α C , α F and α H Can be different from each other. The embodiment is not limited thereto, and α A , α C , α F and α H can be the same as each other. A , μ B , μ C , μ D , μ E , μ F , μ G and μ H The embodiment is not limited thereto, and μ A , μ B , μ C , μ D , μ E , μ F , μ G and μ H Can be identical to each other. and They may be different from each other, but are not limited thereto, and may be the same as each other.

[0195] In one embodiment, the wearable device 700 can output torque based on selected parameters and a torque generation algorithm.

[0196] In an embodiment, the parameters in Table 1 above may be different for each user. For example, α of user 1 A and μ A Can be compared with user 2's α A and μ A Therefore, a personalized workout can be performed.

[0197] Fig.35 is a flow chart illustrating an example of selecting a torque generation algorithm by a wearable device according to an example embodiment.

[0198] Reference Fig.35 , the wearable device 700 (or electronic device) may determine or select a torque generation algorithm (or torque calculation formula) suitable for a request from a user. For example, the wearable device 700 (or electronic device) may analyze user input information (or user selection information) (e.g., voice input, text input, etc.), identify a request from a user, and determine or select a torque generation algorithm (or torque calculation formula) suitable for the identified request. The user input information may include, for example, assistance with leg raises and exercise intensity for a back kick. As another example, the user input information may include strengthening muscles through leg raises and exercise intensity for a back kick.

[0199] In operation 3511, the wearable device 700 (or the electronic device) may determine whether an exercise (e.g., an exercise selected by the user) corresponds to an exercise assisted by the wearable device 700 based on the user input information. For example, when an indicator or text corresponding to assistance is included in the user input information, the wearable device 700 (or the electronic device) may determine that the exercise corresponds to an exercise to which the wearable device 700 provides an assistive force (or assistive torque). When an indicator or text corresponding to resistance (or muscle strengthening) is included in the user input information, the wearable device 700 (or the electronic device) may determine that the exercise corresponds to an exercise to which the wearable device 700 provides resistance (or resistance torque).

[0200] When the exercise corresponds to an exercise to which the wearable device 700 provides an assist force (or assist torque), the wearable device 700 (or the electronic device) may determine whether the assistance from the wearable device 700 is unilateral assistance in operation 3513. The unilateral assistance may indicate that the assistance from the wearable device 700 is provided to the main motion in the motion 1 in which the joint angle increases and the motion 2 in which the joint angle decreases. The unilateral assistance may correspond to the first mode described above.

[0201] When the assistance from the wearable device 700 is unilateral assistance, the wearable device 700 (or the electronic device) may determine whether the motion 1 of the exercise is the main motion in operation 3515. It may be pre-specified which of the motion 1 and the motion 2 of the exercise is the main motion. For example, in the motion 1 and the motion 2 of the squat, the motion 2 may be pre-specified as the main motion, and in the motion 1 and the motion 2 of the back kick, the motion 1 may be pre-specified as the main motion.

[0202] When exercise 1 of the exercise is the main exercise, in operation 3517, the wearable device 700 (or electronic device) may determine whether the main auxiliary time is the first half. For example, when the user input information includes "auxiliary time = first half", the wearable device 700 (or electronic device) may determine that the main auxiliary time is the first half. When the user input information includes "auxiliary time = second half", the wearable device 700 (or electronic device) may determine that the main auxiliary time is the second half. According to an embodiment, the auxiliary time may not be included in the user input information. In this case, by default, the wearable device 700 (or electronic device) may determine the main auxiliary time as the first half.

[0203] When the main assistance time is the first half, in operation 3521, the wearable device 700 (or the electronic device) may select an algorithm for providing a large assistance force to the first half of the exercise 1 (e.g., For example, when it is determined based on the user input information that the request from the user is a request for providing a relatively larger assist force to the first half of the main motion (e.g., motion 1) of the exercise than to the second half of the main motion, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0204] When the main assistance time is the second half, in operation 3523, the wearable device 700 (or the electronic device) may select an algorithm for providing a large assistance force to the second half of the exercise 1 (e.g., For example, when it is determined based on the user input information that the request from the user is a request for providing a relatively larger auxiliary force to the second half of the main motion (e.g., motion 1) of the exercise than to the first half of the main motion, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0205] When the motion 2 of the exercise is the main motion, in operation 3519, the wearable device 700 (or the electronic device) may determine whether the main auxiliary time is the first half.

[0206] When the main assisting time of the motion 2 is the first half, in operation 3525, the wearable device 700 (or the electronic device) may select an algorithm for providing a large assisting force to the first half of the motion 2 (e.g., For example, when it is determined based on the user input information that the request from the user is a request for providing a relatively larger assist force to the first half of the main motion (e.g., motion 2) of the exercise than to the second half of the main motion, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0207] When the main assisting time of the motion 2 is the second half, in operation 3527, the wearable device 700 (or the electronic device) may select an algorithm for providing a large assisting force to the second half of the motion 2 (e.g., For example, when it is determined based on the user input information that the request from the user is a request for providing a relatively larger auxiliary force to the second half of the main motion (e.g., motion 2) of the exercise than to the first half of the main motion, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0208] When the assistance from the wearable device 700 is bilateral assistance, the wearable device 700 (or the electronic device) may select an algorithm for providing bilateral assistance (eg, For example, when it is determined based on the user input information that the request from the user is a request to provide assistance to the exercise (e.g., exercise 1 and exercise 2), the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0209] In an embodiment, the bilateral assistance may assist the user's exercise through torques in different directions in the joint angle increasing motion 1 and the joint angle decreasing motion 2. The bilateral assistance may correspond to the third mode described above.

[0210] Returning to operation 3511, when the exercise (e.g., the exercise selected by the user) corresponds to an exercise in which resistance is provided from the wearable device 700, the wearable device 700 (or the electronic device) may determine whether the resistance from the wearable device 700 is unilateral resistance in operation 3531. The unilateral resistance may indicate that the resistance from the wearable device 700 is provided to the main motion in the joint angle increase motion 1 and the joint angle decrease motion 2. The unilateral resistance may correspond to the above-mentioned second mode.

[0211] When the resistance from the wearable device 700 is a unilateral resistance, in operation 3533, the wearable device 700 (or the electronic device) may determine whether the motion 1 of the exercise is the main motion.

[0212] When the motion 1 of the exercise is the main motion, in operation 3535, the wearable device 700 (or the electronic device) may determine whether the main auxiliary time is the first half.

[0213] When the main assistance time is the first half, in operation 3539, the wearable device 700 (or the electronic device) may select an algorithm for providing a large resistance to the first half of the exercise 1 (e.g., For example, when it is determined based on the user input information that the request from the user is a request to provide a greater resistance to the first half of the main movement (e.g., movement 1) of the exercise than to the second half of the main movement, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0214] When the main assistance time is the second half, in operation 3541, the wearable device 700 (or the electronic device) may select an algorithm for providing a large resistance to the second half of the exercise 1 (e.g., For example, when it is determined based on the user input information that the request from the user is a request to provide a greater resistance to the second half of the main movement (e.g., movement 1) of the exercise than to the first half of the main movement, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0215] When the motion 2 of the exercise is the main motion, in operation 3537, the wearable device 700 (or the electronic device) may determine whether the main auxiliary time is the first half.

[0216] When the main assistance time is the first half, in operation 3543, the wearable device 700 (or the electronic device) may select an algorithm for providing a large resistance to the first half of the exercise 2 (e.g., For example, when it is determined based on the user input information that the request from the user is a request to provide a greater resistance to the first half of the main movement (e.g., movement 2) of the exercise than to the second half of the main movement, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0217] When the main assistance time is the second half, in operation 3545, the wearable device 700 (or the electronic device) may select an algorithm for providing a large resistance to the second half of the exercise 2 (e.g., For example, when it is determined based on the user input information that the request from the user is a request to provide a greater resistance to the second half of the main movement (e.g., movement 2) of the exercise than to the first half of the main movement, the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0218] When the resistance from the wearable device 700 is bilateral resistance, in operation 3547, the wearable device 700 (or the electronic device) may select an algorithm for providing bilateral resistance (eg, For example, when it is determined based on the user input information that the request from the user is a request for providing resistance to exercise movements (e.g., exercise 1 and exercise 2), the wearable device 700 (or the electronic device) may select an algorithm (e.g., ).

[0219] The two-sided resistance may provide resistance to the user's exercise through torques in different directions in the movement 1 where the joint angle increases and in the movement 2 where the joint angle decreases. The two-sided resistance may correspond to the fourth mode described above.

[0220] Fig.36 is a diagram illustrating an example of a stable operation of a wearable device according to example embodiments.

[0221] For exercise supported by the wearable device 700, it may be ideal when the magnitude of the torque is "0" in a reference posture (eg, a posture with a joint angle of 0 degrees).

[0222] Angle δ3610 may be negative when the user wears the wearable device 700 loosely, when the wearable device 700 is twisted, or when the user performs a motion in the opposite direction (e.g., a motion with a negative joint angle). Fig.36 In the example shown, a torque may be generated that causes angle δ 3610 to point toward “0”.

[0223] When angle δ3610 is "0", torque generation can be paused, and in given circumstances (e.g., when the user wears wearable device 700 loosely, when wearable device 700 is twisted, or when the user performs movement in the opposite direction (e.g., movement with negative joint angles)), torque generation can be paused, causing angle δ3610 to be negative again, and torque can be generated to cause angle δ3610 to point to "0".

[0224] “Generate torque→pause torque generation when angle δ3610 is 0 degrees→angle δ3610 is negative→generate torque” may be repeated, and such repetition may cause vibration. Such vibration may reduce the user experience and stability of the wearable device 700.

[0225] In one embodiment, when the angle δ3610 is negative, the wearable device 700 can prevent or reduce the chance of generating torque, or can cause the magnitude of the torque to converge to a first value (e.g., "0") at a high speed. For example, when the angle δ3610 is negative, the processor 710 of the wearable device 700 can prevent or reduce the chance of generating torque by setting the gain K to "0".

[0226] In an embodiment, the wearable device 700 can detect that the user returns to the reference posture through the user's joint angle during the user's exercise. At this time, when the user's joint angle is within a predetermined angle (e.g., 10 degrees), the wearable device 700 can make the torque converge quickly to a first value (e.g., "0"). For example, when the joint angle is within a predetermined angle (e.g., 10 degrees), the processor 710 of the wearable device 700 can detect that the user returns to the reference posture through the user's joint angle. At this time, when the user's joint angle is within a predetermined angle (e.g., 10 degrees), the processor 710 of the wearable device 700 can detect that the user returns to the reference posture through the user's joint angle. The torque is adjusted so that the torque converges to a first value (eg, “0”) at a high speed.

[0227] Fig.37 is a flowchart illustrating an operating method of a wearable device according to an example embodiment.

[0228] Reference Fig.37 , in operation 3710, the wearable device 700 may receive selection information including an exercise selected by a user from the electronic device.

[0229] In operation 3720, the wearable device 700 may generate angle data by measuring the joint angles of the user.

[0230] In operation 3730, the wearable device 700 may generate angular velocity data based on the generated angle data.

[0231] In operation 3740, the wearable device 700 may determine parameters related to a mode of outputting torque from the wearable device 700 based on the received selection information.

[0232] In operation 3750, the wearable device 700 may determine control information for generating torque based on the generated angle data, the generated angular velocity data, and the determined parameters.

[0233] In operation 3760, the wearable device 700 may control a driving module of the wearable device 700 based on the determined control information.

[0234] In an embodiment, the selected exercise may correspond to an exercise that provides greater assistance to a first interval of a first interval (e.g., the first half) and a second interval (e.g., the second half) of a first exercise (e.g., exercise 1 described above). Optionally, in the first mode of the wearable device 700, there may be a user input (or user selection) requesting greater assistance to a first interval of a first interval and a second interval of a first exercise (e.g., squat, kickback, etc.) of an exercise. In this case, the processor 710 may map the coefficient (e.g., μ A ) is applied to the generated angular velocity data (e.g., ), determine the angle value that maps to the selected exercise (e.g., α A) and the generated angle data (e.g., θ), based on the results of the application (e.g., ), determine the difference (e.g., α A -θ) and a gain with a first sign (e.g., k A ) to determine the first control information (for example, ), and controls the driving module 720 based on the determined first control information.

[0235] In an embodiment, the selected exercise may correspond to an exercise that provides greater assistance to the second interval of the first interval and the second interval of the first movement. Alternatively, in the first mode of the wearable device 700, there may be a user input (or user selection) requesting greater assistance to the second interval of the first interval and the second interval of the first movement of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ B ) is applied to the generated angular velocity data (e.g., ), based on the results of the application (e.g. ), the generated angle data (e.g., θ), and the gain having the first sign (e.g., k B ) to determine the second control information (eg, ), and controls the driving module 720 based on the determined second control information.

[0236] In an embodiment, the selected exercise may correspond to an exercise that provides greater assistance to the first interval of the first interval (e.g., the first half) and the second interval (e.g., the second half) of the second exercise (e.g., exercise 2 described above). Optionally, in the first mode of the wearable device 700, there may be a user input (or user selection) requesting greater assistance to the first interval of the first interval and the second interval of the second exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ E ) is applied to the generated angular velocity data (e.g., ), based on the results of the application (e.g. ), the generated angle data (e.g., θ), and the gain having a second sign (e.g., -k E ) to determine the third control information (eg, ), and controls the driving module 720 based on the determined third control information.

[0237] In an embodiment, the selected exercise may correspond to an exercise that provides greater assistance to the second interval of the first interval (e.g., the first half) and the second interval (e.g., the second half) of the second exercise (e.g., the above-mentioned exercise 2). Optionally, in the first mode of the wearable device 700, there may be a user input (or user selection) requesting greater assistance to the second interval of the first interval and the second interval of the second exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ F ) is applied to the generated angular velocity data (e.g., ), determine the angle value that maps to the selected exercise (e.g., α F ) and the generated angle data (e.g., θ), based on the results of the application (e.g., ), determine the difference (e.g., α F -θ) and a gain with a second sign (e.g., -k F ) to determine the fourth control information (eg, ), and controls the driving module 720 based on the determined fourth control information.

[0238] In an embodiment, the selected exercise may correspond to an exercise that provides greater resistance to the first interval of the first interval (e.g., the first half) and the second interval (e.g., the second half) of the first exercise (e.g., exercise 1 described above). Optionally, in the second mode of the wearable device 700, there may be a user input (or user selection) requesting greater resistance to the first interval of the first interval and the second interval of the first exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ C ) is applied to the generated angular velocity data (e.g., ), determine the angle value that maps to the selected exercise (e.g., α C ) and the generated angle data (e.g., θ), based on the results of the application (e.g., ), determine the difference (e.g., α C -θ) and a gain with a second sign (e.g., -k C ) to determine the fifth control information (eg, ), and controls the driving module 720 based on the determined fifth control information.

[0239] In an embodiment, the selected exercise may correspond to an exercise that provides greater resistance to a second interval of a first interval (e.g., the first half) and a second interval (e.g., the second half) of a first exercise (e.g., exercise 1 described above). Optionally, in the second mode of the wearable device 700, there may be a user input (or user selection) requesting greater resistance to a second interval of a first interval and a second interval of a first exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ D ) is applied to the generated angular velocity data (e.g., ), based on the results of the application (e.g. ), the generated angle data (e.g., θ), and the gain having a second sign (e.g., -k D ) to determine the sixth control information (eg, ), and controls the driving module 720 based on the determined sixth control information.

[0240] In an embodiment, the selected exercise may correspond to an exercise that provides greater resistance to the first interval of the first interval (e.g., the first half) and the second interval (e.g., the second half) of the second exercise (e.g., the above-mentioned exercise 2). Optionally, in the second mode of the wearable device 700, there may be a user input (or user selection) requesting greater resistance to the first interval of the first interval and the second interval of the second exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ G ) is applied to the generated angular velocity data (e.g., ), based on the results of the application (e.g. ), the generated angle data (e.g., θ), and the gain having the first sign (e.g., k G ) to determine the seventh control information (eg, ), and controls the driving module 720 based on the determined seventh control information.

[0241] In an embodiment, the selected exercise may correspond to an exercise that provides greater resistance to the second interval of the first interval (e.g., the first half) and the second interval (e.g., the second half) of the second exercise (e.g., the above-mentioned exercise 2). Optionally, in the second mode of the wearable device 700, there may be a user input (or user selection) requesting greater resistance to the second interval of the first interval and the second interval of the second exercise of the exercise. In this case, the processor 710 may map the coefficient (e.g., μ H ) is applied to the generated angular velocity data (e.g., ), based on the application (e.g. ) is mapped to the angle value of the chosen exercise (e.g., α H) and the generated angle data (e.g., θ) and the gain with the first sign (e.g., k H ) to determine the eighth control information (eg, ), and controls the driving module 720 based on the determined eighth control information.

[0242] In an embodiment, the selected exercise may correspond to an exercise that provides assistance to the first movement and the second movement. Alternatively, in the third mode of the wearable device 700, there may be a user input (or user selection) requesting the first movement and the second movement of the assisted exercise. In this case, the processor 710 may generate the angular velocity data (e.g., ) and the offset angular velocity (e.g., ) are added, and based on the result of the addition, the generated angle data (e.g., θ) and the gain having the first sign (e.g., k I ) to determine the ninth control information (eg, ), and controls the driving module 720 based on the determined ninth control information.

[0243] In an embodiment, the selected exercise may correspond to an exercise that provides resistance to the first motion and the second motion. Optionally, in a fourth mode of the wearable device 700, there may be a user input (or user selection) requesting resistance to the first motion and the second motion of the exercise. In this case, the processor 710 may generate the angular velocity data (e.g., )) and the offset angular velocity (e.g., ) are added, and based on the result of the addition, the generated angle data (e.g., θ) and the gain with the second sign (e.g., -k J ) to determine the tenth control information (eg, ), and controls the driving module 720 based on the determined tenth control information. As used herein, "based on" encompasses at least based on.

[0244] In an embodiment, when the user's joint angle is negative, the processor 710 of the wearable device 700 can control the drive module 720 not to generate torque, or can control the drive module 720 so that the magnitude of the torque from the drive module 720 can quickly converge to a first value.

[0245] In an embodiment, when the user's motion is returning to the reference posture, the processor 710 of the wearable device 700 may determine whether the user's joint angle is less than or equal to a predetermined angle (e.g., by Fig.36 When it is determined that the joint angle is less than or equal to the predetermined angle, the processor 710 may control the driving module 720 so that the torque from the driving module 720 may quickly converge to a first value (eg, “0”).

[0246] The wearable device 700 according to an embodiment may provide multiple torque modes according to the user's exercise goals (e.g., assisting exercise or strengthening muscles), detailed exercises (e.g., exercise 1 or exercise 2), and torque output time (e.g., the first half or the second half).

[0247] Reference Figures 1 to 36 The described embodiments may be applied to Fig.37 Operating method of the wearable device 700.

[0248] Each embodiment herein may be used in combination with any other embodiment described herein.

[0249] The units described herein can be implemented using hardware components, software components, and / or combinations thereof. The processing device can be implemented using one or more general or special computers, such as, for example, a processor, a controller, and an arithmetic logic unit (ALU), a digital signal processor (DSP), a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of responding and executing instructions in a defined manner. The processing device can run an operating system (OS) and one or more software applications running on the OS. The processing device can also access, store, manipulate, process, and create data in response to the execution of the software. For simplicity, the description of the processing device is used as a singular; however, it will be understood by those skilled in the art that the processing device may include multiple processing elements and multiple types of processing elements. For example, the processing device may include multiple processors, or a single processor and a single controller. In addition, different processing configurations are possible, such as parallel processors.

[0250] Software may include a computer program, a piece of code, instructions, or some combination thereof, to independently or collectively instruct or configure a processing device to operate as desired. Software and data may be embodied permanently or temporarily in any type of machine, component, physical or virtual device, computer storage medium or device, or in a propagating signal wave capable of providing instructions or data to or being interpreted by a processing device. Software may also be distributed over network-coupled computer systems so that the software is stored and executed in a distributed manner. Software and data may be stored by one or more non-transitory computer-readable recording media.

[0251] The method according to the above-described embodiment can be recorded in a non-transitory computer-readable medium including program instructions to implement various operations of the above-described embodiment. The medium can also be included alone or in combination with program instructions, data files, data structures, etc. The program instructions recorded on the medium can be program instructions specially designed and constructed for the purpose of the embodiment, or they can be types known and available to technicians in the field of computer software. Examples of non-transitory computer-readable media include: magnetic media, such as hard disks, floppy disks, and tapes; optical media, such as CD-ROM disks, DVDs, and / or Blu-ray disks; magneto-optical media, such as optical disks; and hardware devices specially configured to store and execute program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory (e.g., USB flash drive, memory card, memory stick, etc.), etc. Examples of program instructions include both machine code such as generated by a compiler and files containing higher-level code that can be executed by a computer using an interpreter.

[0252] The above-mentioned apparatus may be configured to act as one or more software modules in order to perform the operations of the above-mentioned embodiments, and vice versa.

[0253] Many embodiments have been described above. However, it should be understood that various modifications may be made to these embodiments. For example, if the described techniques are performed in a different order and / or if the components in the described system, architecture, device, or circuit are combined in a different manner and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Although the present disclosure has been described and described with reference to various embodiments, it should be understood that the various embodiments are intended to be illustrative rather than restrictive. Those skilled in the art will further understand 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 should also be understood that any embodiment described herein may be used in combination with any other embodiment described herein.

[0254] Accordingly, other implementations are within the scope of the following claims.

Claims

1. A wearable device 100, 700, configured to be worn on a user's body, the wearable device comprising: A drive module 720 , including a motor and / or circuit, configured to generate and output torque; The communication module 730 includes a communication circuit configured to perform communication with an electronic device; Sensor 740, configured to provide angle data based on the user's joint angle; as well as At least one processor 710 is configured to: receiving, via the communication module, selection information including an exercise selected by a user from the electronic device, Generate angular velocity data based on angle data, determining parameters related to the mode of output torque based on the received selection information, Control information for generating torque is determined based on the angle data, the generated angular velocity data, and the determined parameter, and a driving module is controlled to generate torque based on the determined control information.

2. The wearable device according to claim 1, wherein: The at least one processor is further configured to select a parameter from a plurality of parameters to be mapped to the selected exercise.

3. The wearable device of claim 1, wherein: The selection information includes the exercise intensity set by the user, and The at least one processor is further configured to determine a gain associated with the torque magnitude based on the set exercise intensity.

4. The wearable device of claim 1, wherein: The selected exercise includes a first movement in which the joint angle increases and a second movement in which the joint angle decreases, and The at least one processor is further configured to control the wearable device to operate in one of a plurality of modes according to the selection information, The multiple modes include: a first mode, in which the wearable device outputs torque in the same direction in the first motion and the second motion, and outputs an assist torque that assists a designated motion of the first motion and the second motion; a second mode, in which the wearable device outputs torque in the same direction in the first motion and the second motion, and outputs a resistance torque that provides resistance to a specified motion in the first motion and the second motion; a third mode, in which the wearable device outputs torques in different directions in the first motion and the second motion, and outputs assisting torques that assist the first motion and the second motion; and and a fourth mode, in which the wearable device outputs torque in different directions in the first motion and the second motion, and outputs a resistance torque that provides resistance to the first motion and the second motion.

5. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise that provides greater assistance to a first interval of a first interval and a second interval of a first movement in which the joint angle increases, the at least one processor is also configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine a difference between the angle value mapped to the selected exercise and the generated angle data, determine first control information based on a result of the application, the determined difference, and a gain having a first sign, and control the drive module based on the determined first control information.

6. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise that provides greater assistance to a second interval of a first interval and a second interval of a first motion in which the joint angle increases, the at least one processor is also configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine second control information based on a result of the application, the generated angle data, and a gain having a first sign, and control the drive module based on the determined second control information.

7. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise that provides greater assistance to a first interval of the first interval and the second interval of the second motion in which the joint angle decreases, the at least one processor is further configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine third control information based on a result of the application, the generated angle data, and the gain having a second sign, and control the drive module based on the determined third control information; or Wherein, when the selected exercise corresponds to an exercise that provides greater assistance to the second interval of the first interval and the second interval of the second movement in which the joint angle decreases, the at least one processor is also configured to apply the coefficient mapped to the selected exercise to the generated angular velocity data, determine the difference between the angle value mapped to the selected exercise and the generated angle data, determine fourth control information based on the result of the application, the determined difference and the gain with the second sign, and control the drive module based on the determined fourth control information.

8. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise that provides a greater resistance to a first interval of the first interval and the second interval of the first motion in which the joint angle increases, the at least one processor is further configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine a difference between the angle value mapped to the selected exercise and the generated angle data, determine fifth control information based on a result of the applying, the determined difference, and the gain having a second sign, and control the driving module based on the determined fifth control information; or Wherein, when the selected exercise corresponds to an exercise that provides greater resistance to a second interval of a first interval and a second interval of a first movement in which the joint angle is increased, the at least one processor is also configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine sixth control information based on the result of the application, the generated angle data and the gain having a second sign, and control the drive module based on the determined sixth control information.

9. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise that provides a greater resistance to a first interval of the first interval and the second interval of the second motion in which the joint angle decreases, the at least one processor is further configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine seventh control information based on a result of the application, the generated angle data, and the gain having the first sign, and control the driving module based on the determined seventh control information; or Wherein, when the selected exercise corresponds to an exercise that provides greater resistance to a second interval of a first interval and a second interval of a second movement in which the joint angle decreases, the at least one processor is also configured to apply a coefficient mapped to the selected exercise to the generated angular velocity data, determine eighth control information based on a result of the application, a difference between the angle value mapped to the selected exercise and the generated angle data, and a gain having a first sign, and control the drive module based on the determined eighth control information.

10. The wearable device according to claim 1, wherein: When the selected exercise corresponds to an exercise having assistance to a first movement in which the joint angle is increased and a second movement in which the joint angle is decreased, the at least one processor is further configured to add the generated angular velocity data to the offset angular velocity, determine ninth control information based on a result of the addition, the generated angle data, and a gain having a first sign, and control the driving module based on the determined ninth control information; or Wherein, when the selected exercise corresponds to an exercise having resistance to a first movement that increases the joint angle and a second movement that decreases the joint angle, the at least one processor is also configured to add the generated angular velocity data and the offset angular velocity, determine tenth control information based on the result of the addition, the generated angle data and the gain with the second sign, and control the drive module based on the determined tenth control information.

11. The wearable device according to claim 1, wherein: The at least one processor is further configured to: When the joint angle is negative, the drive module is controlled to generate no torque; or When the user's movement returns to the reference posture, it is determined whether the joint angle is less than or equal to a predetermined angle, and when it is determined that the joint angle is less than or equal to the predetermined angle, the driving module is controlled so that the torque of the driving module quickly converges to a first value.

12. A method for operating a wearable device 100, 700 configured to be worn on a user's body, the method comprising: receiving selection information including an exercise selected by a user; Angle data is generated by measuring the joint angles of the user; generating angular velocity data based on the generated angle data; determining a parameter related to a mode of outputting torque from the wearable device based on the received selection information; determining control information for generating torque based on the generated angle data, the generated angular velocity data, and the determined parameter; as well as A drive module of the wearable device is controlled based on the determined control information to generate torque, and the drive module includes a motor and / or a circuit.

13. The operating method according to claim 12, wherein: The step of determining parameters includes selecting parameters that map to the selected exercise.

14. The operating method according to claim 12, wherein: The selection information includes the exercise intensity set by the user, and The operating method also includes determining a gain associated with the torque magnitude based on the set exercise intensity.

15. The operating method according to claim 12, wherein: The selected exercise includes a first movement in which the joint angle increases and a second movement in which the joint angle decreases, and The operating method further includes controlling the wearable device to operate in one of a plurality of modes according to the selection information, The various modes include: a first mode, in which the wearable device outputs torque in the same direction in the first motion and the second motion, and outputs an assist torque that assists a designated motion of the first motion and the second motion; a second mode, in which the wearable device outputs torque in the same direction in the first motion and the second motion, and outputs a resistance torque that provides resistance to a specified motion in the first motion and the second motion; a third mode, in which the wearable device outputs torques in different directions in the first motion and the second motion, and outputs assisting torques that assist the first motion and the second motion; and and a fourth mode, in which the wearable device outputs torque in different directions in the first motion and the second motion, and outputs a resistance torque that provides resistance to the first motion and the second motion.

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