Zero setting method for wearable device, and wearable device and electronic device performing same

Abstract

A zero setting method for a wearable device, and a wearable device and an electronic device performing the same are disclosed. A zeroing method performed by a wearable device includes: determining whether a first angle sensor that measures an angle of a leg driving frame included in the wearable device needs to be re-zeroed; and in response to determining that re-zeroing is required, performing a first zeroing process on the first angle sensor by using a second angle sensor that measures an angular change in the first direction and an angular change in the second direction of the leg drive frame. The step for performing the first zeroing process comprises the steps of: determining a first zero position based on an angle change in the first direction and an angle change in the second direction measured by the second angle sensor; and setting zero for the first angle sensor based on the determined first zero position.

Description

Technical Field

[0001] The present disclosure relates to a zeroing method for a wearable device, a wearable device for performing the zeroing method, and an electronic device. Background Art

[0002] A walking assistance device generally refers to a machine or device that helps patients who cannot walk on their own due to illness, accident, or other reasons to perform walking exercises for rehabilitation treatment. In our current rapidly aging society, more and more people experience inconvenience when walking or have difficulty walking normally due to malfunctioning joints, and the interest in walking assistance devices is increasing. The walking assistance device is worn on the user's body to assist the user in walking by providing necessary muscle strength and inducing the user to walk in a normal walking pattern. Summary of the Invention

[0003] Technical Solution According to an embodiment, a wearable device worn on a user's body includes: a drive module configured to generate a torque applied to the user's body, a leg drive frame configured to transmit the generated torque to the user's leg, a thigh fastener connected to the leg drive frame and configured to fix the leg drive frame to the user's leg, a sensor module configured to obtain sensor data including motion information of the wearable device, and a processor configured to perform zeroing on sensors included in the wearable device based on the sensor data. The sensor module may include a first angle sensor and a second angle sensor. The first angle sensor is configured to measure the angle of the leg drive frame, and the second angle sensor is configured to measure the angle change of the leg drive frame in a first direction and the angle change in a second direction based on a reference position in the sensing range. The process may determine a first zero position based on the angle change in the first direction and the angle change in the second direction measured by the second angle sensor, and may perform a first zeroing process for setting a zero point for the first angle sensor based on the determined first zero position.

[0004] The processor may determine whether re-zeroing is required based on a change in the state of the wearable device, and may control to perform the first zeroing process in response to the determination that re-zeroing is required.

[0005] The processor may determine the first zero position based on the angle when the user's leg rotates from a first direction to a second direction and the angle when the user's leg rotates from the second direction to the first direction while the user is walking while wearing the wearable device.

[0006] The first zeroing process may be automatically performed by the wearable device without notifying the user to perform zeroing.

[0007] According to an embodiment, a zeroing method performed by a wearable device includes: determining whether a first angle sensor needs to be re-zeroed, the first angle sensor being configured to measure an angle of a leg driving frame included in the wearable device, and, in response to the determination that re-zeroing is needed, performing a first zeroing process on the first angle sensor by using a second angle sensor, the second angle sensor being configured to measure an angle change of the leg driving frame in a first direction and an angle change in a second direction. Performing the first zeroing process may include determining a first zero position based on the angle change in the first direction and the angle change in the second direction measured by the second angle sensor, and setting a zero point for the first angle sensor based on the determined first zero position.

[0008] According to an embodiment, a non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the zeroing method. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a diagram showing an overview of a wearable device worn on a user's body according to an embodiment.

[0010] Figure 2 is a diagram showing an exercise management system including a wearable device and an electronic device according to an embodiment.

[0011] Figure 3 is a rear schematic diagram of a wearable device according to an embodiment.

[0012] Figure 4 is a left side view of a wearable device according to an embodiment.

[0013] Figure 5a and Figure 5b are diagrams each showing a configuration of a control system of a wearable device according to an embodiment.

[0014] Figure 6 is a diagram showing an interaction between a wearable device and an electronic device according to an embodiment.

[0015] Figure 7 is a diagram showing a configuration of an electronic device according to an embodiment.

[0016] Figure 8 is a diagram showing a first zeroing using a second angle sensor according to an embodiment.

[0017] Figure 9 is a flowchart showing operations of a zeroing method of a wearable device according to an embodiment.

[0018] Figure 10It is a diagram showing the determination of a first zero position based on sensor data obtained from a second angle sensor according to an embodiment.

[0019] Figure 11 It is a flowchart showing the operations of a zeroing method performed between an electronic device and a wearable device according to an embodiment.

[0020] Figure 12 It is a flowchart showing a first zeroing process automatically performed by a wearable device according to an embodiment. Detailed Description

[0021] The following detailed structural or functional descriptions are provided only as examples, and various changes and modifications can be made to the embodiments. Therefore, the embodiments are not to be construed as limited to the present disclosure, and should be understood to include all changes, equivalents, and substitutions within the spirit and technical scope of the present disclosure.

[0022] As used herein, the singular forms also include the plural forms unless the context clearly indicates otherwise. It will be further understood that when used herein, the terms "comprising" and / or "including" specify the presence of the 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 combinations thereof.

[0023] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. Terms (such as those defined in a common dictionary) will be interpreted to have a meaning consistent with their meaning in the context of the relevant art, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0024] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. When describing examples with reference to the accompanying drawings, the same reference numerals refer to the same elements, and repeated descriptions related thereto will be omitted.

[0025] Figure 1 It is a diagram showing an overview of a wearable device worn on a user's body according to an embodiment.

[0026] 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 fitness 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", "walking assistance device", or "exercise assistance device". The user 110 may be a human or an animal, but the examples are not limited thereto. The wearable device 100 may be worn on the body of the user 110 (e.g., the lower body (legs, ankles, knees, etc.) or the waist), and apply an external force, such as an assisting force and / or a resistance force, to the body movement of the user 110. The assisting force may be a force that assists the body movement of the user 110 and is applied in the same direction as the direction of the body movement of the user 110. The resistance force may be a force that hinders the body movement of the user 110 and is applied in the direction opposite to the direction of the body movement of the user 110. The term "resistance force" may also be referred to as "exercise load".

[0027] In an embodiment, the wearable device 100 may operate in a walking assistance mode to assist the user 110 in walking. In the walking assistance mode, the wearable device 100 may assist the walking of the user 110 by applying an assisting force generated by the driving module 120 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 walk for a long time by providing the force required for the user 110 to walk, so as to expand the walking ability of the user 110. The wearable device 100 may also improve the walking of users with abnormal walking habits or postures.

[0028] In an embodiment, the wearable device 100 may operate in an exercise assistance mode to enhance the exercise effect on the user 110. In the exercise assistance mode, the wearable device 100 may impede or resist the body movement of the user 110 by applying a resistance generated by the drive module 120 of the wearable device 100 to the body of the user 110. When the wearable device 100 is a hip-type wearable device worn on the waist (or pelvis) of the user 110 and the legs (e.g., thighs) of the user 110, the wearable device 100 worn on the legs of the user 110 may enhance the exercise effect on the legs of the user 110 by providing an exercise load to the movement of the legs of the user 110. Optionally, the wearable device 100 may apply an assisting force to the body of the user 110 to assist the exercise of the user 110. For example, when a disabled person or an elderly person wears the wearable device 100 to exercise, the wearable device 100 may provide an assisting force to assist the body movement during the exercise. In an embodiment, the wearable device 100 may provide a combination of the assisting force and the resistance through an exercise session or a time interval. For example, the assisting force may be provided in one exercise session and the resistance may be provided in another exercise session.

[0029] In an embodiment, the wearable device 100 may operate in a physical fitness measurement mode (or exercise ability measurement mode) to measure the physical fitness of the user 110 (including the measurement of the exercise ability). When the user 110 walks or exercises, the wearable device 100 may measure the movement information of the user by using one or more sensors (e.g., the angle sensor 125 and the inertial measurement unit (IMU) (or inertial sensor) 135) included in the wearable device 100. The wearable device 100 and an electronic device (e.g., Figure 2 the electronic device 210) that interacts with the wearable device 100 may evaluate the physical fitness or exercise ability of the user based on the measured movement information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, or exercise movement) of the user 110 may be estimated based on the movement information of the user 110 measured by the wearable device 100. The physical fitness measurement mode may include an exercise movement evaluation mode to evaluate the exercise movement (or exercise posture) of the user when the user performs an exercise.

[0030] In an embodiment of the present disclosure, for ease of description, the wearable device 100 is described as an example of a hip-type wearable device, as Figure 1 shown, but the embodiment is not limited thereto. As described above, the wearable device 100 may be worn on another body part (e.g., the upper arm, lower arm, hand, calf, and foot) other than the waist and legs (especially the thighs), and the shape and structure of the wearable device 100 may vary depending on the body part on which the wearable device 100 is worn.

[0031] According to an embodiment, the wearable device 100 may include: a support frame for supporting the body of the user 110 when the wearable device 100 is worn on the body of the user 110 (e.g., Figure 3 the waist support frame 20), a drive module 120 for generating a torque applied to the legs of the user 110 (e.g., Figure 3 the drive modules 35 and 45), a leg drive frame for relaying the torque generated by the drive module 120 to the legs of the user 110 (e.g., Figure 3 the first leg drive frame 55 and the second leg drive frame 50), a sensor module including one or more sensors for obtaining sensor data including motion information about the body movement of the user 110 (e.g., Figure 5a the sensor module 520), and a processor 130 for controlling the operation of the wearable device 100.

[0032] The sensor module may include an angle sensor 125 and an inertial sensor 135. The angle sensor 125 may measure the rotation angle of the leg drive frame of the wearable device 100 corresponding to the hip joint angle value of the user 110. The rotation angle of the leg drive 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 close to the position where the motor included in the drive module 120 is connected to the leg drive frame. The inertial sensor 135 may include an acceleration sensor and / or an angular velocity sensor, and may measure the change in acceleration and / or angular velocity according to the movement of the user 110. For example, the inertial sensor 135 may measure the movement value of the base body (e.g., Figure 3 the base body 80) of the wearable device 100 or the waist support frame. The movement value of the base body or the waist support frame measured by the inertial sensor 135 may be estimated as the upper body movement value of the user 110.

[0033] In an embodiment, the processor 130 and the inertial sensor 135 may be within the base body (e.g., Figure 3 the base body 80) of the wearable device 100. When the user 110 wears the wearable device 100, the base body may be on the waist (or waist area) of the user 110. The base body may be formed on the outside of the waist support frame of the wearable device 100 or attached to the outside of the waist support frame of the wearable device 100. The base body may be installed in the waist area of the user 110 to provide a buffering feeling to the lower back of the user 110, and may support the lower back of the user 110 together with the waist support frame.

[0034] When the wearable device 100 applies an assisting force or a resisting force to the body of the user 110, the wearable device 100 may apply the assisting force or the resisting force in the direction of the movement of the joint of the user 110. In this case, the magnitude of the force generated by the wearable device 100 or the effect of the exercise of the user 110 may vary according to the zero position of the sensor included in the wearable device 100. In addition, the current posture or the exercise posture of the user 110 may be differently determined according to the zero position. The magnitude of the force applied to the user 110 or the motion assistance scheme may depend on the body movement (e.g., joint movement) of the user 110 measured based on the zero setting position. If the zero point is not set or the zero point is set to an incorrect zero position, an abnormal torque may be transmitted to the user 110. Therefore, it is important to accurately set the zero point of the sensor included in the wearable device 100. The initialization process for setting the absolute zero position is important because the wearable device 100 uses the relative angle value of the joint for the control of the drive module or the determination of the state (e.g., determination of the walking phase).

[0035] A method of performing zero setting on the sensor of the wearable device 100 includes a method (referred to herein as the "second zero setting process") of performing zero setting based on the sensor value measured from the reference posture after requesting the user 110 to wear the wearable device 100 and take a reference posture (e.g., standing posture) (or reference motion). This zero setting method may impair usability because it requires the user's participation in each zero setting process and takes the user's time for zero setting. In addition, if the user 110 takes an incorrect reference posture, the zero setting by the second zero setting process may result in the zero point being set to an incorrect position.

[0036] According to various embodiments herein, a zero setting method of the wearable device 100 for improving user convenience may be provided. The wearable device 100 may determine whether a zero setting process is required based on the state of the wearable device 100, and may perform the zero setting process only when it is determined that the zero setting process is required. In addition, the wearable device 100 may automatically perform the zero setting process (referred to herein as the "first zero setting process") based on an angle sensor (e.g., Figure 5b the second angle sensor 526 or 526-1) for measuring the angle change of the leg drive frame of the wearable device 100 based on the reference position of the wearable device 100. When it has been determined that zero setting is required and the zero setting has not been completed in the first zero setting process, the wearable device 100 may attempt zero setting through the second zero setting process. In this way, the wearable device 100 may improve user convenience by automatically determining whether zero setting is required to reduce the number of times of performing zero setting and preferentially performing the first zero setting process automatically performed by the wearable device 100.

[0037] Figure 2FIG. is a diagram showing an exercise management system including a wearable device and an electronic device according to an embodiment.

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

[0039] In an embodiment, the wearable device 100 worn on the user's body may assist the user's movement in a walking assistance mode. For example, the wearable device 100 worn on the user's leg may assist the user in walking by generating an assisting force to assist the movement of the user's leg.

[0040] In an embodiment, in order to enhance the exercise effect on the user in an exercise assistance mode, the wearable device 100 may generate a resistance that hinders the user's body movement or an assisting force that assists the user's body movement, and may apply such a force to the user's body. In the exercise assistance mode, through the electronic device 210, the user may select an exercise program (e.g., squats, split squats, dumbbell squats, lunges and knee lifts, stretches, etc.) that the user desires to exercise by using the wearable device 100 and / or the exercise intensity to be applied to the wearable device 100. The wearable device 100 may control the driving module of the wearable device 100 according to the selected exercise program by the user, and may obtain sensor data including the user's movement information through the sensor module. The wearable device 100 may adjust the intensity of the resistance or the assisting force applied to the user according to the exercise intensity selected by the user. For example, the wearable device 100 may control the driving module to generate a resistance corresponding to the exercise intensity selected by the user.

[0041] In an embodiment, the wearable device 100 may be used to measure the user's physical fitness by interoperating with the electronic device 210. Such a measurement of physical fitness may include a measurement of exercise ability. The wearable device 100 may operate in a physical fitness measurement mode (which is a mode for measuring the user's physical fitness) under the control of the electronic device 210, and may send the sensor data obtained through the user's movement in the physical fitness measurement mode to the electronic device 210. The wearable device 100 may send the user's movement data to the electronic device 210 in real time. The electronic device 210 may evaluate the user's physical fitness 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 regarding 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 the sensor module of the wearable device 100, and can estimate the user's physical fitness or exercise results based on the received sensor data. In an embodiment, the electronic device 210 can provide the user's physical fitness or exercise results to the user through a graphical user interface (GUI).

[0043] In an embodiment, the user can execute a program (e.g., an application) in the electronic device 210 to control the wearable device 100, and can adjust the torque intensity output from the drive modules (e.g., Figure 3 drive modules 35 and 45), the audio intensity output from the sound output module (e.g., Figure 5a and Figure 5b sound output module 550), and the brightness of the lighting unit (e.g., Figure 3 lighting unit 85) based on the setting values of the program or the operation of the wearable device 100. The program executed by the electronic device 210 can provide a GUI for interacting with the user. The electronic device 210 can be various forms of devices. For example, the electronic device 210 can include a portable communication device (e.g., a smart phone), a computer device, an access point, a portable multimedia device, or a household appliance (e.g., a TV, an audio device, or a projector device), but the examples are not limited to the foregoing devices.

[0044] In an embodiment, the electronic device 210 can be connected to the server 230 by using short-range wireless communication or cellular communication. The server 230 can receive the user profile information of the user of the wearable device 100 from the electronic device 210, and store and manage the received user profile information. The user profile information can include information regarding at least one of, for example, name, age, gender, height, weight, exercise goal, physical health level, medical history, or body mass index (BMI). The server 230 can receive the exercise history information regarding the exercise performed by the user from the electronic device 210, and store and manage the received exercise history information. The server 230 can provide various exercise programs or physical fitness measurement programs to be provided to the user to the electronic device 210. For example, the server 230 can be a cloud server. In an embodiment, the motion data measured by the wearable device 100 can be sent to the server 230 via the electronic device 210, and the server 230 can analyze the user's physical fitness or exercise results based on the user's motion data. The result data derived from the analysis of the server 230 can be sent to the electronic device 210.

[0045] In an embodiment, the wearable device 100 and / or the electronic device 210 may be connected to other wearable devices 220. The other wearable devices 220 may include, for example, wireless earphones 222, a smartwatch 224, or smart glasses 226, but the examples are not limited to the foregoing devices. The wireless earphones 222 may be connected to the electronic device 210 to provide an auditory feedback to the user. The wireless earphones 222 may output, for example, a guiding voice for guiding the correct wearing of the wearable device 100 and for guiding an action for sensor initialization and / or a guiding voice for real-time exercise guidance. In an embodiment, the wireless earphones 222 may also be used as a microphone for voice recognition. The user may control the electronic device 210 and the wearable device 100 through voice recognition.

[0046] In an embodiment, the smartwatch 224 may measure a biometric signal including the user's heart rate information, and may send the measured biometric signal to the electronic device 210 and / or the wearable device 100. The electronic device 210 may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, or average heart rate) based on the biometric signal received from the smartwatch 224, and may provide the estimated heart rate information to the user. In an embodiment, the smartwatch 224 may output a guiding screen for guiding exercise guidance and / or an exercise execution method to the user while the user is exercising.

[0047] In an embodiment, the exercise result information, physical fitness information, and / or exercise motion evaluation information of the user determined by the electronic device 210 may be sent to the other wearable devices 220 and provided to the user through the other wearable devices 220. The status information of the wearable device 100 may be sent to the other wearable devices 220 and provided to the user through the other wearable devices 220. For example, the exercise result information may be displayed on the screen of the smartwatch 224, or a guiding voice for guiding the exercise result information may be output through the wireless earphones 222. 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 TM or Wi-Fi communication).

[0048] In an embodiment, the wearable device 100 may provide (or output) a feedback corresponding to the status of the wearable device 100 according to a control signal received from the electronic device 210 (e.g., visual feedback, auditory feedback, or tactile feedback). For example, the wearable device 100 may provide visual feedback through an illumination unit ( Figure 3 the illumination unit 85), and provide auditory feedback through a sound output module (e.g., Figure 5a and Figure 5b the sound output module 550). The wearable device 100 may provide tactile feedback through a tactile module (e.g., Figure 5a and Figure 5bThe haptic module 560) provides haptic feedback in the form of vibration to the user's body. 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 haptic feedback). In an embodiment, the electronic device 210 may perform a real-time voice-based exercise guidance function when the user exercises, and may provide relevant information to the user through various feedback means.

[0049] In an embodiment, the electronic device 210 may present personalized exercise goals to the user in an exercise assistance mode or a physical fitness measurement mode. The personalized exercise goals may include target exercise amounts for each type of exercise desired by the user (e.g., strength exercise, balance exercise, and aerobic exercise) 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 the target exercise amount for each type of exercise (such as strength exercise, aerobic exercise, and balance exercise) according to the desired exercise program (e.g., squats, split lunges, or lunges and knee lifts) and / or the user's body characteristics (e.g., age, height, weight, and BMI). The electronic device 210 may display a GUI screen indicating the exercise amount target values for each type of exercise on the display, or may guide the user to the exercise amount target values through a guiding voice.

[0050] 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. To achieve the user's exercise goals, the electronic device 210 and / or the server 230 may recommend exercise programs 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 executed by the user, the results of executing the exercise programs, etc. The exercise programs recommended to the user may be guided to the user through a guiding voice, or may be displayed through a GUI screen.

[0051] Figure 3 is a rear schematic view of a wearable device according to an embodiment. Figure 4 is a left side view of a wearable device according to an embodiment.

[0052] Referring to Figure 3 and Figure 4, the wearable device 100 may include a base body 80, a waist support frame 20, drive modules 35 and 45, a first leg drive frame 55, a second leg drive frame 50, a first thigh fastener 2, a second thigh fastener 1, and a waist fastener 60. The base body 80 may include a lighting unit 85. In an embodiment, at least one of the components (e.g., the lighting unit 85) may be omitted from the wearable device 100, or one or more other components may be added to the wearable device 100.

[0053] When the user wears the wearable device 100, the base body 80 may be on the user's waist. The base body 80 worn on the user's waist may buffer and support the user's waist. When the user wears the wearable device 100, the base body 80 may be above the user's hips so that the wearable device 100 does not deviate downward due to gravity. The base body 80 may distribute some of the weight of the wearable device 100 to the user's waist when wearing the wearable device 100. The base body 80 may be connected to the waist support frame 20. A waist support frame connection element (not shown) connectable to the waist support frame 20 may be at two edges of the base body 80.

[0054] In an embodiment, the lighting unit 85 may be on the outer surface of the base body 80. The lighting unit 85 may include a light source (e.g., a light-emitting diode (LED)). The lighting unit 85 may emit light under the control of a processor (not shown) (e.g., Figure 5a and Figure 5b the processor 512). According to an embodiment, the processor may control the lighting unit 85 to provide (or output) visual feedback corresponding to the state of the wearable device 100.

[0055] When the wearable device 100 is worn on the user's body, the waist support frame 20 may support the user's body (e.g., the waist). The waist support frame 20 may extend from two edges of the base body 80. The user's waist may be accommodated inside the waist support frame 20. The waist support frame 20 may include one or more rigid body beams. Each beam may be a curved shape with a preset curvature such that the beam can surround the user's waist. The waist fastener 60 may be connected to the edge of the waist support frame 20. The drive modules 35 and 45 may be connected to the waist support frame 20.

[0056] In an embodiment, a processor, a memory, an inertial sensor (e.g., Figure 1 the inertial sensor 135 of Figure 5b or the inertial sensor 522 of Figure 5a and Figure 5b the communication module 516), a sound output module (e.g., Figure 5a and Figure 5bThe sound output module 550) and the battery (not shown) may be inside the base 80. The base 80 may protect the components inside the base 80. The processor may generate control signals to control the operation of the wearable device 100. The processor may control the actuators of the drive modules 35 and 45. The control circuit may include a processor and a memory. The control circuit may further include a power circuit to supply battery power to each component of the wearable device 100.

[0057] In an embodiment, the wearable device 100 may include a sensor module (not shown) for obtaining sensor data from one or more sensors (e.g., Figure 5a the sensor module 520). The sensor module may obtain sensor data including the motion information of the components of the wearable device 100 and / or the motion information of the user. The sensor module may include, for example, an inertial sensor (e.g., Figure 1 the inertial sensor 135 or Figure 5b the inertial sensor 522) for measuring the motion value of the user's upper body or the motion value of the waist support frame 20, and an angle sensor (e.g., Figure 1 the angle sensor 125, Figure 5b the first angle sensor 524, the first angle sensor 524-1, the second angle sensor 526, and the second angle sensor 526-1) for measuring the hip joint angle value of the user or the motion value of the first leg drive frame 55 and the second leg drive frame 50, but the examples are not limited thereto. For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, and a proximity sensor.

[0058] The waist fastener 60 may be connected to the waist support frame 20 and may fix the waist support frame 20 to the user's waist. The waist fastener 60 may include, for example, a pair of straps.

[0059] The drive modules 35 and 45 may generate an external force (or torque) to be applied to the user's body based on the control signals generated by the processor. For example, the drive modules 35 and 45 may generate an assisting force or a resistance force to be applied to the user's legs. In an embodiment, the drive modules 35 and 45 may include a first drive module 45 at a position corresponding to the position of the user's right hip joint and a second drive module 35 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 member, and the second drive module 35 may include a second actuator and a second joint member. The first actuator may provide power to be transmitted to the first joint member, and the second actuator may provide power to be transmitted to the second joint member. The first actuator and the second actuator may each include a motor ( Figure 5bMotors 534 and 534-1). When the motors receive power and are driven, the motors can generate a force (assistive force) for assisting the user's body movement or a force (resistive force) for hindering the user's body movement. In an embodiment, the processor can adjust the magnitude or direction of the force generated by the motors by adjusting the voltage or current supplied to the motors.

[0060] In an embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and can apply an external force to the user's body based on the received power. The first joint member and the second joint member can be respectively located at positions corresponding to the user's joints. One side of the first joint member can be connected to the first actuator, and the other side of the first joint member can be connected to the first leg driving frame 55. The first joint member can rotate by the power transmitted from the first actuator. An encoder or a Hall sensor that can operate as an angle sensor to measure the rotation angle of the first joint member or the first leg driving frame 55 (corresponding to the user's joint angle) can be on one side of the first joint member. One side of the second joint member can be connected to the second actuator, and the other side of the second joint member can be connected to the second leg driving frame 50. The second joint member can rotate by the power transmitted from the second actuator. An encoder or a Hall sensor that can operate as an angle sensor to measure the rotation angle of the second joint member or the second leg driving frame 50 can be on one side of the second joint member.

[0061] In an embodiment, the first actuator can be in the lateral direction of the first joint member, and the second actuator can be in the lateral direction of the second joint member. The rotation axis of the first actuator can be spaced apart from the rotation axis of the first joint member, and the rotation axis of the second actuator can also be spaced apart from the rotation axis of the second joint member. However, the examples are not limited to the foregoing examples, and the actuator and the joint member can share a rotation axis. In an embodiment, the actuator can be spaced apart from the joint member, respectively. In this case, the drive modules 35 and 45 can further include a power transmission module (not shown) for transmitting power from the actuator to the joint member. The power transmission module can be a rotating body (such as a gear), or a longitudinal member (such as a wire, a cable, a rope, a spring, a belt, or a chain). However, the scope of the embodiment is not limited by the above power transmission structure and the positional relationship between the actuator and the joint member.

[0062] In an embodiment, when the wearable device 100 is worn on a user's leg, the first leg drive frame 55 and the second leg drive frame 50 can transfer the torque generated by the drive modules 35 and 45 to the user's body (e.g., the thigh). The transferred torque can be used as an external force applied to the leg movement of the user. The edges of the first leg drive frame 55 and the second leg drive frame 50 can be connected to the joint members and rotate, and the other edges of the leg drive frames 50 and 55 can be connected to the first thigh fastener 2 and the second thigh fastener 1, and while supporting the user's thigh, the leg drive frames 50 and 55 transfer the torque generated by the drive modules 35 and 45 to the user's thigh. For example, the first leg drive frame 55 and the second leg drive frame 50 can push or pull the user's thigh. The first leg drive frame 55 and the second leg drive frame 50 can extend in the longitudinal direction of the user's thigh. The leg drive frames 50 and 55 can be folded to wrap at least a part of the circumference of the user's thigh. The leg drive frames 50 and 55 can include the first leg drive frame 55 for transferring torque to the user's right leg and the second leg drive frame 50 for transferring torque to the user's left leg.

[0063] The first thigh fastener 2 and the second thigh fastener 1 are respectively connected to the first leg drive frame 55 and the second leg drive frame 50, and can fix the wearable device 100 to the user's thigh. For example, the first thigh fastener 2 and the second thigh fastener 1 can include the first thigh fastener 2 for fixing the wearable device 100 to the user's right thigh and the second thigh fastener 1 for fixing the wearable device 100 to the user's left thigh.

[0064] In an embodiment, the first thigh fastener 2 can include a first cover, a first fastening frame, and a first strap, and the second thigh fastener 1 can include a second cover, a second fastening frame, and a second strap. The first cover and the second cover can apply the torque generated by the drive modules 35 and 45 to the user's thigh. The first cover and the second cover can push or pull the user's thigh on one side of the user's thigh. The first cover and the second cover can be on the front surface of the user's thigh. The first cover and the second cover can be in the circumferential direction of the user's thigh. The first cover and the second cover can extend to both sides around the other edges of the first leg drive frame 55 and the second leg drive frame 50, and can include a curved surface corresponding to the user's thigh. The edges of the first cover and the second cover can be connected to the fastening frame, and the other edges of the first cover and the second cover can be connected to the strap.

[0065] For example, the first fastening frame and the second fastening frame can surround at least some of the circumference of the user's thigh to prevent the user's thigh from separating from the wearable device 100. The first fastening frame can have a fastening structure for connecting the first cover to the first strap, and the second fastening frame can have a fastening structure for connecting the second cover to the second strap.

[0066] The first band may surround the first cover that surrounds the circumference of the user's right thigh and the remaining portion not surrounded by the first fastening frame, and the second band may surround the second cover that surrounds the circumference of the user's left thigh and the remaining portion not surrounded by the second fastening frame. The first band and the second band may include, for example, an elastic material (e.g., a strap).

[0067] Figure 5a and Figure 5b are diagrams each showing a configuration of a control system of a wearable device according to an embodiment.

[0068] Referring to Figure 5a , the wearable device 100 may be controlled by a control system 500. The control system 500 may include a processor 512 (e.g., the processor 130), a memory 514, a communication module 516, a sensor module 520, a driving module 530, an input module 540, a sound output module 550, and a tactile module 560. In an embodiment, at least one of these components (e.g., the sound output module 550 or the tactile module 560) may be omitted from the control system 500, or one or more other components may be added to the control system 500.

[0069] The driving module 530 may include a motor 534 for generating torque (e.g., power) and a motor driver circuit 532 for controlling the motor 534. Although Figure 5a shows the driving module 530 including one motor driver circuit 532 and one motor 534, this Figure 5a example is merely an example. Referring to Figure 5b , the control system 500-1 may include two or more (e.g., three or more) motor driver circuits 532 and 532-1 and a plurality (e.g., two or more) of motors 534 and 534-1. The driving 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 second driving module 35. The following description of the motor driver circuit 532 and the motor 534 may also be respectively applied to the motor driver circuit 532-1 and the motor 534-1 shown in Figure 5b .

[0070] Referring again to Figure 5a, the sensor module 520 may include a sensor circuit that includes at least one sensor. The sensor module 520 may include sensor data that includes motion information of components of the wearable device 100 (e.g., the waist support frame 20, the base body 80, or the leg drive frames 50 and 55). In an embodiment, the motion information of the components of the wearable device 100 may correspond to the body motion information of the user. The sensor module 520 may send the obtained sensor data to the processor 512 or may store it in a separate storage module (not shown) including the memory 514. The sensor module 520 may include an inertial sensor 522 and angle sensors (e.g., the first angle sensor 524, the first angle sensor 524-1, the second angle sensor 526, or the second angle sensor 526-1).

[0071] The inertial sensor 522 (e.g., the inertial sensor 135) may measure the upper body motion value of a user wearing the wearable device 100. For example, the inertial sensor 522 may sense the acceleration and angular velocity of the X-axis, Y-axis, and Z-axis according to the user's motion. The inertial sensor 522 may be used to measure at least one of, for example, the forward and backward tilt, left and right tilt, or rotation of the user's body. In an embodiment, the inertial sensor 522 may obtain the motion value (e.g., the acceleration value and the angular velocity value) of the waist support frame (e.g., Figure 3 the waist support frame 20) or the base body (e.g., Figure 3 the base body 80) of the wearable device. The motion value of the waist support frame or the base body may correspond to the upper body motion value of the user.

[0072] The first angle sensor 524 and the first angle sensor 524-1 may measure the hip joint angle value according to the user's leg motion. The sensor data that may be sensed by the first angle sensor 524 and the first angle sensor 524-1 may include, for example, the hip joint angle value of the right leg, the hip joint angle value of the left leg, and the information about the motion direction of the leg. For example, Figure 5b the first angle sensor 524 of Figure 3 may obtain the hip joint angle value of the user's right leg, and the first angle sensor 524-1 may obtain the hip joint angle value of the user's left leg. Each of the first angle sensor 524 and the first angle sensor 524-1 may include, for example, an encoder and / or a Hall sensor. In addition, the first angle sensor 524 and the first angle sensor 524-1 may obtain the motion value of the leg drive frame of the wearable device 100. For example, the first angle sensor 524 may obtain Figure 3 the motion value of the first leg drive frame 55 of

[0073] The second angle sensors 526 and 526-1 can measure the angular changes of the leg drive frames 50 and 55 in the first direction and the angular changes in the second direction based on the reference positions within the detection range. The second angle sensors 526 and 526-1 can be, for example, Hall sensors or absolute encoders. The second angle sensor 526 can measure the angular changes in the first direction (e.g., the forward direction or the flexion direction of the leg) and the angular changes in the second direction (e.g., the backward direction or the extension direction of the leg) based on the reference position of the first leg drive frame 55. The second angle sensor 526-1 can measure the angular changes in the first direction (e.g., the forward direction or the flexion direction of the leg) and the angular changes in the second direction (e.g., the backward direction or the extension direction of the leg) based on the reference position of the second leg drive frame 50. In this case, the reference position can correspond to, for example, the initial positions of the leg drive frames 50 and 55 or the positions of the leg drive frames 50 and 55 when no force is applied to the leg drive frames 50 and 55.

[0074] In an embodiment, the sensor module 520 may further include at least one of a position sensor configured to obtain a position value of the wearable device 100, a proximity sensor configured to sense the proximity of an object, a biometric signal sensor configured to detect a biometric signal of a user, or a temperature sensor configured to measure the ambient temperature. The types of sensors that may be included in the sensor module 520 are not limited to the foregoing examples.

[0075] The input module 540 can receive commands or data to be used by another component (e.g., the processor 512) of the wearable device 100 from the outside of the wearable device 100 (e.g., a user). The input module 540 may include an input component circuit. The input module 540 may include, for example, keys (e.g., buttons) or a touch screen.

[0076] The sound output module 550 can output a sound signal to the outside of the wearable device 100. The sound output module 550 can provide auditory feedback to the user. For example, the sound output module 550 may include a speaker configured to play a guiding sound signal (e.g., an operation start sound, an operation error alert, or an exercise start alert), music content, or a guiding voice for audibly notifying predetermined information (e.g., exercise result information or exercise posture evaluation information).

[0077] The haptic module 560 can provide haptic feedback to the user under the control of the processor 512. The haptic module 560 can convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that can be recognized by the user via their tactile or kinesthetic senses. The haptic module 560 can include an electric motor, a piezoelectric element, or an electrical stimulation device. In an embodiment, the haptic module 560 can be placed in at least one of a base body (e.g., the base body 80) or a thigh fastener (e.g., the first thigh fastener 2 or the second thigh fastener 1).

[0078] In an embodiment, the control systems 500 and 500-1 can include a battery (not shown) for powering each component of the wearable device 100 and a power management circuit (not shown) for converting the power of the battery into an operating voltage for each component of the wearable device 100 and supplying the converted power to each component.

[0079] The drive module 530 can generate an external force to be applied to the user's leg under the control of the processor 512. The drive module 530 can generate a torque to be applied to the user's leg based on a control signal generated by the processor 512. The processor 512 can send the control signal to the motor driver circuit 532 to control the operation of the motor 534. The motor driver circuit 532 can control the operation of the motor 534 by generating a current signal (or voltage signal) corresponding to the control signal received from the processor 512 and supplying the generated current signal to the motor 534. Depending on the operation mode of the wearable device 100, the current signal may not be supplied to the motor 534. When the motor 534 is supplied with the current signal and driven, the motor 534 can generate a torque for an assisting force to assist the user's leg movement or a torque for a resistance force to impede the user's leg movement.

[0080] The processor 512 may execute software to control at least another component (e.g., a hardware or software component) of the wearable device connected to the processor 512, and may execute various types of data processing or operations. For example, the processor 512 may generate control signals to control each component of the wearable device 100 (e.g., the communication module 516, the driving module 530, the sound output module 550, or the haptic module 560). The software executed by the processor 512 may include an application for providing a GUI. In an embodiment, as at least a part of the data processing or operation, the processor 512 may store instructions or data received from another component (e.g., the communication module 516) in the memory 514, may process the instructions or data stored in the memory 514, and may store the processed result data in the memory 514. According to an embodiment, the processor 512 may include a main processor (e.g., a central processing unit (CPU) or an application processor (AP)) or an auxiliary processor (e.g., a graphics processing unit (GPU), a neural processing unit (NPU), an image signal processor (ISP), a sensor hub processor, or a communication processor (CP)) that operates independently of 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.

[0081] The memory 514 may store various pieces of data used by at least one component (e.g., the processor 512) of the wearable device 100. The various pieces of data may include, for example, software, sensor data, input data, or output data of instructions related thereto. The memory 514 may include a volatile memory or a non-volatile memory.

[0082] The communication module 516 may support establishing a direct (e.g., wired) communication channel or a wireless communication channel between the processor 512 and another component of the wearable device 100 or an external electronic device (e.g., the electronic device 210 or another wearable device 220), and may perform communication via the established communication channel. The communication module 516 may include a communication circuit configured to perform a communication function. For example, the communication module 516 may receive a control signal from an electronic device (e.g., the electronic device 210), and may send sensor data obtained by the sensor module 520 to the electronic device. According to an embodiment, the communication module 516 may include one or more CPs (not shown) that may operate independently of the processor 512 and support direct (e.g., wired) communication or wireless communication. In 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. Each of these communication modules may communicate via a short-range communication network such as Bluetooth TMcommunicate with another component of the wearable device 100 and / or an electronic device via Wi-Fi (Wireless Fidelity), IrDA (Infrared Data Association), or a long-distance 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)).

[0083] According to an embodiment, the wearable device 100 worn on a user's body may include drive modules 530 and 530-1 for generating torques to be applied to the user's body. The wearable device 100 may further include leg drive frames 50 and 55 for transmitting the torques generated by the drive modules 530 and 530-1 to the user's legs. The wearable device 100 may further include thigh fasteners 1 and 2 connected to the leg drive frames 50 and 55 and configured to fix the leg drive frames 50 and 55 to the user's legs. The wearable device 100 may further include a sensor module 520 configured to obtain sensor data including motion information of the wearable device 100. The wearable device 100 may include a processor 512 configured to perform zeroing on sensors (e.g., the first angle sensor 524 or the first angle sensor 524-1) included in the wearable device 100 based on the sensor data.

[0084] In an embodiment, the sensor module 520 may include first angle sensors 524 and 524-1 and second angle sensors 526 and 526-1. The first angle sensors 524 and 524-1 are configured to measure the angles of the leg drive frames 50 and 55, and the second angle sensors 526 and 526-1 are configured to measure the angle changes of the leg drive frames 50 and 55 in a first direction and in a second direction based on a reference position within a detection range. The processor 512 may determine a first zero position based on the angle changes of the leg drive frames 50 and 55 in the first direction and in the second direction measured by the second angle sensors 526 and 526-1, and may perform a first zeroing process for setting a zero point for the first angle sensors 524 and 524-1 based on the determined first zero position. In an embodiment, the processor 512 may determine the first zero position based on the angles when the user's leg rotates from the first direction to the second direction and when the user's leg rotates from the second direction to the first direction while the user is walking while wearing the wearable device 100.

[0085] For example, the processor 512 may determine a first zero position corresponding to the first leg drive frame 55 (or the user's right leg) based on the angle change in the forward direction (or flexion direction) and the angle change in the backward direction (or extension direction) of the first leg drive frame 55 measured by the second angle sensor 526 when the user wearing the wearable device 100 walks. The processor 512 may initialize the sensor data of the first angle sensor 524 that measures the angle of the first leg drive frame 55 based on the determined first zero position. Additionally, the processor 512 may determine a first zero position corresponding to the second leg drive frame 50 (or the user's left leg) based on the angle change in the forward direction (or flexion direction) and the angle change in the backward direction (or extension direction) of the second leg drive frame 50 measured by the second angle sensor 526-1 when the user wearing the wearable device 100 walks. The processor 512 may initialize the sensor data of the first angle sensor 524-1 that measures the angle of the second leg drive frame 50 based on the determined first zero position.

[0086] In an embodiment, the processor 512 may determine whether zero resetting is required based on a change in the state of the wearable device 100. The change in the state of the wearable device 100 may include, for example, a change in at least one of the connection state between the wearable device 100 and a peripheral device (e.g., the electronic device 210, another wearable device 220, or an access point device), the operation state of the wearable device 100 (e.g., standby state or active state), and the states of the drive modules 530 and 530-1 (e.g., motor state). Additionally, the processor 512 may determine whether zero resetting is required based on whether an error occurs in the wearable device 100. For example, in at least one of the cases where a connection to the electronic device 210 is detected, the power of the wearable device 100 is turned on, the wearable device 100 is changed from the standby state to the active state, the motor stops for a certain period of time and then starts operating again, an error occurs in the operation program or operation of the wearable device 100, and a change in the user wearing the wearable device 100 is detected, the processor 512 may determine that zero resetting is required. In response to the determination that zero resetting is required, the processor 512 may control to execute the above-described first zeroing process.

[0087] In an embodiment, the above-described first zeroing process may be automatically executed by the wearable device 100 without notifying the user to perform zeroing. If zeroing is completed through the first zeroing process, the wearable device 100 may initialize the sensor data of the first angle sensor 524 and the first angle sensor 524-1 based on the zeroing result, and may start measuring the movement of the leg drive frames 50 and 55 (or the movement of the user's legs).

[0088] In an embodiment, the wearable device 100 may further include a communication module 516 that wirelessly communicates with the electronic device 210. For example, the communication module 516 may periodically send zeroing status data indicating the zeroing status of the wearable device 100 to the electronic device 210. If the first zero position of the wearable device 100 based on the first zeroing is identified as undetermined according to the zeroing status data, the electronic device 210 may send command data for performing a second zeroing to the wearable device 100.

[0089] When the communication module 516 receives the command data for performing the second zeroing from the electronic device 210, in response to receiving the command data for performing the second zeroing, the processor 512 may determine a second zero position based on the angles of the first angle sensors 524 and 524-1 measured from the user's reference posture. The processor 512 may perform a second zeroing process for setting the zero point for the first angle sensors 524 and 524-1 based on the determined second zero position.

[0090] In an embodiment, when the first zero position is determined through the first zeroing process, the processor 512 may set the zero point of the angle values output from the first angle sensors 524 and 524-1, and when the second zero position is determined through the second zeroing process described above, the processor 512 may set the zero point of the angle values output from the first angle sensors 524 and 524-1 based on the second zero position. The first zero position may correspond to the absolute zero position determined by the second angle sensors 526 and 526-1, and the second zero position may correspond to the relative zero position determined according to the user's posture.

[0091] In an embodiment, if the first zero position is determined after the second zero position is determined, the processor 512 may perform zeroing on the first angle sensors 524 and 524-1 based on the first zero position. If both the first zero position and the second zero position are determined, the first zero position takes precedence over the second zero position, and zeroing may be performed on the first angle sensors 524 and 524-1 based on the first zero position.

[0092] Figure 6 is a diagram showing the interaction between a wearable device and an electronic device according to an embodiment.

[0093] Refer to Figure 6 , the wearable device 100 may communicate with the electronic device 210. For example, the electronic device 210 may be the user terminal of the 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 may be connected to each other through short-range wireless communication (e.g., Bluetooth TM or Wi-Fi communication).

[0094] In an embodiment, the electronic device 210 may check the state of the wearable device 100 or may execute an application to control or operate the wearable device 100. By executing the application, 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 to determine the operation mode of the wearable device 100. The UI may be, for example, a GUI.

[0095] In an embodiment, the user may input an instruction for controlling the operation of the wearable device 100 (e.g., an instruction for executing an operation mode) or may change the settings of the wearable device 100 through a GUI screen on the display 212 of the electronic device 210. The electronic device 210 may generate a control command (or a control signal) corresponding to the operation control command or the setting change command input by the user and may send the generated control command to the wearable device 100. The wearable device 100 may operate according to the received control command and may send the control result according to the received control command and / or sensor data sensed by a sensor module of the wearable device 100 to the electronic device 210. The electronic device 210 may provide the user with result information (e.g., gait ability information, exercise ability information, or exercise result information) derived by analyzing the control result and / or the sensor data through the GUI screen.

[0096] In an embodiment, the electronic device 210 may send command data for zeroing (or calibrating) a sensor to the wearable device 100. Zeroing may include a zeroing process of initializing sensor data output from a sensor of the wearable device 100 (e.g., the first angle sensor 524 or the first angle sensor 524-1). The zeroing process is a process corresponding to an initialization process of sensor data output from a sensor of the wearable device 100 and a process of setting sensor data output from the sensor to a reference value when the user assumes a ready position to start exercising or measuring physical fitness. Since the body state (e.g., leg angle or torso inclination) may vary depending on the user in the ready position, a process for initializing sensor data output from a sensor of the wearable device 100 in the ready position may be required to accurately measure the movement and / or posture of the user. When the zeroing process is completed, the wearable device 100 may notify the electronic device 210 of the completion of zeroing by sending notification data.

[0097] Figure 7 FIG. is a diagram showing a configuration of an electronic device according to an embodiment.

[0098] Refer to Figure 7, the electronic device 210 may include a processor 710, a memory 720, a communication module 730, a display module 740, a sound output module 750, and an input module 760. In an embodiment, at least one component (e.g., the sound output module 750) may be omitted from the electronic device 210, or one or more other components (e.g., a sensor module, a haptic module, and a battery) may be added to the electronic device 210.

[0099] The processor 710 may control at least one other component (e.g., a hardware or software component) of the electronic device 210 and may perform various types of data processing or operations. In an embodiment, as at least a part of the data processing or operations, the processor 710 may store instructions or data received from another component (e.g., the communication module 730) in the memory 720, may process the instructions or data stored in the memory 720, and may store the resulting data in the memory 720.

[0100] In an embodiment, the processor 710 may include a main processor (e.g., a CPU or an AP) or an auxiliary processor (e.g., a GPU, an NPU, an ISP, a sensor hub processor, or a CP) that operates independently of or in conjunction with the main processor.

[0101] The memory 720 may store various pieces of data used by at least one component (e.g., the processor 710 or the communication module 730) of the electronic device 210. The various pieces of data may include, for example, programs (e.g., applications) and input data or output data for commands related thereto. The memory 720 may include at least one instruction executable by the processor 710. The memory 720 may include a volatile memory or a non-volatile memory.

[0102] The communication module 730 may support establishing a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device 210 and another electronic device (e.g., the wearable device 100, another wearable device 220, and the server 230) and may perform communication via the established communication channel. The communication module 730 may include a communication circuit for performing a communication function. The communication module 730 may include one or more CPs that operate independently of the processor 710 (e.g., an AP) and support direct (e.g., wired) communication or wireless communication. In an embodiment, the communication module 730 may include a wireless communication module (e.g., Bluetooth TMa communication module (e.g., a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication (PLC) module). For example, the communication module 730 may send a control command to the wearable device 100 and may receive from the wearable device 100 at least one of sensor data including body movement information of a user wearing the wearable device 100, status data of the wearable device 100, and control result data corresponding to the control command. The communication module 740 may send guidance data and / or notification data to another wearable device 220. The communication module 740 may send the sensor data and user data received from the wearable device 100 to the server 230 and receive exercise result data and exercise program data from the server 230.

[0103] The display module 740 may visually provide information to the outside of the electronic device 210 (e.g., a user). The display module 740 may include, for example, a light-emitting diode (LCD) or an organic light-emitting diode (OLED) display, a hologram device, or a projector device. The display module 740 may also include a control circuit for controlling the driving of the display. In an embodiment, the display module 740 may also include a touch sensor configured to sense a touch or a pressure sensor configured to sense the intensity of a force generated by the touch. The display module 740 may output a UI screen to control the wearable device 100 or provide various pieces of information (e.g., exercise evaluation information or setting information of the wearable device 100).

[0104] The sound output module 750 may output a sound signal to the outside of the electronic device 210. The sound output module 750 may include a guidance sound signal based on the status of the wearable device 100 (e.g., a driving start sound or an operation error notification sound) and a speaker for playing music content or guidance voice. When it is determined that the wearable device 100 is not properly worn on the user's body, the sound output module 750 may output a guidance voice to notify the user that they are wearing the wearable device 100 abnormally or guide the user to wear the wearable device 100 properly. The sound output module 750 may output, for example, a guidance voice corresponding to exercise evaluation information or exercise result information obtained by evaluating the user's exercise.

[0105] The input module 760 may receive a command or data to be used by another component (e.g., the processor 710) of the electronic device 210 from the outside of the electronic device 210 (e.g., a user). The input module 760 may include an input component circuit and receive user input. The input module 760 may include, for example, a touch recognition circuit for recognizing keys (e.g., buttons) and / or touches on the screen.

[0106] Figure 8 is a diagram showing a first zeroing using a second angle sensor according to an embodiment.

[0107] Referring to Figure 8 Figure 8 , the wearable device 100 may include a second angle sensor 800 (e.g., the second angle sensor 526-1), and the second angle sensor 800 measures an angle change of the second leg driving frame 50 based on a reference position in a cover of the second driving module 35. The wearable device 100 may include a second angle sensor (e.g., the second angle sensor 526), and the second angle sensor measures an angle change of the first leg driving frame 55 on the opposite side based on a reference position in a cover of the first driving module 30. The above description may also be applied to perform a first zero setting on the first angle sensor 524 by using a second angle sensor that measures an angle change of the first leg driving frame 55.

[0108] The second angle sensor 800 may be, for example, a Hall sensor or an absolute encoder in a reference position. The reference position may correspond to an initial position that is a reference for controlling an operation of the first leg driving frame 50. When an angle formed by the first leg driving frame 50 with respect to the reference position is within a detection range 820, the second angle sensor 800 may be switched on, and when the angle is outside the detection range 820, the second angle sensor 800 may be switched off. The second angle sensor 800 is connected to a motor of the second driving module 35 and may measure an absolute position of the first leg driving frame 55 with respect to the reference position. The second angle sensor 800 may be used as a detection sensor for setting a zero point of the wearable device 100.

[0109] In a first zero setting, a zero point position may be set based on a sensor (such as the second angle sensor 800) installed at a mechanically fixed position. When a user walks while wearing the wearable device 100, a relative angle difference between a forward angle change value 822 and a backward angle change value 824 based on a reference position of the second angle sensor 800 may be automatically calculated, and a zero point position for zero setting may be determined based on the calculated relative angle difference.

[0110] Figure 9 is a flowchart showing operations of a zero setting method of a wearable device according to an embodiment. In the embodiment, Figure 9 at least one of the operations may be performed simultaneously or in parallel with each other, and an order of the operations may be changed. Additionally, at least one of the operations may be omitted, or another operation may be additionally performed.

[0111] Referring to Figure 9, in operation 910, the wearable device 100 can identify whether the first zero setting is completed for the first angle sensors (e.g., the first angle sensors 524 and 524-1), which measure the angles of the leg drive frames (e.g., the leg drive frames 50 and 55) included in the wearable device 100. The wearable device 100 can determine the first zero position by using the second angle sensors (e.g., the second angle sensors 526 and 526-1) of the wearable device 100, and can determine whether the first zero setting is completed based on the first zero position. If it is identified that the first zero setting is completed ("Yes" in operation 910), the current state can be maintained without a separate zero setting process.

[0112] If it is identified that the first zero setting is not completed ("No" in operation 910), then in operation 920, the wearable device 100 can identify whether the second zero setting is completed. For example, when the first zero position may not be determined and the first zero setting is not completed, the wearable device 100 can determine the second zero position based on the angle values of the first angle sensors (e.g., the first angle sensors 524 and 524-1) of the wearable device 100 measured in the user's reference posture, and can determine whether the second zero setting is completed based on the second zero position.

[0113] If it is identified that the second zero setting is completed ("Yes" in operation 920), then in operation 930, the wearable device 100 can determine whether the first angle sensors need to be re-zeroed. The wearable device 100 can determine whether re-zeroing is needed based on a change in the state of the wearable device 100. The change in the state of the wearable device 100 can include, for example, a change in at least one of the connection state between the wearable device 100 and a peripheral device, the power state of the wearable device 100, the operating state of the wearable device 100, and the state of the drive module of the wearable device 100. Additionally, the wearable device 100 can determine whether re-zeroing is needed based on whether an error has occurred in the wearable device 100. Even if the second zero setting has been completed, if it is determined based on a change in the state of the wearable device 100 that re-zeroing is needed, the wearable device 100 can also perform the zero setting process. If it is determined that re-zeroing is not needed ("No" in operation 930), the current state can be maintained without a separate zero setting process.

[0114] If it is recognized that the second zeroing is not completed ("Yes" in operation 920) or it is determined that re-zeroing is required ("Yes" in operation 930), then in operation 940, the wearable device 100 can calculate the zero position by performing a zeroing process. In an embodiment, the wearable device 100 can perform a first zeroing process that calculates a first zero position by using a second angle sensor for detecting the zero position. In the first zeroing process, without requesting a reference pose from the user, the change in the angle formed when the leg drive frames (e.g., leg drive frames 50 and 55) of the wearable device 100 pass through the reference position of the second angle sensor and move while the user is walking can be sensed, and based on the sensed change in the angle, the first zero position can be calculated. The second angle sensor can measure the change in the angle of the leg drive frame in a first direction and the change in the angle of the leg drive frame in a second direction. Based on the change in the angle in the first direction and the change in the angle in the second direction measured by the second angle sensor, the wearable device 100 can determine the first zero position. For example, after extracting a first edge angle value in the first direction based on the change in the angle in the first direction and extracting a second edge angle value in the second direction based on the change in the angle in the second direction, the wearable device 100 can determine the first zero position based on the first edge angle value and the second edge angle value. The first edge angle value can be the angle value measured by the second angle sensor when the leg drive frame of the wearable device 100 moves in the first direction and is the angle value measured when the leg drive frame (or the user's leg) rotates from the first direction to the second direction. The second edge angle value can be the angle value measured by the second angle sensor when the leg drive frame of the wearable device 100 moves in the second direction and is the angle value measured when the leg drive frame (or the user's leg) changes from the second direction to the first direction.

[0115] If it is determined that re-zeroing is required based on a change in the state of the wearable device 100 and the zero point of the first angle sensor has been set through the first zeroing process, then the second zeroing process of performing zeroing based on the user's reference pose may not be required. If the first zero position is not determined through the first zeroing process within a defined time after it is determined that re-zeroing is required, then the second zeroing process can be performed.

[0116] In an embodiment, if it may not be easy to calculate the first zero position through the first zeroing process (e.g., if it may not be easy to perform a normal angle measurement by the second angle sensor based on the user's posture or the user's motion state), the second zeroing process may be performed based on the relative position of the user's posture. The second zeroing process may include requesting a reference posture for zeroing from the user and calculating a second zero position based on the angle measured by the first angle sensor in the user's reference posture. In an embodiment, the wearable device 210 may guide the user to the reference posture for the second zeroing through voice. Optionally, the electronic device 210 may guide the user to the reference posture through voice or a display screen.

[0117] In operation 950, the wearable device 100 may perform zeroing of the first angle sensor based on the zero position calculated in operation 940. The wearable device 100 may set a zero point for the first angle sensor based on the first zero position or the second zero position determined in operation 940. The output sensor value of the first angle sensor may be initialized to the sensor value of the zero position through zeroing.

[0118] As described above, the wearable device 100 may automatically determine the zeroing state, may determine whether zeroing is required, and may perform the zeroing process.

[0119] Figure 10 FIG. is a diagram showing determination of a first zero position based on sensor data obtained from a second angle sensor according to an embodiment.

[0120] Referring to Figure 10 , when the user walks while wearing the wearable device 100, graph 1010 shows the marginal angle values 1022 and 1032 measured by the second angle sensor 526-1 corresponding to the left leg, and graph 1050 shows the marginal angle values 1062 and 1072 measured by the second angle sensor 526 corresponding to the right leg. Graph 1010 shows a first marginal angle value 1032 of an angle change in a first direction (e.g., the forward direction) and a second marginal angle value 1022 of an angle change in a second direction (e.g., the backward direction), and graph 1050 shows a first marginal angle value 1072 of an angle change in the first direction (e.g., the forward direction) and a second marginal angle value 1062 of an angle change in the second direction (e.g., the backward direction).

[0121] In an embodiment, using a predetermined sensing range for the second angle sensors 526 and 526-1 to sense the angular interval from a reference position (e.g., an angular range of -12 degrees to +12 degrees based on the reference position), the wearable device 100 can detect a falling edge and a rising edge in the sensor data of the second angle sensors 526 and 526-1 measured within the sensing range, and can calculate a first zero position based on the angles of the detected falling edge and rising edge. The second angle sensors 526 and 526-1 can measure the angles of the falling edge and rising edge generated when the leg drive frames 50 and 55 of the wearable device 100 pass through the sensing range of the second angle sensors 526 and 526-1 and the non-sensing range (the range outside the sensing range) of the second angle sensors 526 and 526-1 and move.

[0122] In an embodiment, the angular deviation of the second angle sensors 526 and 526-1 can increase in an interval where the user's movement speed increases. Therefore, only the sensor data detected at a specified movement speed or a lower movement speed can be used to calculate the first zero position. For example, the edge angle values in the interval 1030 among the edge angle values 1022 and 1032 may not be used to calculate the first zero position of the first angle sensor 524-1 corresponding to the left leg. Similarly, the edge angle values in the interval 1070 among the edge angle values 1062 and 1072 may not be used to calculate the first zero position of the first angle sensor 524 corresponding to the right leg. The edge angle values in the interval 1030 and the edge angle values in the interval 1070 can be regarded as noise and removed. For example, the wearable device 100 can store the edge angle values of the falling edge at a speed of 120 degrees per second (deg / s) or less, and then can extract the moving minimum / maximum (moving min / max) values among the stored edge angle values. The first zero position can be determined based on the accurate edge angle values considering the moving min / max values. For example, when the moving min / max value 1024 of the edge angle value 1022 and the moving min / max value 1034 of the edge angle value 1032 are determined, the median position angle value 1040 between the moving min / max value 1024 and the moving min / max value 1034 can be determined as the first zero position for zeroing the first angle sensor 524-1. Similarly, when the moving min / max value 1064 of the edge angle value 1062 and the moving min / max value 1074 of the edge angle value 1072 are determined, the median position angle value 1080 between the moving min / max value 1064 and the moving min / max value 1074 can be determined as the first zero position for zeroing the first angle sensor 524.

[0123] Figure 11 is a flowchart showing the operations of a zeroing method performed between an electronic device and a wearable device according to an embodiment. In an embodiment, Figure 11At least one of the operations may be performed simultaneously or in parallel with each other, and the order of the operations may be changed. Additionally, at least one of the operations may be omitted, or another operation may be additionally performed.

[0124] Referring Figure 11 , in operation 1105, the electronic device 210 may start an exercise mode. When the user inputs an instruction through an application of the electronic device 210 to start an exercise or is estimated to start an exercise mode (e.g., a walking motion), the exercise mode may be started. When the exercise mode is started, the electronic device 210 may send notification data to the wearable device 100 to notify the start of the exercise mode.

[0125] In operation 1110, the wearable device 100 may determine the state of the wearable device 100. The wearable device 100 may periodically determine the current state of the wearable device 100. For example, the wearable device 100 may detect a change in at least one of a connection state between the wearable device 100 and a peripheral device, a power state of the wearable device 100, an operation state of the wearable device 100, and a state of a driving module of the wearable device 100. Based on the current state of the wearable device 100, the wearable device 100 may determine whether a first angle sensor needs to be re-zeroed, the first angle sensor being configured to measure an angle of a leg driving frame included in the wearable device 100. In an embodiment, when a state change of the wearable device 100 is detected, the wearable device 100 may control to initialize a zero state and re-perform zeroing.

[0126] In operation 1120, the wearable device 100 may update the zero state of the wearable device 100. The wearable device 100 may include information on whether a first zero position is determined through a first zeroing process, whether a second zero position is determined through a second zeroing process, and whether re-zeroing is currently required as an updated zero state. When the exercise mode is started, the zero state data may be periodically sent to the electronic device 210.

[0127] In operation 1130, when the first zeroing is not completed, the wearable device 100 may perform a first zeroing process of determining a first zero position by using a second angle sensor. In an embodiment, in response to determining that re-zeroing is required, the wearable device 100 may perform a first zeroing process on the first angle sensor by using a second angle sensor configured to measure an angle change in a first direction and an angle change in a second direction of the leg drive frame. The first zeroing process may be automatically performed by the wearable device 100 without notifying the user to perform zeroing. The wearable device 100 may determine the first zero position based on the angle change in the first direction and the angle change in the second direction measured by the second angle sensor, and may set the zero point for the first angle sensor based on the determined first zero position. The wearable device 100 may determine the first zero position based on the angle value (corresponding to the edge angle value) when the user's leg rotates from the first direction to the second direction and the angle value (corresponding to the edge angle value) when the user's leg rotates from the second direction to the first direction while the user is walking while wearing the wearable device 100. When the first zero position is determined, the wearable device 100 may set the first zero position as the zero point of the first angle sensor. If the second zero position is set by the second zeroing before the first zero position is determined, the wearable device 100 may initialize the second zero position and may set the zero point of the first angle sensor as the determined first zero position.

[0128] If the first zeroing process may not be performed (for example, if it may not be easy to perform a normal determination of the first zero position from the sensor data of the second angle sensor based on the user's posture or movement), operation 1130 may be omitted.

[0129] In operation 1140, the wearable device 100 may send zeroing status data indicating the zeroing status of the wearable device 100 to the electronic device 210. When the exercise mode is started, the zeroing status data may be periodically sent to the electronic device 210.

[0130] In operation 1150, based on the zeroing status data, the electronic device 210 may determine whether the zeroing of the first angle sensor for the wearable device 100 is completed. If it is determined that the zeroing of the wearable device 100 is completed (the "Yes" in operation 1150), then in operation 1180, the electronic device 210 may send an exercise start instruction data to the wearable device 100. In operation 1190, in response to receiving the exercise start instruction data, the wearable device 100 may generate torque through the drive module. The wearable device 100 may estimate the user's leg movement and / or exercise status based on the sensor data of the first angle sensor after the zeroing is completed, and may adjust the magnitude of the torque based on the estimated result.

[0131] If it is determined that the zeroing of the wearable device 100 has not been completed (No in operation 1150), then in operation 1160, the electronic device 210 may induce the user to take a reference posture for zeroing and may send command data for performing a second zeroing on the wearable device 100.

[0132] In operation 1170, in response to receiving the command data for performing the second zeroing from the electronic device 210, the wearable device 100 may perform a second zeroing process on the first angle sensor by using the first angle sensor. The wearable device 100 may determine a second zero position based on the angle of the first angle sensor measured in the user's reference posture, and may set a zero point for the first angle sensor based on the determined second zero position. For example, the wearable device 100 may determine the angle value of the first angle sensor measured in the user's reference posture as the second zero position. The reference posture may vary depending on the type of exercise selected to be performed by the user. After the second zeroing process is completed, in operation 1190, the wearable device 100 may generate a torque through the drive module.

[0133] As described above, the process of performing zeroing on the wearable device 100 may use a first zeroing process and a second zeroing process. The first zeroing process uses the absolute angle value output from the second angle sensor, and the second zeroing process uses the relative angle value measured in the user's reference posture. By determining whether re-zeroing is required based on the state of the wearable device 100, if re-zeroing is not required, the wearable device 100 may not perform the zeroing process, and even if re-zeroing is required, the number of times of performing the second zeroing process may be reduced by preferentially performing the first zeroing process automatically performed by the wearable device 100 before the second zeroing process. The convenience of using the wearable device 100 may be improved by reducing the number of times of the second zeroing process that requires the user's active participation.

[0134] Figure 12 is a flowchart showing a first zeroing process automatically performed by a wearable device according to an embodiment. According to an embodiment, the first zeroing process may be performed by the wearable device 100 without requesting a reference posture for zeroing from the user or without using the electronic device 210. In an embodiment, Figure 12 at least one of the operations may be performed simultaneously or in parallel with each other, and the order of the operations may be changed. Additionally, at least one of the operations may be omitted, or another operation may be additionally performed.

[0135] Refer to Figure 12, in operation 1210, the wearable device 100 can identify whether the first zeroing is completed for the first angle sensors (e.g., the first angle sensors 524 and 524-1), which measure the angles of the leg drive frames (e.g., the leg drive frames 50 and 55) included in the wearable device 100. The wearable device 100 can determine the first zero position by using the second angle sensors (e.g., the second angle sensors 526 and 526-1) of the wearable device 100, and can determine whether the first zeroing is completed based on the first zero position.

[0136] If it is identified that the first zeroing is not completed (''No'' in operation 1210), then in operation 1220, the wearable device 100 can perform the first zeroing by using the second angle sensors for detecting the zero position. The wearable device 100 can automatically perform the first zeroing process without the second zeroing process. During the first zeroing process, without requesting a reference posture from the user, the change in the angle formed when the leg drive frames (e.g., the leg drive frames 50 and 55) of the wearable device 100 pass through the reference position of the second angle sensors and move while the user is walking can be sensed, and based on the sensed change in the angle, the first zero position can be calculated. The wearable device 100 can calculate the first zero position corresponding to the absolute zero position based on the change in the sensor values of the second angle sensors according to the movement of the user's legs. The wearable device 100 can perform zeroing of the first angle sensors based on the calculated first zero position. The output sensor value of the first angle sensors can be initialized to the sensor value of the first zero position through zeroing.

[0137] If it is identified in operation 1210 that the first zeroing is completed (''Yes'' in operation 1210) or the execution of the first zeroing is completed in operation 1220, then in operation 1230, the wearable device 100 can determine whether the user is properly wearing the wearable device 100. In an embodiment, the wearable device 100 can determine a movement fraction indicating how much the wearable device 100 has moved during a time interval based on the sensor data obtained by the sensors (e.g., inertial sensors or the first angle sensors) included in the wearable device 100, and if the movement fraction is greater than or equal to a threshold, it can be determined that the user is properly wearing the wearable device 100. If the determined movement fraction is less than the threshold, it can be determined that the user is not properly wearing the wearable device 100.

[0138] If it is determined that the user has not worn the wearable device 100 properly (No in operation 1230), the wearable device 100 may not output torque. In addition, the wearable device 100 may output a guiding voice to induce the user to wear the wearable device 100 properly. Even if the user requests to start the operation of the wearable device 100, the wearable device 100 may not output torque until the proper wearing of the wearable device 100 is confirmed.

[0139] If it is determined that the user has worn the wearable device 100 properly (Yes in operation 1230), then in operation 1240, the wearable device 100 may generate torque through the drive modules 530 and 530-1 of the wearable device 100. The wearable device 100 may estimate the user's current leg movement and / or the user's exercise state (e.g., walking phase, exercise movement, or exercise step) based on the sensor data of the first angle sensor obtained after the first zeroing. The wearable device 100 may calculate the magnitude of the torque suitable for the current exercise state based on the estimated user's exercise state, and may output the torque of the calculated magnitude through the drive module.

[0140] It should be understood that the various embodiments of the present disclosure and the terms used therein are not intended to limit the technical features set forth herein to a specific embodiment, and include various changes, equivalents, or substitutions for the corresponding embodiments. In the description with reference to the drawings, the same reference numerals may be used for similar or related components. It will be understood that unless the relevant context clearly indicates otherwise, the singular form of a noun corresponding to an item may include one or more things. As used herein, each of "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", and "A, B, or C" may include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as "first", "second", or "1st" or "2nd" may simply be used to distinguish a component from other components being discussed, and do not limit the component in other respects (e.g., importance or order). It will be understood that if an element (e.g., the first element) is referred to as "coupled to", "coupled with", "connected to", or "connected with" another element (e.g., the second element), with or without the terms "operably" or "communicatively", the element may be coupled to the other element directly (e.g., by wire), wirelessly, or via a third element.

[0141] As used in connection with various embodiments of the present disclosure, the term "module" may include units implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic", "logic block", "portion", or "circuit"). A module may be a single integral component or its smallest unit or portion adapted to perform one or more functions. For example, according to an embodiment, a module may be implemented in the form of an application specific integrated circuit (ASIC).

[0142] Software may include a computer program, a piece of code, instructions, or some combination thereof, to independently or jointly direct or configure a processing device to operate as required. Software and data may be embodied permanently or temporarily in any type of machine, component, physical or virtual device, or computer storage medium or device capable of providing instructions or data to, or being interpreted by, a processing device. Software may also be distributed over network-coupled computer systems such 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. Embodiments described herein may be implemented as software including one or more instructions stored in a machine-readable storage medium (e.g., memory 514). For example, a processor of a machine may call at least one of the one or more instructions stored in the storage medium and execute it. This allows the machine to perform at least one function in accordance with the at least one instruction called. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, the term "non-transitory" only means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but this term does not distinguish between the location where data is stored semi-permanently in the storage medium and the location where data is temporarily stored in the storage medium.

[0143] According to an embodiment, a method according to an embodiment of the present disclosure may be included and provided in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a machine-readable storage medium (e.g., a compact disc read-only memory (CD-ROM)), or may be distributed online (e.g., downloaded or uploaded) via an application store (e.g., PlayStore TM ), or may be distributed directly between two user devices (e.g., smart phones). If distributed online, at least a portion of the computer program product may be generated temporarily or at least temporarily stored in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0144] According to an embodiment, each of the above components (e.g., a module or a program) may include a single entity or multiple entities, and some of the multiple entities may be separately provided in different components. According to an embodiment, one or more of the above components may be omitted, or one or more other components may be added. Optionally or additionally, multiple components (e.g., modules or programs) may be integrated into a single component. In this case, according to an embodiment, the integrated component may still perform one or more functions of each component in the same or a similar manner as the functions were performed by the corresponding one of the components before integration. According to an embodiment, operations performed by a module, a program, or another component may be performed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations may be performed in a different order or omitted, or one or more other operations may be added.

Claims

1. A wearable device (100) worn on a user's body, the wearable device (100) comprising: a drive module (530; 530-1), configured to generate a torque applied to the user's body; a leg drive frame (50; 55), configured to transfer the generated torque to the user's leg; a thigh fastener (1; 2), connected to the leg drive frame (50; 55) and configured to fix the leg drive frame (50; 55) to the user's leg; a sensor module (520), configured to obtain sensor data including motion information of the wearable device (100); and a processor (512), configured to zero the sensors included in the wearable device (100) based on the sensor data, wherein the sensor module (520) includes a first angle sensor (524; 524-1) configured to measure the angle of the leg drive frame (50; 55) and a second angle sensor (526; 526-1) configured to measure the angle change of the leg drive frame (50; 55) in a first direction and the angle change in a second direction based on a reference position in the sensing range; and the processor (512) is further configured to determine a first zero position based on the angle change in the first direction and the angle change in the second direction measured by the second angle sensor (526; 526-1), and perform a first zeroing process for setting the zero point for the first angle sensor (524; 524-1) based on the determined first zero position.

2. The wearable device (100) according to claim 1, wherein: the processor (512) is further configured to: determine whether re-zeroing is required based on a state change of the wearable device (100), and in response to the determination that re-zeroing is required, control to perform the first zeroing process.

3. The wearable device (100) according to claim 2, wherein: the state change of the wearable device (100) includes: a change in at least one of a connection state between the wearable device (100) and a peripheral device, a power state of the wearable device (100), an operation state of the wearable device (100), and a state of the drive module (530; 530-1).

4. The wearable device (100) according to any one of claims 1 to 3, wherein, the processor (512) is further configured to: determine the first zero position based on the angle when the user's leg rotates from a first direction to a second direction and the angle when the user's leg rotates from the second direction to the first direction measured while the user is walking while wearing the wearable device (100).

5. The wearable device (100) according to any one of claims 1 to 4, wherein, the first zeroing process is automatically performed by the wearable device (100) without notifying the user to perform zeroing.

6. The wearable device (100) according to any one of claims 1 to 5, further comprising: a communication module (516), configured to wirelessly communicate with an electronic device (210) Wherein, the communication module (516) is further configured to: Periodically send zeroing status data indicating the zeroing status of the wearable device (100) to the electronic device (210).

7. The wearable device (100) according to claim 6, Wherein: The electronic device (210) is configured to: If the first zero position of the wearable device (100) is identified as undetermined based on the zeroing status data, send command data for performing a second zeroing to the wearable device (100).

8. The wearable device (100) according to claim 7, Wherein: The processor (512) is further configured to: In response to receiving the command data for performing the second zeroing from the electronic device (210), determine a second zero position based on the angle of the first angle sensor (524; 524-1) measured from the user's reference posture, and perform a second zeroing process for setting the zero point for the first angle sensor (524; 524-1) based on the determined second zero position.

9. The wearable device (100) according to claim 8, Wherein: The processor (512) is further configured to: If the first zero position is determined after the second zero position is determined, perform zeroing on the first angle sensor (524; 524-1) based on the first zero position.

10. The wearable device (100) according to claim 8, Wherein: The processor (512) is further configured to: If the first zero position is determined through the first zeroing process, set the zero point of the angle value output from the first angle sensor (524; 524-1) based on the first zero position, and If the second zero position is determined through the second zeroing process, set the zero point of the angle value output from the first angle sensor (524; 524-1) based on the second zero position.

11. A zeroing method performed by a wearable device (100), the zeroing method comprises: Determining whether a first angle sensor (524; 524-1) needs to be re-zeroed, wherein the first angle sensor (524; 524-1) is configured to measure the angle of a leg drive frame (50; 55) included in the wearable device (100); and, In response to the determination that re-zeroing is needed, performing a first zeroing process on the first angle sensor (524; 524-1) by using a second angle sensor (526; 526-1), wherein the second angle sensor (526; 526-1) is configured to measure the angle change of the leg drive frame (50; 55) in a first direction and the angle change in a second direction, Wherein, performing the first zeroing process includes: Determining a first zero position based on the angle change in the first direction and the angle change in the second direction measured by the second angle sensor (526; 526-1); and Setting the zero point for the first angle sensor (524; 524-1) based on the determined first zero position.

12. The zeroing method according to claim 11, Wherein, Determining whether re-zeroing is needed includes: Determine whether re-zeroing is required based on a state change of the wearable device (100); and The state change of the wearable device (100) includes: A change in at least one of a connection state between the wearable device (100) and a peripheral device, a power state of the wearable device (100), an operation state of the wearable device (100), and a state of a drive module (530; 530-1).

13. The zeroing method according to claim 11 or 12, wherein, Determining a first zero position includes: Determining the first zero position based on an angle when the user's leg rotates from a first direction to a second direction and an angle when the user's leg rotates from the second direction to the first direction measured while the user is walking wearing the wearable device (100).

14. The zeroing method according to any one of claims 11 to 13, further comprises: Sending zeroing state data indicating the zeroing state of the wearable device (100) to the electronic device (210); and, In response to receiving command data for performing a second zeroing from the electronic device (210), performing a second zeroing process on the first angle sensor (524; 524-1) by using the first angle sensor (524; 524-1), wherein performing the second zeroing process includes: Determining a second zero position based on an angle of the first angle sensor (524; 524-1) measured from the user's reference posture; and Setting a zero point for the first angle sensor (524; 524-1) based on the determined second zero position.

15. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to execute the zeroing method according to any one of claims 11 to 14.

Images