Haptic feedback control method for controlling haptic feedback of wearable device, and wearable device and electronic device for performing the same

Abstract

A haptic feedback control method for controlling haptic feedback of a wearable device, and a wearable device and / or an electronic device for performing the method are disclosed. The haptic feedback control method may include the operations of: receiving sensor data including movement information of a user from a wearable device when a motion plan is performed using the wearable device; determining a threshold range of haptic intensities with respect to the haptic feedback based on at least one of user profile data of the user, motion attribute data of the motion plan, and sensor data; determining a haptic intensity of haptic feedback to be provided to the user within the determined threshold range about the haptic intensity; and transmitting, to the wearable device, a control signal for controlling haptic feedback to provide the determined haptic intensity to the user when the haptic feedback delivery event occurs.

Description

Technical Field

[0001] Specific example embodiments relate to a haptic feedback control technology for controlling haptic feedback of a wearable device and / or a wearable device and electronic device for performing the technology. Background Technology

[0002] Typically, walking assistive devices can be equipment or devices used to assist people in performing movements and / or to assist patients who are unable to walk independently due to various illnesses or accidents in performing walking exercises for rehabilitation, and / or devices or devices for such movements. With the increasing number of elderly people, more and more people experience difficulty walking or have difficulty walking normally due to joint dysfunction, thus increasing interest in walking assistive devices. Walking assistive devices can be worn on the user's body to assist the user in walking and / or movement and / or to encourage the user to walk in a normal walking manner by providing the necessary muscle strength. Walking assistive devices can perform functions to assist the user in various leg movements (e.g., brisk walking, jogging, climbing stairs, lunges, stretching). Summary of the Invention

[0003] This summary is provided to introduce some concepts in a simplified form, which will be further described in the detailed description below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to help determine the scope of the claimed subject matter.

[0004] In a general example aspect, a haptic feedback control method for controlling haptic feedback of a wearable device may include: receiving sensor data including user motion information from the wearable device when performing an exercise plan using the wearable device; determining a threshold range for haptic intensity of the haptic feedback based on at least one of user profile data, motion attribute data of the exercise plan, and the sensor data; determining the haptic intensity of the haptic feedback to be provided to the user within the determined threshold range for haptic intensity; and sending a control signal configured to control the provision of haptic feedback to the user at the determined haptic intensity when a haptic feedback provision event occurs.

[0005] In another general example, an electronic device may include: a processor; and a communication module, including communication circuitry, configured to communicate with a wearable device under the control of the processor. At least one processor, including the processing circuitry, may be individually and / or collectively configured to: receive sensor data, including user motion information, from the wearable device via the communication module when an exercise plan is executed using the wearable device, and determine a threshold range for haptic feedback intensity based on at least one of the user's profile data, motion attribute data of the exercise plan, and the sensor data. At least one processor may be configured to: determine the haptic intensity of the haptic feedback to be provided to the user within the determined threshold range for haptic intensity. When a haptic feedback provision event occurs, at least one processor is configured to: send a control signal via the communication module configured to control the provision of haptic feedback to the user at the determined haptic intensity.

[0006] In another general example, a wearable device may include: a drive module, including a motor, configured to generate torque; a torque transmission frame, configured to transmit the generated torque to a user's leg; a thigh fastener, directly or indirectly connected to the torque transmission frame and configured to connect the torque transmission frame to the user's leg; a sensor module, configured to acquire sensor data including motion information of the user when performing an exercise plan using the wearable device; a haptic module, including a haptic actuator, configured to provide haptic feedback to the user; a communication module, including communication circuitry, configured to receive haptic intensity data from electronics including information about the haptic intensity of the haptic feedback; and a processor, including processing circuitry, configured to control the haptic intensity generated by the haptic actuator based on the information about the haptic intensity included in the haptic intensity data. The maximum intensity and / or high intensity of the haptic intensity generated by the haptic actuator are included within a threshold range for haptic intensity determined based on at least one of the user's profile data, motion attribute data of the exercise plan, and sensor data.

[0007] Other features and aspects will be apparent from the following detailed description, drawings and claims. Attached Figure Description

[0008] These and / or other aspects, features, and advantages will become apparent and readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings.

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

[0010] Figure 2 This is a diagram illustrating a motion assistance system including a wearable device and electronic devices according to an example embodiment.

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

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

[0013] Figure 5a and Figure 5b This is a diagram illustrating the configuration of the control system of a wearable device according to an example embodiment.

[0014] Figure 6 This is a diagram illustrating the interaction between a wearable device and an electronic device according to an example embodiment.

[0015] Figure 7 This is a diagram illustrating the configuration of an electronic device according to an example embodiment.

[0016] Figure 8 This is a flowchart illustrating the operation of a haptic feedback control method for controlling haptic feedback of a wearable device according to an example embodiment.

[0017] Figure 9 This is a diagram illustrating the differences in perceived tactile intensity based on user characteristics according to an example embodiment.

[0018] Figure 10 This is a diagram illustrating the difference in perceived tactile intensity based on the intensity of a movement program according to an example embodiment.

[0019] Figure 11 This is a diagram illustrating the determination of a threshold range for the tactile intensity of tactile feedback according to an example embodiment.

[0020] Figure 12 This is a diagram illustrating the determination of the tactile intensity of tactile feedback within a threshold range relating to tactile intensity, according to an example embodiment.

[0021] Figure 13 This is a diagram illustrating a method for determining whether tactile feedback from a user is perceived, according to an example embodiment.

[0022] Figure 14 This is a diagram illustrating the adjustment of the threshold range with respect to tactile intensity according to an example embodiment.

[0023] Figure 15 This is a diagram illustrating an example of adjusting tactile intensity based on sensor data according to an example embodiment.

[0024] Figures 16a to 16e This is a diagram illustrating the motion situation where haptic feedback is provided according to an example embodiment.

[0025] Figure 17a and Figure 17b This is a diagram illustrating an application using haptic feedback according to an example embodiment. Detailed Implementation

[0026] The detailed structural or functional descriptions below are provided as examples only, and various changes and modifications can be made to the examples. Therefore, the embodiments are not to be construed as limiting this disclosure, but should be understood to include all variations, equivalents, and alternatives within the concept and technical scope of this disclosure.

[0027] As used herein, the singular form includes the plural form unless the context clearly indicates otherwise. It will also be understood that when the term "comprising / including" is used herein, it specifies the presence of the said feature, integer, step, operation, element, and / or component, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0028] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will also be understood that terms such as those defined in common dictionaries shall be interpreted as having a meaning consistent with their meaning in the context of the relevant field, and shall not be interpreted in an idealized or overly formal sense unless expressly defined herein.

[0029] In the following, specific example embodiments will be described in detail with reference to the accompanying drawings. When describing examples with reference to the drawings, similar reference numerals refer to similar elements, and redundant descriptions will be omitted.

[0030] Figure 1 This is an overview diagram showing a wearable device worn on a user's body according to an embodiment.

[0031] Reference Figure 1In an embodiment, wearable device 100 may be a device worn on the body of user 110 to assist user 110 in walking, moving, and / or working. Wearable device 100 may be used to measure the physical abilities of user 110 (e.g., walking ability, motor ability, or movement posture). In an embodiment, the term "wearable device" may be replaced with "wearable robot," "walking aid," or "movement aid." User 110 may be human or animal, but is not limited to these examples. Wearable device 100 may be worn on the body of user 110 (e.g., lower body (legs, ankles, knees, etc.) or waist) and apply external forces (such as assisting forces and / or resistance) to the user 110's body movements. Assisting forces may be forces that assist the user 110's body movements, applied in the same direction as the direction of the user 110's body movements. Resistance may be forces that impede the user 110's body movements, applied in the opposite direction to the direction of the user 110's body movements. The term "resistance" may also be referred to as "motor load."

[0032] In this embodiment, the wearable device 100 can operate in a walking assistance mode to assist user 110 in walking. In walking assistance mode, the wearable device 100 assists user 110 in walking by applying an assistive force generated via the drive module 120 of the wearable device 100 to the body of user 110. The wearable device 100 can improve user 110's walking ability by providing the force required for user 110 to walk, allowing user 110 to walk independently or for extended periods. The wearable device 100 can also improve the walking of users with abnormal walking habits or postures.

[0033] In an embodiment, the wearable device 100 can operate in a motion-assist mode to enhance the motion effect on the user 110. The motion-assist mode may include a resistance mode and an assist mode. The resistance mode of the motion-assist mode may represent a mode that impedes or provides resistance to the user 110's body movements by applying resistance generated by the drive module 120 to the user 110's body. When the wearable device 100 is a hip-type wearable device worn on the user 110's waist (or pelvis) and legs (e.g., thighs), in the resistance mode, the wearable device 100 may provide a motion load to the user 110's leg movements when worn on the legs, thereby enhancing the motion effect on the user 110's legs. The assist mode of the motion-assist mode may be a mode that applies an assistive force to the user 110's body to assist the user 110's movements. In the assist mode, an assistive force in the same direction as the body movement may be provided to the user 110 to assist the user's body movements. For example, when a person with a disability or an older person wears wearable device 100 to exercise, wearable device 100 can provide assistive force to aid in body movement. In assistive mode, wearable device 100 can provide force in the same direction as the user 110's leg movement, and the user 110 can increase walking speed and distance with a small force. In exercise programs, resistance mode and assistive mode can be combined and operated. For example, wearable device 100 can provide a combination of assistive force and resistance for each exercise period or time interval, such that assistive force is provided in one exercise period and resistance is provided in another. In exercise assistive mode, various exercise programs can be operated according to the user 110's exercise goals or physical capabilities. Exercise programs may include, for example, aerobic exercise, strength training, postural balance, or any combination thereof. Resistance mode and assistive mode can be appropriately alternated according to the exercise program executed by wearable device 100, and the user can be guided to a target exercise speed suitable for the user 110's appropriate physical condition (e.g., heart rate) during exercise. For example, the target exercise speed can be provided in kilometers per hour (km / h), but examples are not limited to this.

[0034] In an embodiment, the wearable device 100 can operate in a fitness measurement mode to measure the fitness of user 110. The wearable device 100 can use sensors (e.g., angle sensor 125 and inertial measurement unit (IMU) 135) disposed in the wearable device 100 to measure the user 110's motion information during walking and / or movement, and can estimate the user 110's fitness based on the measured motion information. For example, the user 110's gait index or fitness index (e.g., muscle strength, endurance, balance, or movement) can be estimated using the motion information measured by the wearable device 100. The fitness measurement mode may include a motion posture measurement mode for measuring the user 110's movement posture (or movement).

[0035] In some embodiments, based on the wearable device 100, it is as follows Figure 1 The example of a hip-type wearable device is shown to provide a description. However, the embodiments are not limited thereto. As described above, the wearable device 100 can be worn on other body parts (e.g., upper arm, forearm, hand, calf, or foot) besides the waist or legs (specifically, thigh). The shape and configuration of the wearable device 100 can vary depending on the body part on which the wearable device 100 is worn.

[0036] According to an embodiment, the wearable device 100 may include: a support frame (e.g., Figure 3 and Figure 4 The lumbar support frame 20 is used to support the body of the user 110 when the wearable device 100 is worn on the body of the user 110; the drive module 120 (e.g., Figure 3 The drive modules 35 and 45 are configured to generate torque applied to the legs of user 110; the torque transmission frame (e.g., Figure 3 The first torque transmission frame 55 and the second torque transmission frame 50 are configured to transmit the torque generated by the drive module 120 to the leg of the user 110; the sensor module (e.g., Figure 5a The sensor module 520 includes at least one sensor for acquiring sensor data including motion information about the user 110's body movements (e.g., leg movements or upper body movements); and the control module 130 (e.g., Figure 5a and Figure 5b The control module 510 is configured to control the operation of the wearable device 100. Each "drive module" herein may include a motor and / or circuitry.

[0037] The sensor module may include an angle sensor 125 and an IMU 135. The angle sensor 125 measures the rotation angle of the torque transmission frame of the wearable device 100 corresponding to the hip angle value of the user 110. The rotation angle of the torque transmission frame measured by the angle sensor 125 can be estimated as the hip 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 positioned near a location where a motor included in the drive module 120 is directly or indirectly connected to the torque transmission frame. The IMU 135 may include an acceleration sensor and / or an angular velocity sensor and can measure changes in acceleration and / or angular velocity based on the actions of the user 110. For example, the IMU 135 may measure the lumbar support frame of the wearable device 100 (e.g., Figure 3 The lumbar support frame 20) or the base (e.g., Figure 3 The motion values ​​of the lumbar support frame or base measured by IMU 135 can be estimated as the lumbar motion values ​​or upper body motion values ​​of user 110.

[0038] In this embodiment, the control module 130 and the IMU 135 may be disposed in the base of the wearable device 100 (e.g., Figure 3 The substrate (80) is located in the waist of the wearable device 100 when the user 110 wears the wearable device 100. The substrate may be formed or attached to the outside of the waist support frame of the wearable device 100.

[0039] In one embodiment, the wearable device 100 can be activated via a tactile module (e.g., Figure 5a and Figure 5bThe haptic module 560 provides haptic feedback to the user. The haptic module may include at least one haptic actuator configured to provide haptic feedback. Haptic feedback can be quickly perceived by the user 110 without requiring a separate confirmation process by the user 110, and may have advantages over visual and auditory feedback because it is less affected by other factors such as ambient noise. In haptic feedback, the haptic intensity (or the strength of the haptic feedback) may vary depending on the vibration intensity of the haptic actuator. Even when haptic feedback with the same haptic intensity occurs, the threshold intensity of the haptic feedback that the user 110 can perceive and / or the haptic intensity perceived by the user 110 may vary depending on the user 110's user characteristics (or user information) (e.g., age, gender, and physical information) and / or movement (e.g., type of exercise program, exercise intensity, and user actions). Providing tactile feedback with appropriate tactile intensity to user 110 is likely preferred because if the tactile intensity is too low, user 110 may not perceive the tactile feedback, while if the tactile intensity is too high, user 110 may feel uncomfortable with the tactile feedback. In an embodiment, when using wearable device 100 to provide tactile feedback during an exercise program, wearable device 100 can provide tactile feedback with an appropriate tactile intensity determined by taking into account user characteristics and / or movement conditions. The tactile intensity of the tactile feedback can be adjusted in real time based on user characteristics and / or movement conditions. A further description of determining the appropriate tactile intensity of the tactile feedback is provided below.

[0040] Figure 2 This is a diagram illustrating a motion assistance system including a wearable device and electronic devices according to an embodiment.

[0041] Reference Figure 2 The motion assistance system 200 may include a wearable device 100, an electronic device (or user terminal) 210, other wearable devices 220, and a server 230. In an embodiment, at least one of the above-mentioned devices (e.g., other wearable devices 220 or server 230) or at least one device (e.g., a dedicated controller for wearable device 100) may be added to the motion assistance system 200.

[0042] In one embodiment, the wearable device 100 worn on the user's body can assist the user's movements in a walking assistance mode. For example, the wearable device 100 can be worn on the user's legs to help the user walk by generating assistive forces to assist the user's leg movements.

[0043] In this embodiment, the wearable device 100 can generate and apply resistance to the user's body in an exercise-assisted mode to impede the user's movements and / or assist the user's movements to enhance the exercise effect. In exercise-assisted mode, the user can select, via electronic device 210, an exercise plan they wish to perform using the wearable device 100 (e.g., aerobic exercise (such as brisk walking and outdoor walking), strength training (such as squats, lunges, dumbbell squats, and knee raises), stretching exercises, postural balance exercises, or any combination thereof) and / or the exercise intensity applied to the exercise plan. The wearable device 100 can control its drive module based on the exercise plan selected by the user and can obtain sensor data including user movement information via its sensor module. The wearable device 100 can adjust the intensity of the resistance and / or assist applied to the user based on the exercise intensity selected by the user. For example, the wearable device 100 can control the drive module to generate resistance corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the intensity of the resistance applied to the user can increase.

[0044] In an embodiment, the wearable device 100 may provide (or output) feedback (e.g., visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device 100 in response to a control signal received from the electronic device 210. For example, the wearable device 100 may provide feedback through an illumination unit (e.g., Figure 3 The lighting unit 85) provides visual feedback, as well as through the sound output module (e.g., Figure 5a and Figure 5b The 550 audio output module provides auditory feedback.

[0045] Electronic device 210 can communicate with wearable device 100, remotely control wearable device 100, or provide users with status information about the status of wearable device 100 (e.g., startup status, charging status, sensing status, or error status). Electronic device 210 can recommend exercise plans to users using wearable device 100 and can analyze the exercise performed by the user. Electronic device 210 can receive sensor data obtained by the sensor module of wearable device 100 and can estimate the user's current motion state, exercise result, exercise posture, and / or physical fitness based on the received sensor data. Electronic device 210 can provide the estimated motion state, exercise result, exercise posture, and / or the user's physical fitness to the user through a graphical user interface (GUI).

[0046] In an embodiment, a user can run a program (e.g., an application) in electronic device 210 to control wearable device 100, and can adjust settings (e.g., by a drive module (e.g., Figure 3The operation of the drive modules 35 and 45) or the wearable device 100, from the sound output module (e.g., Figure 5a and Figure 5b The volume of the audio output from the sound output module 550 and the volume of the lighting unit (e.g., Figure 3 The brightness of the lighting unit 85 and the magnitude of the output torque. The program running by the electronic device 210 provides a GUI for user interaction. The electronic device 210 can be of various forms. For example, the electronic device 210 may include a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance (e.g., a television, an audio device, or a projector device), but the examples are not limited to the aforementioned devices.

[0047] In an embodiment, electronic device 210 can be connected to server 230 via short-range wireless communication or cellular communication. Server 230 can receive user profile information of users using wearable device 100 from electronic device 210, and can store and manage the received user profile information. User profile information may include, for example, information about at least one of name, age, gender, height, weight, medical history, or body mass index (BMI). Server 230 can receive exercise history information about exercises performed by the user from electronic device 210, and can store and manage the received exercise history information. Server 230 can provide electronic device 210 with various exercise plans or fitness measurement plans to be offered to the user. In an embodiment, server 230 can be connected to wearable device 100. Server 230 can receive sensor data measured by wearable device 100 from wearable device 100, and can send control signals for controlling the operation of wearable device 100 and / or data related to exercise plans to wearable device 100. In an embodiment, server 230 may be a cloud server.

[0048] According to an embodiment, wearable device 100 and / or electronic device 210 can be directly or indirectly connected to other wearable devices 220. User's motion result information, physical fitness information, and / or motion posture evaluation information determined by electronic device 210 can be sent to other wearable devices 220 and provided to the user through other wearable devices 220. Status information of wearable device 100 can be sent to other wearable devices 220 and provided to the user through other wearable devices 220. In an embodiment, wearable device 100, electronic device 210, and other wearable devices 220 can be interconnected via wireless communication (e.g., Bluetooth communication or Wi-Fi communication). Other wearable devices 220 can be, for example, wireless headphones 222, smartwatches (or watch-type wearable devices) 224, or smart glasses (glasses or goggles-type wearable devices) 226, but are not limited to the above devices.

[0049] In this embodiment, the wireless earphone 222 can be wirelessly connected to the electronic device 210 and / or the wearable device 100, and can output guidance voice, music and / or sound effects related to the exercise plan.

[0050] In an embodiment, the smartwatch 224 may include biometric sensors (e.g., a heart rate sensor and an electromyography (EMG) sensor) configured to measure biosignals including a user's heart rate information, and may transmit the biosignals measured by the biometric sensors to electronic device 210 and / or wearable device 100. For example, electronic device 210 may estimate the user's heart rate information (e.g., current heart rate, maximum heart rate, and average heart rate) and / or EMG information based on the biosignals received from the smartwatch 224, and may provide the estimated heart rate information and / or EMG information to the user. The heart rate information and / or EMG information may be used to determine the tactile intensity of tactile feedback provided by wearable device 100.

[0051] In an embodiment, the smartwatch 224 may include an inertial sensor configured to measure the user's motion information and / or a position sensor configured to measure the user's location information, and may transmit the user's motion information and / or location information to the electronic device 210 and / or the wearable device 100. The smartwatch 224 may include a communication module (e.g., a short-range communication module) for communicating with another device (e.g., the electronic device 210 and the wearable device 100). In an embodiment, the smartwatch 224 may provide an interface related to exercise plans via a display. The interface related to exercise plans may be implemented by a separate application installed in the smartwatch 224.

[0052] In this embodiment, the smart glasses 226 can provide information to the user via a display in the form of glasses. For example, in sports mode, the smart glasses 226 can output information such as current movement speed, target movement speed, current amount of exercise, exercise time, and biometric information via the display. Furthermore, the smart glasses 226 can output a screen to the user to guide their movement path.

[0053] In an embodiment, when a user performs exercise based on an exercise plan, the wearable device 100 can provide tactile feedback associated with the user's movement posture. For example, when the movement speed and / or movement posture meets predetermined conditions, the wearable device 100 can activate a tactile actuator and provide tactile feedback. The electronic device 210 can set and adjust the tactile intensity applied to at least one tactile actuator included in the wearable device 100. When multiple tactile actuators are provided, the same tactile intensity can be set for multiple tactile actuators, or the tactile intensity can be set individually for each tactile actuator. When the tactile intensity is set individually for each tactile actuator, the tactile intensity provided by the tactile actuators can be different from each other. The electronic device 210 can adjust the tactile intensity of the tactile feedback based on at least one of user profile data (e.g., gender, age, and body information), exercise data (e.g., type of exercise plan, exercise intensity, information about the user's exercise), and sensor data received from other wearable devices 220 (e.g., heart rate information and electromyography information). Since the wearable device 100 is worn on the user's body, it is best to apply tactile stimulation with a natural tactile intensity that will not cause discomfort to the user when providing tactile feedback. The electronic device 210 can reduce the possibility that the user may feel discomfort due to excessive tactile intensity by appropriately adjusting the tactile intensity of the tactile feedback based on the user's characteristics and / or movement.

[0054] Figure 3 This is a schematic diagram of the rear side of a wearable device according to an embodiment. Figure 4 This is a left-side view of the wearable device according to an embodiment.

[0055] Reference Figure 3 and Figure 4 The wearable device 100 in this embodiment may include a base 80, a waist support frame 20, drive modules 35 and 45, torque transmission frames 50 and 55, thigh fasteners 1 and 2, and a waist fastener 60. The base 80 may include an illumination unit 85. In this embodiment, at least one of the above components (e.g., illumination unit 85) may be omitted from the wearable device 100, or one or more other components may be added to the wearable device 100.

[0056] When a user wears the wearable device 100, the base 80 can be positioned at the user's waist. The base 80 can be worn on the user's waist to provide cushioning and support. When the user wears the wearable device 100, the base 80 can be attached to the hips (hip area) to prevent or reduce the possibility of the wearable device 100 detaching downwards due to gravity. When the user wears the wearable device 100, the base 80 can distribute a portion of the weight of the wearable device 100 to the user's waist. The base 80 can be directly or indirectly connected to the lumbar support frame 20. Lumbar support frame connecting elements (not shown) can be provided at both ends of the base 80 for direct or indirect connection to the lumbar support frame 20.

[0057] In one embodiment, the illumination unit 85 may be disposed on the outer surface of the substrate 80. The illumination unit 85 may include a light source (e.g., a light-emitting diode (LED)). The illumination unit 85 may be responsive to a processor (not shown) of the wearable device 100 (e.g., Figure 5a and Figure 5b The illumination unit 85 is controlled by the processor 512 to emit light. In some embodiments, the illumination unit 85 may be controlled to provide (or output) visual feedback corresponding to the state of the wearable device 100.

[0058] When the wearable device 100 is worn on a user's body, the lumbar support frame 20 supports a part of the user's body (e.g., the waist). The lumbar support frame 20 may extend from both ends of the base 80. The user's waist may be accommodated within the lumbar support frame 20. The lumbar support frame 20 may include at least one rigid beam. Each beam may be a curved shape with a preset curvature to surround the user's waist. Lumbar fasteners 60 may be directly or indirectly connected to the ends of the lumbar support frame 20. Drive modules 35 and 45 may be directly or indirectly connected to the lumbar support frame 20.

[0059] In the embodiments, the processor, memory (e.g., Figure 5a and Figure 5b Memory 514), inertial sensor (e.g., Figure 1 IMU 135 and Figure 5b Inertial sensor 522), communication module (e.g., Figure 5a and Figure 5b The communication module 516), and the sound output module (e.g., Figure 5a and Figure 5bA sound output module 550 and a battery (not shown) may be disposed in a base 80. The base 80 may protect the components disposed therein. A processor may generate control signals for controlling the operation of the wearable device 100. The processor may control the motor of the drive module 35 or 45. The processor and memory may be included in the control circuitry. The control circuitry may also include a power supply circuitry to provide power from the battery to each component of the wearable device 100.

[0060] In an embodiment, the wearable device 100 may include a sensor module (not shown) configured to obtain sensor data from at least one sensor (e.g., Figure 5a The sensor module 520 can acquire sensor data including user motion information and / or motion information of components of the wearable device 100. For example, the sensor module may include an inertial sensor (e.g., a sensor configured to measure motion values ​​of the user's upper body or the lumbar support frame 20) Figure 1 IMU 135 and Figure 5b The inertial sensor 522) and the angle sensor (e.g., configured to measure the user's hip joint angle value or the motion value of the torque transmission frame 50 or 55) are also used. Figure 1 Angle sensor 125, Figure 5b The sensor module may include a first angle sensor 524 and a second angle sensor 524-1, but is not limited thereto. For example, the sensor module may also include at least one of a position sensor, a temperature sensor, a biosignal sensor, a distance sensor, or a proximity sensor.

[0061] The lumbar fastener 60 can be directly or indirectly connected to the lumbar support frame 20 and can fasten the lumbar support frame 20 to the user's waist. The lumbar fastener 60 may include, for example, a pair of belts.

[0062] Drive modules 35 or 45 can generate external forces (or torques) applied to a user's body based on control signals generated by a processor. For example, drive modules 35 or 45 can generate assistive forces or resistance applied to the user's legs. In embodiments, drive modules 35 and 45 may include a first drive module 45 positioned corresponding to the user's right hip joint and a second drive module 35 positioned corresponding to 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 provides power transmitted to the first joint member, and the second actuator provides power transmitted to the second joint member. The first actuator and the second actuator may each include a motor configured to generate power (or torque) by receiving electricity from a battery. When the motor is driven with electricity supplied, it can generate forces (assistive forces) to assist the user's body movements or forces (resistance) to impede the user's body movements. In embodiments, a control module can adjust the intensity and direction of the forces generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0063] In one 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 external force to the user's body based on the received power. In another embodiment, the first joint member and the second joint member can be respectively positioned at locations corresponding to the user's joints. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side of the first joint member can be directly or indirectly connected to the first torque transmission frame 55. The first joint member can rotate by the power received from the first actuator. An encoder or Hall sensor, which can be used as an angle sensor to measure the rotation angle of the first joint member or the first torque transmission frame 55 (corresponding to the user's joint angle), can be disposed 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 torque transmission frame 50. The second joint member can rotate by the power received from the second actuator. An encoder or Hall sensor, which can be used as an angle sensor to measure the rotation angle of the second joint member or the second torque transmission frame 50, can be disposed on one side of the second joint member.

[0064] In an embodiment, a first actuator may be disposed in the lateral direction of a first joint member, and a second actuator may be disposed in the lateral direction of a second joint member. The rotation axis of the first actuator and the rotation axis of the first joint member may be separate from each other, and the rotation axis of the second actuator and the rotation axis of the second joint member may also be separate from each other. However, the embodiment is not limited thereto; the actuator and the joint member may share a rotation axis. In an embodiment, each actuator may be spaced apart from its corresponding joint member. In this case, the drive module 35 or 45 may further include a power transmission module (not shown) configured to transmit power from the actuator to the joint member. The power transmission module may be a rotating body (such as a gear) or a longitudinal component (such as a wire, cable, rope, spring, belt, or chain). However, the scope of the embodiment is not limited to the positional relationship between the actuator and the joint member and the power transmission structure described above.

[0065] In an embodiment, when the wearable device 100 is worn on a user's leg, the first torque transmission frame 55 and the second torque transmission frame 50 can respectively transmit torque generated by the first drive module 45 and the second drive module 35 to the user's body (e.g., legs). The transmitted torque can be used as an external force applied to the user's leg movements. The respective ends of the first torque transmission frame 55 and the second torque transmission frame 50 can be directly or indirectly connected to joint members and are rotatable. Since the other ends of the first torque transmission frame 55 and the second torque transmission frame 50 are directly or indirectly connected to the first thigh fastener 2 and the second thigh fastener 1, the first torque transmission frame 55 and the second torque transmission frame 50 can transmit torque generated by the first drive module 45 and the second drive module 35 to the user's thigh while supporting the user's thigh. For example, the first torque transmission frame 55 and the second torque transmission frame 50 can push or pull the user's thigh. The first torque transmission frame 55 and the second torque transmission frame 50 can extend in the longitudinal direction of the user's thigh, or can be bent and surround at least some portions of the circumference of the user's thigh. The first torque transmission frame 55 may be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame 50 may be a torque transmission frame for transmitting torque to the user's left leg.

[0066] The first thigh fastener 2 and the second thigh fastener 1 can be directly or indirectly connected to the first torque transmission frame 55 and the second torque transmission frame 50, respectively, and can secure the wearable device 100 to the user's leg (specifically, thigh). For example, the first thigh fastener 2 can be a thigh fastener for securing the wearable device 100 to the user's right thigh, and the second thigh fastener 1 can be a thigh fastener for securing the wearable device 100 to the user's left thigh.

[0067] In an embodiment, the first thigh fastener 2 may include a first cover, a first fastening frame, and a first strap, and the second thigh fastener 1 may include a second cover, a second fastening frame, and a second strap. The first and second covers can respectively apply torque generated by the first drive module 45 and the second drive module 35 to the user's thigh. For example, the first and second covers may be respectively positioned on corresponding sides of the user's thigh and can push or pull the user's thigh. The first and second covers may be positioned in the circumferential direction of the user's thigh. The first and second covers may extend laterally from the other ends of the first torque transmission frame 55 and the second torque transmission frame 50, and may include curved surfaces corresponding to the user's thigh. The corresponding ends of the first and second covers may be directly or indirectly connected to the first and second fastening frames. The other ends of the first and second covers may be directly or indirectly connected to the first and second straps.

[0068] For example, the first and second fastening frames may be configured to surround at least some portions of the circumference of the user's thigh, thereby preventing the user's thigh from separating from the wearable device 100 or reducing the likelihood of separation. The first fastening frame may have a fastening structure for connecting the first cover to the first strap, and the second fastening frame may have a fastening structure for connecting the second cover to the second strap.

[0069] The first band may surround the remaining portion of the circumference of the user's right thigh that is not covered by the first cover and the first fastening frame, and the second band may surround the remaining portion of the circumference of the user's left thigh that is not covered by the second cover and the second fastening frame. The first and second bands may include, for example, an elastic material (e.g., an elastic band).

[0070] Figure 5a and Figure 5b This is a diagram illustrating the configuration of the control system of a wearable device according to an example embodiment.

[0071] Reference Figure 5a The wearable device (e.g., wearable device 100) can be controlled by a control system 500. The control system 500 may include a control module 510 (including processing circuitry with a processor), a communication module 516 including communication circuitry, a sensor module 520 including at least one sensor, a drive module 530 including a motor and / or drive circuitry, an input module 540 including circuitry, and a sound output module 550. The drive module 530 may include a motor 534 configured to generate power (e.g., torque) and a motor drive circuitry 532 configured to drive the motor 534. Although... Figure 5a A drive module 530 is shown, comprising a motor drive circuit 532 and a motor 534, but... Figure 5a The examples provided are for illustrative purposes only. (See also:) Figure 5b In such Figure 5bIn the control system 500-1 shown in the embodiment, multiple (e.g., two or more) motor drive circuits 532 and 532-1 and motors 534 and 534-1 may be provided. The drive module 530, including the motor drive circuits 532 and the motors 534, may correspond to... Figure 3 The first drive module 45, and the drive module 530-1 including the motor drive circuit 532-1 and the motor 534-1 can correspond to Figure 3 The second drive module 35. The following descriptions of the motor drive circuit 532 and the motor 534 can also be applied to the second drive module 35. Figure 5b The motor drive circuit 532-1 and the motor 534-1 are shown in the figure.

[0072] Return to reference Figure 5a Sensor module 520 may include at least one sensor configured to acquire sensor data. Sensor module 520 may send the acquired sensor data to control module 510 (including control circuitry such as processing circuitry of a processor). Sensor module 520 may include sensors configured to acquire sensor data including user motion information or wearable device motion information. Figure 5b The diagram shows an inertial sensor 522, a first angle sensor 524, and a second angle sensor 524-1. The inertial sensor 522 measures the user's upper body movement values. For example, the inertial sensor 522 can sense acceleration and angular velocity along the X, Y, and Z axes based on the user's movements. Furthermore, the inertial sensor 522 can obtain the movement values ​​(e.g., acceleration and angular velocity values) of the lumbar support frame of the wearable device. The first angle sensor 524 and the second angle sensor 524-1 measure hip joint angle values ​​based on the user's leg movements. The first angle sensor 524 can sense changes in the hip joint angle value of the user's right leg, and the second angle sensor 524-1 can sense changes in the hip joint angle value of the user's left leg. For example, the first angle sensor 524 and the second angle sensor 524-1 may each include an encoder and / or a Hall sensor. Additionally, the first angle sensor 524 and the second angle sensor 524-1 can obtain the movement values ​​of the torque transmission frame of the wearable device. For example, the first angle sensor 524 can obtain the action value (e.g., rotation angle value) of the first torque transmission frame 55, and the second angle sensor 524-1 can obtain the action value (e.g., rotation angle value) of the second torque transmission frame 50.

[0073] In an embodiment, the sensor module 520 may further include a position sensor configured to obtain the position value of the wearable device, a proximity sensor configured to sense the approach of an object, a biosignal sensor configured to detect the user's biosignals, and a temperature sensor configured to measure the ambient temperature.

[0074] Input module 540 can receive commands or data from outside the wearable device (e.g., a user) that will be used by another component of the wearable device (e.g., processor 512). Input module 540 may include, for example, keys (e.g., buttons) or a touchscreen.

[0075] The sound output module 550 can output sound signals to the outside of the wearable device. The sound output module 550 may include guidance sound signals (e.g., drive start sound or operation error notification sound) and a speaker for playing music content or guidance voice.

[0076] In one embodiment, the control system 500 may include a battery (not shown) for powering each component of the wearable device. The wearable device may convert the power from the battery into power suitable for the operating voltage of each component of the wearable device and provide the converted power to each component.

[0077] The drive module 530 can generate an external force to be applied to the user's leg under the control of the control module 510. The drive module 530 can be positioned corresponding to the user's hip joint and can generate torque to be applied to the user's leg based on the control signal generated by the control module 510. The control module 510 can send the control signal to the motor drive circuit 532, and the motor drive circuit 532 can control the operation of the motor 534 by generating a current signal (or voltage signal) corresponding to the control signal and providing the current signal (or voltage signal) to the motor 534. Depending on the control signal, the current signal may not be supplied to the motor 534. When the current signal is supplied to the motor 534 and the motor is driven, the motor 534 can generate an assist force to assist the user's leg movements or a resistance force to impede the user's leg movements.

[0078] The control module 510 controls the overall operation of the wearable device and can generate control signals to control each component of the wearable device. The control module 510 may include a processor 512 and a memory 514.

[0079] Processor 512 may run software, for example, to control at least one other component (e.g., hardware or software component) directly or indirectly connected to the wearable device, and may perform various data processing or calculations. According to embodiments, as at least part of data processing or calculations, processor 512 may store instructions or data received from another component (e.g., communication module 516) in memory 514, may process the instructions or data stored in memory 514, and may store result data in memory 514. According to embodiments, processor 512 may include a main processor (e.g., a central processing unit (CPU) or application processor (AP)) or an auxiliary processor (e.g., a graphics processing unit (GPU), neural processing unit (NPU), image signal processor (ISP), sensor hub processor, or communication processor (CP)) that may operate independently of or in conjunction with the main processor. The auxiliary processor may be implemented separately from the main processor or as part of the main processor.

[0080] Each “processor” as used herein includes processing circuitry and / or may include multiple processors. For example, as used herein (including the claims), the term “processor” may include various processing circuitry, including at least one processor, wherein one or more of the at least one processor may be configured individually and / or collectively in a distributed manner to perform the various functions described herein. As used herein, when “processor,” “at least one processor,” and “one or more processors” are described as being configured to perform a number of functions, these terms cover, for example, cases where one processor performs some of the functions and another processor performs other functions, and cases where a single processor can perform all of the functions. Optionally, at least one processor may include, for example, a combination of processors performing various described / disclosed functions in a distributed manner. At least one processor may run program instructions to implement or perform various functions.

[0081] Memory 514 may store various data used by at least one component of control module 510 (e.g., processor 512). The various data may include, for example, software, sensor data, input data for instructions associated therewith, or output data. Memory 514 may include volatile or non-volatile memory (e.g., random access memory (RAM), dynamic RAM (DRAM), or static RAM (SRAM)).

[0082] Communication module 516 can support communication between control module 510 and another component of the wearable device or external electronic device (e.g., Figure 2The communication module 516 establishes a direct (e.g., wired) or wireless communication channel with the electronic device 210 or other wearable device 220, and performs communication via the established communication channel. For example, the communication module 516 can send sensor data obtained by the sensor module 520 to an external electronic device (e.g., Figure 2 The electronic device 210 receives control signals from external electronic devices. The communication module 516 may include one or more CPs that can operate independently of the processor 512 and support direct (e.g., wired) or wireless communication. According to embodiments, the communication module 516 may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a Global Navigation Satellite System (GNSS) communication module) and / or a wired communication module. A corresponding one of these communication modules may communicate via a short-range communication network (such as Bluetooth). TM The device communicates with another component of the wearable device and / or external electronic devices via Wi-Fi, Infrared Data Association (IrDA) or long-range communication networks such as traditional cellular networks, 5G networks, next-generation communication networks, the Internet or computer networks (e.g., local area networks (LANs) or wide area networks (WANs)).

[0083] The haptic module 560 may include a haptic actuator configured to provide haptic feedback to a user. The haptic actuator may include, for example, a piezoelectric actuator, a belt actuator, and / or a vibration motor-based actuator. One or more haptic actuators may be provided. In an embodiment, the haptic actuator may be disposed in the substrate of the wearable device 100 (e.g., Figure 3 The base 80), torque transmission frame (e.g., Figure 3 The first torque transmission frame 55 and the second torque transmission frame 50) and the thigh fastener (e.g., Figure 3 At least one of the first thigh fastener 2 and the second thigh fastener 1). In an embodiment, when the tactile module 560 includes a plurality of tactile actuators, the tactile intensity of the tactile feedback provided by the tactile actuators may be different from each other.

[0084] The wearable device 100 in the embodiments may include: drive modules 530 and 530-1, including motors 534 and 534-1 configured to generate torque; a torque transmission frame (e.g., Figure 3 The first torque transmission frame 55 and the second torque transmission frame 50 are configured to transmit the generated torque to the user's leg; thigh fasteners (e.g., Figure 3The first thigh fastener 2 and the second thigh fastener 1) are connected to the torque transmission frame and configured to connect the torque transmission frame to the user's leg; a sensor module 520 is configured to acquire sensor data including the user's motion information when performing an exercise plan using the wearable device 100; a haptic module 560 includes a haptic actuator configured to provide haptic feedback to the user; a communication module 516 is configured to receive haptic intensity data including information about the haptic intensity of the haptic feedback from the electronic device 210; and a processor 512 is configured to control the haptic intensity generated by the haptic actuator based on the information about the haptic intensity included in the haptic intensity data. The wearable device 100 may also include: a substrate (e.g., Figure 3 The base (80) is configured to support the user's waist.

[0085] The maximum intensity of the haptic force generated by the haptic actuator can be included within a threshold range of at least one determined haptic intensity based on user profile data, motion attribute data of an exercise plan, and sensor data. A detailed description of the threshold range for determining the haptic intensity is provided below. This can be achieved by electronic device 210, wearable device 100, and / or server (e.g., Figure 2 The server 230) determines the threshold range of tactile intensity.

[0086] As used in this article, “based on” includes at least “based on”.

[0087] Figure 6 This is a diagram illustrating the interaction between a wearable device and an electronic device according to an embodiment.

[0088] Reference Figure 6 The wearable device 100 can communicate with the electronic device 210. For example, the electronic device 210 can be a user terminal of the user of the wearable device 100. In embodiments, the wearable device 100 and the electronic device 210 can communicate via short-range wireless communication (e.g., Bluetooth). TM They can connect to each other (or communicate via Wi-Fi).

[0089] In this embodiment, electronic device 210 may check the status of wearable device 100 or run an application to control or operate wearable device 100. The operation of wearable device 100 or its operating mode may be controlled by displaying a user interface (UI) screen on display 212 of electronic device 210 through the running of the application. The UI may be, for example, a graphical user interface (GUI).

[0090] In this embodiment, a user can input commands for controlling the operation of the wearable device 100 (e.g., commands for running in walking assistance mode or exercise assistance mode) or change the settings of the wearable device 100 via a GUI screen on the display 212 of the electronic device 210. The electronic device 210 can generate control commands (or control signals) corresponding to the operation control commands or setting change commands input by the user and send the generated control commands to the wearable device 100. The wearable device 100 can operate according to the received control commands and send the control results based on the control commands and / or sensor data measured by the sensor module of the wearable device 100 to the electronic device 210. The electronic device 210 can provide the user with result information obtained by analyzing the control results and / or sensor data (e.g., current motion state information, motion result information, motion posture evaluation information, and physical fitness evaluation information) via the GUI screen.

[0091] Figure 7 This is a diagram illustrating the configuration of an electronic device according to an example embodiment.

[0092] Reference 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 embodiments, at least one of the components (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 tactile module, and a battery) may be added to the electronic device 210.

[0093] The processor 710 can control at least one other component (e.g., a hardware component or a software component) of the electronic device 210 and can perform various types of data processing or operations. In an embodiment, as at least part of data processing or operations, the processor 710 can store instructions or data received from another component (e.g., a communication module 730) in memory 720, process the instructions or data stored in memory 720, and store the result data in memory 720.

[0094] In an embodiment, processor 710 may include a main processor (e.g., CPU or AP) or an auxiliary processor (e.g., GPU, NPU, ISP, sensor hub processor or CP) that can operate independently of or in conjunction with the main processor.

[0095] The memory 720 may store various data used by at least one component of the electronic device 210 (e.g., processor 710 or communication module 730). The data may include, for example, programs (e.g., applications) and input or output data for commands associated with them. The memory 720 may include at least one instruction executable by the processor 710. The memory 720 may include, for example, volatile or non-volatile memory. In this case, each processor may include processing circuitry.

[0096] Communication module 730 can support establishing a direct (e.g., wired) or wireless communication channel between electronic device 210 and another electronic device (e.g., wearable device 100, other wearable devices 220, and server 230), and perform communication via the established communication channel. Communication module 730 may include communication circuitry for performing communication functions. Communication module 730 may include one or more CPs that can operate independently of processor 710 (e.g., AP) and support direct (e.g., wired) or wireless communication. In embodiments, communication module 730 may include a wireless communication module (e.g., Bluetooth) that performs wireless communication. TM The communication module 730 can be a communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module, or a wired communication module (e.g., a LAN communication module or a power line communication (PLC) module). For example, the communication module 730 can send control commands to the wearable device 100 and receive from the wearable device 100 at least one of the following: sensor data including body movement information of the user wearing the wearable device 100, status data of the wearable device 100, or control result data corresponding to the control commands.

[0097] Display module 740 can visually provide information to the outside of electronic device 210 (e.g., to a user). Display module 740 may include, for example, a light-emitting diode (LCD) display or an organic light-emitting diode (OLED) display, a holographic device, or a projector device. Display module 740 may also include control circuitry for controlling the drive of the display. In embodiments, display module 740 may also include a touch sensor configured to sense touch or a pressure sensor configured to sense the intensity of the force generated by a touch. Display module 740 may output a UI screen to control wearable device 100 or provide various information (e.g., motion assessment information or settings information of wearable device 100).

[0098] The sound output module 750 can output sound signals to the outside of the electronic device 210. The sound output module 750 may include a speaker configured to play guidance sound signals (e.g., an operation start sound or operation error alarm), music content, or guidance voice based on the status of the wearable device 100. For example, when it is determined that the wearable device is not being worn properly on the user's body, the sound output module 750 may output guidance voice to notify the user of the abnormal wearing of the wearable device 100 or to instruct the user on how to properly wear the wearable device 100.

[0099] Input module 760 can receive commands or data from outside the electronic device 210 (e.g., a user) to be used by components of the electronic device 210 (e.g., processor 710). Input module 760 may include input component circuitry and receive user input. Input module 760 may include touch recognition circuitry, for example, for recognizing touches on keys (e.g., buttons) and / or the screen.

[0100] The electronic device 210 in this embodiment may include a processor 710 and a communication module 730, the communication module 730 being configured to communicate with the wearable device 100 under the control of the processor 710. When using the wearable device 100 to execute an exercise plan, the processor 710 may receive sensor data including the user's motion information from the wearable device 100 via the communication module 730. The processor 710 may determine a threshold range for the tactile intensity of tactile feedback based on at least one of the user's profile data, the motion attribute data of the exercise plan, and the sensor data received from the wearable device 100.

[0101] In an embodiment, the processor 710 may determine a first boundary value of the threshold range based on at least one of user profile data, motion attribute data of an exercise plan, and sensor data, and may determine a second boundary value of the threshold range by applying weights to the determined first boundary value. The threshold range of tactile intensity may correspond to the interval between the first boundary value and the second boundary value. When the first boundary value is the lower limit of the threshold range, the second boundary value may be the upper limit of the threshold range, and when the first boundary value is the upper limit of the threshold range, the second boundary value may be the lower limit of the threshold range.

[0102] In an embodiment, when executing an exercise plan, if at least one of the motion attribute data and sensor data has changed, the processor 710 may adjust the determined threshold range of tactile intensity. For example, when executing an exercise plan, if the exercise plan and / or motion intensity change, the processor 710 may re-determine the threshold range of tactile intensity based on the changed exercise plan and / or motion intensity. When executing an exercise plan, if the user's motion information measured by the wearable device 100 has changed significantly, the processor 710 may re-determine the threshold range of tactile intensity based on the changed user motion information.

[0103] In an embodiment, processor 710 can determine the tactile intensity of the tactile feedback to be provided to the user within a defined threshold range of tactile intensity. Processor 710 can determine the tactile intensity value to be provided to the user from tactile intensity values ​​that are greater than or equal to the lower limit of the threshold range and less than or equal to the upper limit of the threshold range. For example, processor 710 can extract multiple different tactile intensity values ​​within the threshold range of tactile intensity, and can determine one of the extracted tactile intensity values ​​as the tactile intensity value to be provided to the user as the tactile feedback. For example, the minimum, intermediate, or maximum value of the tactile intensity value can be determined as the tactile intensity value to be provided to the user as the tactile feedback.

[0104] In an embodiment, when a haptic feedback provision event occurs, the processor 710 can send a control signal via the communication module 730 to the wearable device 100 for providing haptic feedback to the user at a determined haptic intensity. For example, a haptic feedback provision event may occur in at least one of the following situations: the hip joint angle based on the user's movement posture reaches a reference angle, or the user's movement posture deviates from the reference posture. Furthermore, a haptic feedback provision event can be determined to have occurred when the user is notified to increase or decrease exercise intensity during exercise, when the user is requested to increase or decrease exercise speed, and / or when an alarm is sent to the user when the user's heart rate reaches a reference value.

[0105] In an embodiment, processor 710 may determine a tactile pattern based on the type of event provided by the tactile feedback. For example, when executing a walking exercise plan and the target walking speed increases, processor 710 may generate a control signal to reduce the cycle of the tactile pattern provided by the wearable device 100. Based on a determined threshold range of tactile intensity, processor 710 may determine the tactile intensity of the determined tactile pattern (or the maximum intensity of the tactile pattern).

[0106] In an embodiment, after providing haptic feedback to the user, the processor 710 can determine whether the user has perceived the haptic feedback. For example, this can be determined based on whether the user performed an operation corresponding to the haptic feedback after it was provided. Alternatively, it can be determined based on a perception evaluation of the haptic feedback input by the user through the input module 760. After providing haptic feedback, the electronic device 210 can ask the user via an application whether they have perceived the haptic feedback, and the user can input perception evaluation information about the haptic feedback through the input module 760. The perception evaluation information may include, for example, the perception of the haptic feedback and / or the intensity of the haptic feedback.

[0107] In response to determining that the user does not perceive tactile feedback, the processor 710 may adjust the threshold range of tactile intensity. For example, the processor 710 may increase the lower limit of the threshold range of tactile intensity. As the lower limit increases, the upper limit of the threshold range of tactile intensity may increase or remain unchanged.

[0108] Figure 8 This is a flowchart illustrating the operation of a haptic feedback control method for controlling haptic feedback in a wearable device according to an embodiment. In the embodiment, Figure 8 At least one of the operations can be executed simultaneously or in parallel, and the order of the operations can be changed. Furthermore, at least one operation can be omitted, or another operation can be executed.

[0109] Reference Figure 8 In operation 810, an exercise plan can begin. For example, electronic device 210 can recommend multiple exercise plans to the user, and the exercise plan selected by the user from these plans can be initiated. Electronic device 210 can select a recommended exercise plan from all exercise plans to recommend to the user based on user information (e.g., gender, age, physical condition, and medical history), exercise purpose (e.g., weight loss, body shape management, increasing strength, increasing endurance, preventing or reducing the likelihood of chronic diseases, and increasing physical fitness), and / or exercise history. When an exercise plan is initiated, the user can perform the exercise according to the exercise plan while wearing wearable device 100.

[0110] In an embodiment, immediately after selecting an exercise plan or at the start of the exercise plan, a threshold range for tactile intensity can be determined based on user profile data including user information (e.g., gender, age, and physical condition) and / or exercise attribute data of the exercise plan (e.g., type of exercise plan and set exercise intensity). Within the determined threshold range, the tactile intensity of the tactile feedback to be provided by the wearable device 100 can be determined. Optionally, immediately after selecting an exercise plan or at the start of the exercise plan, a preset default tactile intensity can be applied.

[0111] Subsequently, the electronic device 210 may determine the appropriate tactile intensity for tactile feedback by taking into account user characteristics and / or motion conditions, and may control the wearable device 100 to provide tactile feedback to the user at the determined appropriate tactile intensity.

[0112] In operation 820, when using wearable device 100 to execute an exercise plan, electronic device 210 can receive sensor data including the user's motion information from wearable device 100. Electronic device 210 can receive sensor data not only from wearable device 100, but also from another device (e.g., Figure 2The smartwatch 224 receives sensor data. For example, the electronic device may receive sensor data from the smartwatch, including the user's biometric information (e.g., heart rate and electromyography information).

[0113] In operation 830, electronic device 210 can determine a threshold range of tactile intensity for tactile feedback. The threshold range can be an intensity range that the tactile intensity of the tactile feedback provided by wearable device 100 can have (or can be set to).

[0114] In an embodiment, electronic device 210 may determine a threshold range of tactile intensity for tactile feedback based on at least one of user profile data, motion attribute data of an exercise plan, and sensor data. User profile data may include, for example, information about at least one of the user's age and gender. User profile data may also include at least one of information about the user's physical information (e.g., height and weight) and information about medical history. Motion attribute data may include, for example, the type of exercise plan and the exercise intensity set for the exercise plan. Sensor data may include, for example, information about at least one of acceleration based on the user's movement, speed based on the user's movement, the user's hip angle, and the user's heart rate. This information may be obtained from inertial sensors of wearable device 100 (e.g., Figure 5b The inertial sensor 522 obtains information about acceleration and velocity based on the user's movements, and the angle sensor of the wearable device 100 (e.g., Figure 5b The first angle sensor 524 and the second angle sensor 524-1 obtain information about the user's hip joint angle. This can be obtained by a smartwatch (e.g., Figure 2 The heart rate sensor of the smartwatch 224 obtains information about the user's heart rate. The electronic device 210 can score the information from the sensor data and determine the threshold range of tactile intensity based on the scoring results.

[0115] According to an embodiment, the operation of determining the threshold range of tactile intensity may include the following operation: as the intensity of the exercise program increases, the lower limit of the threshold range of tactile intensity is determined to become higher.

[0116] According to an embodiment, the operation of determining the threshold range of tactile intensity may include the following operation: when the user is old, the lower limit of the threshold range of tactile intensity is determined to be higher.

[0117] According to an embodiment, the lower limit of the threshold range for tactile intensity set when the user is male can be greater than the lower limit of the threshold range for tactile intensity set when the user is female.

[0118] According to an embodiment, determining the threshold range of tactile intensity may involve the following steps: during exercise planning, when at least one of the motion attribute data and sensor data is changed, the determined threshold range of tactile intensity is adjusted. Based on the changed motion attribute data and / or the changed sensor data, the threshold range of tactile intensity can be determined again.

[0119] According to an embodiment, determining the threshold range of tactile intensity may include the following operations: determining a first boundary value of the threshold range based on at least one of user profile data, motion attribute data of an exercise plan, and sensor data; and determining a second boundary value of the threshold range by applying weights to the determined first boundary value. In this case, the threshold range of tactile intensity may correspond to the interval between the first boundary value and the second boundary value. When the first boundary value is the lower limit of the threshold range, the second boundary value may be the upper limit of the threshold range. When the first boundary value is the upper limit of the threshold range, the second boundary value may be the lower limit of the threshold range.

[0120] In an embodiment, the electronic device 210 may use a tactile intensity determination model to determine a first boundary value and a second boundary value for a threshold range of tactile intensity. The tactile intensity determination model may be, for example, a mathematical model configured to determine the first boundary value as a weighted sum of feature values ​​included in at least one of the user's profile data, motion attribute data, and sensor data, and to determine the second boundary value as a value obtained by adding the first boundary value to a result of applying weights to the first boundary value. For example, the mathematical model used to determine the first boundary value in the tactile intensity determination model may be the same as Equation 1 shown below.

[0121] [Equation 1] X L = w0+ w 11 U1+ w 12 U2+ … + w 21 P1+ w 22 P2+ … + w 31 S1+ w 32 S2 + … In this case, X L W can represent the first boundary value of the threshold range of tactile intensity (assuming the first boundary value is the lower limit), and W0 can represent the weighted intercept of tactile intensity. U1 and U2 can represent independent variables related to user information (e.g., age, gender, etc.) included in the user profile data, and W... 11 and W 12This can represent the weights applied to independent variables related to user information. P1 and P2 can represent independent variables related to information about exercise plans included in the exercise attribute data (e.g., type of exercise plan, exercise intensity, etc.), and W 21 and W 22 These can be weights applied to independent variables related to exercise plan information. S1 and S2 can represent independent variables related to sensor information (e.g., motion information, heart rate information, etc.) included in the sensor data, and W 31 and W 32 This can represent the weights applied to independent variables related to sensor information. In this case, the number of independent variables included in Equation 1 can be one or more, or "0", for user information, exercise plan-related information, and sensor information, respectively. For example, the first boundary value X of Equation 1 can be determined using only one of the independent variables for user profile data, exercise attribute data, and sensor data. L .

[0122] The mathematical model used to determine the second boundary value in the tactile intensity determination model can be the same as Equation 2 shown below.

[0123] [Equation 2] X U = X L +K X L In this case, X L X can represent the first boundary value of the threshold range of tactile intensity (assuming the first boundary value is the lower limit). U The second boundary value can represent the threshold range of tactile intensity (assuming the second boundary value is the upper limit). K can represent the value applied to the first boundary value X. L To determine the second boundary value X U The weight.

[0124] When at least one of the user's profile data, motion attribute data, and sensor data is given, the threshold range of tactile intensity can be determined based on Equations 1 and 2. The determined threshold range of tactile intensity can correspond to the range of tactile intensity that is considered to allow the user to perceive tactile feedback without potentially experiencing discomfort due to the tactile feedback.

[0125] In operation 840, electronic device 210 may determine the tactile intensity of tactile feedback based on a threshold range of tactile intensity determined in operation 830. Electronic device 210 may determine the tactile intensity of tactile feedback to be provided to the user within the determined threshold range of tactile intensity. In an embodiment, the operation of determining the tactile intensity may include: extracting multiple tactile intensity values ​​within the threshold range of tactile intensity, and determining one of the extracted tactile intensity values ​​as the tactile intensity value to be provided to the user as tactile feedback. For example, multiple tactile intensity values ​​may be extracted from the threshold range by dividing it into n parts (n is a natural number greater than 2). n may be the number of changes in tactile intensity that the user can perceive when the threshold range is divided into n parts. Among the extracted tactile intensity values, the minimum, intermediate (e.g., the intermediate value between a first boundary value and a second boundary value of the threshold range), or maximum value may be determined as the tactile intensity value to be provided to the user as tactile feedback. In this embodiment, when the motion intensity increases, the electronic device 210 can gradually increase the tactile intensity within a threshold range, and when the motion intensity decreases, the electronic device 210 can gradually decrease the tactile intensity within a threshold range. The tactile intensity can be changed discretely or continuously.

[0126] In operation 850, electronic device 210 can determine whether a haptic feedback provision event has occurred while the user is performing an exercise plan. For example, a haptic feedback provision event can be determined to have occurred if at least one of the following occurs: the hip joint angle based on the user's movement posture reaches a reference angle, or the user's movement posture deviates from the reference posture. Furthermore, a haptic feedback provision event can occur when adjusting movement speed (e.g., walking speed), adjusting left-right gait balance, notifying switching between resistance and assist modes on wearable device 100, notifying achievement of a movement goal, or notifying of collisions with surrounding objects. When it is determined that a haptic feedback provision event has not occurred (e.g., "No" in operation 850), electronic device 210 can restart from operation 820.

[0127] When it is determined that a haptic feedback providing event has occurred (e.g., "yes" in operation 850), in operation 860, the electronic device 210 may send a control signal to the wearable device 100 to control the provision of haptic feedback to the user at the haptic intensity determined in operation 840. A haptic pattern (e.g., vibration pattern of a haptic actuator) may exist for each haptic feedback providing event, and the electronic device 210 may send a control signal to the wearable device 100 to control the generation of a haptic pattern corresponding to the occurring haptic feedback providing event. The sent control signal may include information about the haptic intensity to be applied to each haptic actuator included in the wearable device 100. The wearable device 100 may set the haptic intensity of the haptic actuator based on the control signal received from the electronic device 210, and may output haptic feedback at the set haptic intensity in a haptic pattern corresponding to the haptic feedback providing event. The maximum or high intensity of the haptic intensity shown in the haptic pattern may be set to the haptic intensity included in the control signal.

[0128] In operation 870, electronic device 210 can determine whether the user has perceived tactile feedback. This determination can be based on whether the user has performed an action corresponding to the tactile feedback after it has been provided. When the user performs an action according to the intention conveyed by the tactile feedback, it can be determined that the user has perceived the tactile feedback. When the user does not perform an action corresponding to the tactile feedback after it has been provided, it can be determined that the user has not perceived the tactile feedback. For example, if the user perceives tactile feedback in a specific tactile pattern as an instruction to increase walking speed, and the user does not increase walking speed after the tactile feedback has been provided, it can be determined that the user has not perceived the tactile feedback. When the user increases walking speed after the tactile feedback has been provided, it can be determined that the user has perceived the tactile feedback.

[0129] For example, it can be determined whether a user has perceived haptic feedback based on perceptual assessment information input by the user. After providing haptic feedback, the electronic device can ask the user, via voice guidance or an application, whether they have perceived the haptic feedback. The user can input perceptual assessment information regarding whether they have perceived the haptic feedback. The perceptual assessment information may include, for example, the perception of the haptic feedback and / or the intensity of the haptic feedback.

[0130] When it is determined that the user does not perceive haptic feedback (e.g., "No" in operation 870), in operation 880, the electronic device 210 may adjust the threshold range of the haptic intensity. The parameters of the haptic intensity determination model may be updated during the adjustment of the threshold range. For example, the parameters of the haptic intensity determination model may include weights for determining a first boundary value in Equation 1 and / or weights applied to the first boundary value to determine a second boundary value in Equation 2. When it is determined that the user repeatedly fails to perceive haptic feedback, the electronic device 210 may adjust the haptic intensity of the haptic feedback until the user performs an action upon perceiving the haptic feedback. For example, the electronic device 210 may gradually increase the haptic intensity of the haptic feedback until the user performs an action when the user perceives the haptic feedback. The electronic device 210 may determine the increased haptic intensity as the haptic intensity corresponding to the first boundary value by gradually increasing the haptic intensity of the haptic feedback until the user perceives the haptic feedback and performs the action expected by the haptic feedback.

[0131] Because users may experience discomfort when the tactile intensity exceeds a predetermined level, and may not perceive tactile feedback when the intensity is too low, it is important to determine the appropriate tactile intensity for tactile feedback. On the other hand, the minimum and / or low intensity of tactile feedback required to perceive tactile feedback can vary depending on user characteristics and / or movement. Electronic device 210 can adjust the tactile intensity of personalized tactile feedback based on user characteristics and / or movement, thereby improving usability.

[0132] Although the embodiments describe the electronic device 210 determining a threshold range for the tactile intensity of tactile feedback and determining the tactile intensity within the threshold range, wearable devices 100 and / or servers other than electronic device 210 (e.g., Figure 2 The server 230 can also determine the threshold range of tactile intensity of tactile feedback and determine the tactile intensity within the threshold range based on the above operations.

[0133] Figure 9 This is a diagram illustrating the differences in perceived tactile intensity based on user characteristics according to an embodiment.

[0134] The minimum / low intensity (tactile threshold) at which tactile feedback is perceived can vary among users depending on their individual characteristics. (See reference...) Figure 9 Figures 912, 914, and 916 illustrate the variation of a user's perceived level relative to tactile intensity based on a user profile (e.g., gender and age). Figure 912 shows the variation of the user's perceived level based on tactile intensity in case 922 where the user profile is selected as a woman in her 20s. In this case, the user can perceive a tactile threshold I at a perceived level of U1. 11The user begins to feel tactile feedback. Graph 914 shows the change in the user's perceived level based on tactile intensity when the user profile is selected as a male in his 50s (924). In this case, the user can perceive a tactile threshold I at a perceived level of U2. 12 The user begins to feel tactile feedback. Graph 916 shows the change in the user's perceived level based on tactile intensity when the user profile is selected as a woman in her 50s (926). In this case, the user can perceive a tactile threshold I at a perceived level of U3. 13 The user profile begins to feel tactile feedback. The user profile segmentation described as an example is merely illustrative, and the segmentation of the user profile can be further segmented or differentiated differently. The tactile threshold I is shown in graphs 912, 914, and 916. 11 I 12 and I 13 As shown, the tactile threshold typically increases with age, and the male group may tend to have a higher tactile threshold than the female group. Therefore, it is preferable to adjust the tactile intensity of the tactile feedback by taking user characteristics into account.

[0135] According to an embodiment, when determining the threshold range of tactile intensity, the electronic device 210 and / or the wearable device 100 may determine the lower limit of the threshold range of tactile intensity to be higher as the user's age increases, and / or may determine the lower limit of the threshold range of tactile intensity set when the user is male to be higher than the lower limit of the threshold range of tactile intensity set when the user is female.

[0136] Figure 10 This is a diagram illustrating the difference in perceived tactile intensity based on the intensity of a movement program according to an embodiment.

[0137] The minimum and / or low intensity tactile intensity values, which represent the tactile feedback perceived by the user, can vary among users depending on the intensity of the exercise program. (Refer to...) Figure 10 Figures 1012, 1014, and 1016 are shown, illustrating the change in user perception level relative to tactile intensity based on the intensity of the exercise according to the exercise plan. Figure 1012 shows the change in user perception level with respect to tactile intensity under the condition 1022 of performing a low-intensity exercise plan. In this case, the user can perceive a tactile threshold I at a perception level of P1. 21 The user begins to feel tactile feedback. Graph 1014 shows the change in the user's perceived level according to tactile intensity during the execution of a moderate-intensity exercise program 1024. In this case, the user can perceive a tactile threshold I at a perceived level of P2. 22The user begins to feel tactile feedback. Graph 1016 shows the change in the user's perception level according to tactile intensity during the execution of a high-intensity exercise program 1026. In this case, the user can perceive a tactile threshold I at a perception level of P3. 23 The tactile feedback begins at this point. The division of motion intensity described as an example is merely illustrative, and the division of motion intensity can be further divided or divided differently. The tactile threshold I is shown in graphs 1012, 1014, and 1016. 21 I 22 and I 23 As shown, the tactile threshold typically tends to increase with increasing motion intensity. Therefore, it is preferable to adjust the tactile intensity of tactile feedback by taking into account the motion intensity of the motion plan.

[0138] According to an embodiment, when determining the threshold range of tactile intensity, the electronic device 210 and / or the wearable device 100 can determine the lower limit of the threshold range of tactile intensity as increasing with the increase of motion intensity by taking into account the above-mentioned trend.

[0139] Figure 11 This is a diagram illustrating the determination of a threshold range for the tactile intensity of tactile feedback according to an embodiment.

[0140] In an embodiment, the tactile threshold for the tactile intensity of the final tactile feedback that can be perceived by the user can be defined as a tactile threshold derived based on at least one of user characteristics, motion attributes related to the exercise plan, and sensor values. At a tactile intensity greater than or equal to the tactile threshold, tactile feedback may preferably be provided within an range where the user perceives tactile feedback without discomfort.

[0141] Reference Figure 11 Figures 1110, 1120, and 1130 illustrate the variation of user perception level relative to tactile intensity based on user characteristics, motion intensity of the motion plan, and sensor data (e.g., sensor values ​​from the inertial and / or angle sensors of the wearable device 100). As shown in Figure 1140, by combining the effects of the relevant factors, the variation of user perception level relative to tactile intensity considering the specific user's characteristics and motion conditions can be derived. Figure 1140 can be assumed to reflect the user's perception level based on tactile intensity when the sensor has a sensor value of 1135.

[0142] Referring to curve 1140, the intervals related to the user's perception of tactile feedback can be divided into three intervals: interval 1162 where the user cannot perceive tactile feedback, interval 1164 where the user perceives tactile feedback but does not feel discomfort, and interval 1166 where the user feels discomfort from tactile feedback. The user can perceive tactile feedback at a level of T1 with a tactile threshold X. LThe tactile feedback begins to be perceived at the point, and when the tactile intensity exceeds the tactile intensity value X... U At this point, the user may begin to feel discomfort. The tactile threshold X can be determined by contributions based on user characteristics 1152, contributions based on motion attributes from the exercise plan 1154, and contributions based on sensor data 1156. L These contributions can be represented, for example, by user characteristics, the motion attributes of the exercise plan, and sensor data, in determining the first boundary value in Equation 1 (corresponding to the tactile threshold X). L The degree of influence of ). Contributions 1154 and 1156 can be expressed as contributions depending on the motion conditions.

[0143] According to an embodiment, electronic device 210 and / or wearable device 100 may determine a threshold range of tactile intensity for tactile feedback based on at least one of user profile data, motion attribute data from an exercise plan, and sensor data. The determined threshold range of tactile intensity may be determined, for example, by Equations 1 and 2, and may correspond to the interval 1164 in graph 1140 where the user perceives tactile feedback without experiencing discomfort. Electronic device 210 and / or wearable device 100 may determine the threshold range of tactile intensity at which the user can perceive tactile feedback without experiencing discomfort due to the tactile feedback by considering user characteristics and / or motion conditions.

[0144] The embodiments are described based on the following example: determining a threshold range for tactile intensity based on all three of the user profile data, motion attribute data from an exercise plan, and sensor data. However, the embodiments are not limited to this. For example, the threshold range for tactile intensity may be determined based on one or any combination of the user profile data, motion attribute data from an exercise plan, and sensor data.

[0145] Figure 12 This is a diagram illustrating the determination of the tactile intensity of tactile feedback within a threshold range relating to tactile intensity, according to an embodiment.

[0146] Reference Figure 12 The curve 1210 shows the change in the user's perceived level relative to the user's tactile intensity. The intervals related to the user's tactile feedback perception can be divided into three intervals: interval 1222 where the user cannot perceive tactile feedback, interval 1224 where the user perceives tactile feedback but does not feel discomfort, and interval 1226 where the user feels discomfort from tactile feedback. It can be assumed that the user can perceive tactile feedback at a level of E1 with a tactile threshold I. 31 The tactile feedback begins to be perceived at the point where the tactile intensity reaches the tactile intensity value I. 3n At this time, the user can feel the perception level E2, and when the tactile intensity exceeds the perception level E2, the user may feel discomfort.

[0147] Electronic device 210 and / or wearable device 100 can determine interval 1224 by considering user characteristics and / or motion. Interval 1224 may correspond to a threshold range of tactile intensity. When tactile patterns are classified based on a scene to deliver tactile feedback to the user, n tactile intensity values ​​I can be extracted from the threshold range. 31 I 32 I 33 ,..., and I 3n For user perception. It can provide users with extracted tactile intensity values ​​I based on the scene. 31 I 32 I 33 ,..., and I 3n Tactile feedback at one point. For example, the extracted tactile intensity value I. 31 I 32 I 33 ,..., and I 3n The minimum value I in 31 , median or maximum value I 3n The tactile intensity value can be determined as the tactile feedback to be provided to the user. In an embodiment, the electronic device 210 and / or the wearable device 100 may gradually increase the tactile intensity within a range 1224 as the motion intensity increases during user movement, and may gradually decrease the tactile intensity within a range 1224 as the motion intensity decreases.

[0148] Figure 13 This is a diagram illustrating a method for determining whether tactile feedback from a user is perceived, according to an embodiment.

[0149] Electronic device 210 and / or wearable device 100 may determine whether the user perceives the haptic feedback after outputting it. A process for determining whether the user perceives the haptic feedback may be necessary to determine whether the haptic threshold at the currently set haptic intensity is appropriate (e.g., whether the haptic threshold is too low to be perceived by the user).

[0150] For example, whether a user has perceived haptic feedback can be estimated based on whether the user performs an action corresponding to the haptic feedback after it is provided. When the user performs an action according to the intention conveyed by the haptic feedback, it can be determined that the user has perceived the haptic feedback. When the user does not perform an action corresponding to the haptic feedback after it is provided, it can be determined that the user has not perceived the haptic feedback.

[0151] Reference Figure 13It can be assumed that when haptic feedback is provided while the user is performing walking motion at an average walking speed V1, the user knows that the walking speed needs to be increased to a target walking speed V0. Operational instructions based on haptic feedback can be provided to the user before starting the exercise or during the exercise. When haptic feedback is provided by the wearable device 100 at time A and the user's walking speed is measured as curve 1310, it can be determined that the user has perceived haptic feedback. Alternatively, if the user's walking speed does not change significantly after time A when haptic feedback is provided (as shown in curve 1320), it can be determined that the user has not perceived haptic feedback. For example, whether haptic feedback is perceived can be determined by comparing motion-related indicators (e.g., walking speed, hip angle, etc.) at time t with the output of haptic feedback and motion-related indicators (e.g., walking speed, hip angle, etc.) at time t without the output of haptic feedback. When the indicators do not change significantly even when haptic feedback is output, it can be determined that the user has not perceived haptic feedback. When it is determined that the user has not perceived haptic feedback, a process for checking whether the user has perceived haptic feedback can be performed.

[0152] In this embodiment, the perception of tactile feedback can be determined using a time series analysis method employing an autoregressive integrated moving average (ARIMA) model. In the ARIMA model, the equation representing the effect of a specific event X (such as outputting tactile feedback) on a given event X that has already occurred is as follows.

[0153] [Equation 3] V t -V1= 1 (V) t-1 -V1) + 2 (V) t-2 -V1) + ... + p (V) t-p -V1) + βX t + ε t - θ1ε t-1 - θ2ε t-2 -... - θ q ε t-q In this case, V t V1 can represent the walking speed corresponding to the time series data value at time t. V2 can represent the average walking speed corresponding to the average value of the entire time series data before tactile feedback. 1. 2、…、 p These can represent the autoregressive (AR) parameters of the ARIMA intervention model. θ1, θ2, ..., θ qX can represent the moving average (MA) parameter of the ARIMA intervention model. t It can represent a binary variable representing event X. For example, when event X occurs, X... t It can have a value of "1" at one time and a value of "0" at other times. ε t V can represent white noise elements, and β can represent regression coefficients. When the event that outputs tactile feedback through the above ARIMA intervention model has occurred, V t -V11330 indicates that the effect of the event can be determined numerically. For example, when V t When V11330 is greater than or equal to a predetermined threshold, it can be determined that the user has perceived tactile feedback, and when V t When V11330 is less than the predetermined threshold, it can be determined that the user does not perceive tactile feedback.

[0154] Figure 14 This is a diagram illustrating the adjustment of the threshold range with respect to tactile intensity according to an embodiment.

[0155] When the wearable device 100 outputs tactile feedback but determines that the user does not perceive the tactile feedback, a process for adjusting the threshold range of the tactile intensity can be performed. This threshold range adjustment process can be performed, for example, automatically, or it can be performed when the user explicitly indicates that they do not perceive the tactile feedback by asking them whether they have perceived it.

[0156] In one embodiment, the process of adjusting the threshold range can be performed by gradually increasing the tactile threshold of the tactile intensity until the user can perceive tactile feedback, or by explicitly asking the user whether the adjusted tactile intensity has been met after adjusting the tactile intensity.

[0157] Reference Figure 14 It can be assumed that the intervals related to the tactile feedback perception of the predetermined user are divided into interval 1422 where the user cannot perceive tactile feedback, interval 1424 where the user perceives tactile feedback but does not feel discomfort, and interval 1426 where the user feels discomfort from tactile feedback. It can be assumed that the user can perceive tactile feedback at a level of E1 with a tactile threshold I. 42 The tactile feedback begins to be perceived at the point where the tactile intensity reaches the tactile intensity value I. 43 At this time, the user can feel the perception level E2, and when the tactile intensity exceeds the perception level E2, the user may feel discomfort.

[0158] It can be assumed that the initial threshold range of tactile intensity is determined to be threshold range 1432, as shown in curve 1410, and the tactile intensity I corresponding to the tactile threshold of threshold range 1432 is... 41 Tactile feedback is provided to the user at a certain point. Due to the tactile intensity I 41The tactile intensity is not included in the intervals 1424 and 1426 where the user can perceive tactile feedback; therefore, the user may not be able to perceive tactile intensity I. 41 The tactile feedback is adjusted accordingly. When it is determined that the user cannot perceive the tactile feedback, a process can be performed to adjust the threshold range of the tactile intensity. In an embodiment, the electronic device 210 and / or the wearable device 100 can receive tactile feedback from the tactile intensity I. 41 The tactile threshold for tactile intensity is gradually increased until the user confirms that they have perceived the tactile feedback. When the user's perception of the tactile feedback is confirmed, the electronic device 210 and / or wearable device 100 can determine the tactile intensity at which the user has perceived the tactile feedback as the tactile threshold, and can further set the threshold range for tactile intensity based on the determined tactile intensity value. For example, when providing tactile intensity I... 42 When haptic feedback is provided and the user confirms that they have perceived the haptic feedback, it can be based on the haptic intensity I. 42 The threshold range for tactile intensity is adjusted to threshold range 1434. Graph 1415 can be used to represent the change in user-perceived tactile intensity as a result of adjusting the threshold range 1434. The threshold range 1434 corresponds to the tactile intensity I at which the user begins to perceive tactile feedback. 42 The tactile intensity I is the maximum or high tactile intensity that the user will not feel discomfort from the tactile feedback. 43 The interval between.

[0159] Figure 15 This is a diagram illustrating an example of adjusting tactile intensity based on sensor data according to an embodiment.

[0160] When user 110 performs movement, the tactile threshold, which is the minimum intensity of tactile feedback felt by user 110, can vary according to user 110's movement state. When user 110's hourly motion value (e.g., acceleration, velocity, and hip angular velocity) or heart rate is high, it can be estimated that user 110 is in a state of active movement, and when user 110's hourly motion value or heart rate is low, it can be estimated that user 110 is in a state of inactive movement.

[0161] Reference Figure 15 Figures 1512, 1514, and 1516 are shown, illustrating the change in the user 110's perception level relative to tactile intensity based on motion intensity. Figure 1512 shows the change in the user 110's perception level based on tactile intensity in motion state 1522 when the user 110 is stationary. In this case, the user 110 can perceive a tactile intensity value I at a perception level of S1. 51The user begins to feel tactile feedback. Graph 1514 shows the change in the user's perception level based on tactile intensity when the user 110 is in a low-intensity motion state (performing movement but not actively) 1524. In this situation, the user 110 can perceive a tactile intensity value I at a perception level of S2. 52 The user begins to feel tactile feedback. Graph 1516 shows the change in the user's perception level according to tactile intensity when the user 110 is in a state of high-intensity motion (actively performing movement) 1526. In this case, the user 110 can perceive a tactile intensity value I at a perception level of S3. 53 Tactile feedback is first felt at the point of contact. The division of motion states described as an example is merely illustrative, and the division of motion states can be further subdivided or differentiated differently. The tactile threshold I is shown in graphs 1512, 1514, and 1516. 51 I 52 and I 53 As shown, the tactile threshold typically tends to increase with more active movement. Therefore, it is preferable to adjust the tactile intensity of the tactile feedback by taking into account the user's movement state.

[0162] According to an embodiment, by taking into account the aforementioned trends, the electronic device 210 and / or the wearable device 100 can adjust the tactile intensity of the tactile feedback provided by the tactile actuator 1530 of the wearable device 100 based on the real-time motion state of the user 110 (e.g., changes in motion intensity) measured by sensors. When the motion intensity increases during movement, the electronic device 210 and / or the wearable device 100 can gradually increase the tactile intensity within a threshold range with respect to the tactile intensity, and when the motion intensity decreases, the electronic device 210 and / or the wearable device 100 can gradually decrease the tactile intensity within a threshold range with respect to the tactile intensity. The tactile intensity can be changed discretely or continuously according to the motion state.

[0163] Figures 16a to 16e This is a diagram illustrating the motion situation where haptic feedback is provided according to an example embodiment.

[0164] Reference Figure 16a When user 110 performs movements (such as walking) using both legs, tactile feedback can be provided to guide walking speed, leg movement rhythm, and / or left-right balance. For example, when a tactile pattern of tactile feedback corresponding to a target walking speed is provided to user 110 via at least one tactile actuator 1612, 1614, or 1616 included in wearable device 100, user 110 can intuitively perceive the walking rhythm according to the target walking speed through the tactile pattern. Tactile feedback can be provided, for example, by thigh fasteners arranged on both legs (e.g., Figure 3One or more tactile actuators are provided in the first thigh fastener 2 and the second thigh fastener 1. In an embodiment, when using one tactile actuator, the walking rhythm can be guided by tactile feedback, and when using multiple tactile actuators arranged in the thigh fasteners of both legs, the walking rhythm of the left and right legs can be guided separately.

[0165] In an embodiment, when a walking exercise plan is executed and the target walking speed increases, the cycle of the tactile pattern of the tactile feedback provided by at least one tactile actuator 1612, 1614, or 1616 of the wearable device 100 can be reduced. The user 110 can intuitively perceive that the walking speed needs to increase according to the tactile pattern by reducing the cycle of the tactile pattern.

[0166] In this embodiment, haptic feedback may be provided to guide the user 110's movement posture. By providing haptic feedback when the user 110's movement posture reaches a target posture, the user can intuitively recognize that the target posture has been achieved. For example, it can be assumed that the user 110 performs a knee-raising movement to strengthen the lower body by raising the thigh. When the angle formed by the right thigh and left thigh reaches the target angle 1622 while the user performs the movement posture of raising the right thigh, haptic feedback may be provided to the user 110 through the haptic actuator 1616 of the right thigh. This may be based on the angle sensor of the wearable device 100 (e.g., Figure 5b The angle formed by the two thighs is determined by sensor data obtained from the first angle sensor 524 and the second angle sensor 524-1. When the angle formed by the right thigh and the left thigh reaches the target angle 1622 at the same time the user performs the movement of raising the left thigh, tactile feedback is provided to the user 110 through the tactile actuator (not shown) of the left thigh.

[0167] Figure 16b The illustration shows the movement posture of user 110 performing mountain climbing according to an embodiment. The flexion angle of user 110's hip joint can be measured by an angle sensor included in wearable device 100, and tactile feedback can be provided by a haptic actuator (e.g., haptic actuator 1616) when the measured flexion angle reaches a target angle 1624. User 110 can intuitively perceive that the flexion angle of the hip joint has reached the target angle 1624 through haptic feedback, and can be guided to a preferred movement posture.

[0168] Figure 16c The illustration shows the motion posture when user 110 performs a plank exercise according to an embodiment. This can be achieved via inertial sensors (e.g., included in the wearable device 100) Figure 5bAn inertial sensor 522 is used to measure the torso posture of user 110. In an embodiment, when the torso position of user 110 moves upward beyond an acceptable range, haptic feedback can be output to the waist region of user 110 via haptic actuator 1612, and when the torso position of user 110 moves downward beyond an acceptable range, haptic feedback can be output to the abdominal region of user 110 via haptic actuator 1618. User 110 can intuitively perceive that the posture of the plank exercise is incorrect through haptic feedback. As described above, haptic feedback can help user 110 maintain the consistent movement posture that user 110 seeks.

[0169] Figure 16d The illustration shows the motion posture of user 110 performing a lunge according to an embodiment. The flexion angle of user 110's hip joint can be measured by an angle sensor included in wearable device 100, and tactile feedback can be provided by a haptic actuator (e.g., haptic actuator 1616) when the measured flexion angle reaches a target angle 1626. User 110 can intuitively perceive that the hip joint flexion angle has reached the target angle 1626 through the haptic feedback. Furthermore, the torso position of user 110 can be measured by an inertial sensor included in wearable device 100. When the measured torso position deviates from an acceptable angle range 1628, haptic feedback can be provided by haptic actuators (e.g., haptic actuators 1612 and 1618). For example, when user 110's torso leans forward and deviates from the acceptable angle range 1628, tactile feedback can be provided by haptic actuator 1618, and user 110 can intuitively perceive the torso position deviating from the acceptable angle range 1628 and leaning forward through the tactile feedback transmitted to the abdominal area. When user 110's torso leans backward and deviates from the acceptable angle range 1628, haptic feedback can be provided by haptic actuator 1612, and user 110 can intuitively perceive the torso position deviating from the acceptable angle range 1628 and leaning backward through the tactile feedback transmitted to the waist area. Haptic actuators 1612, 1616, and 1618 included in wearable device 100 can provide haptic feedback simultaneously or individually based on the motion scenario. Furthermore, haptic actuators 1612, 1616, and 1618 can provide haptic feedback with the same or different intensities.

[0170] Figure 16eThe illustration shows the movement posture of user 110 when performing a bird-dog exercise according to an embodiment. The leg posture of user 110 can be measured by an angle sensor included in the wearable device 100. In this embodiment, haptic feedback is output to the back of user 110's thigh via haptic actuator 1617 when user 110's leg position moves upward beyond an acceptable range 1629, and haptic feedback is output to the front of user 110's thigh via haptic actuator 1615 when user 110's leg position moves downward beyond the acceptable range 1629. Maintaining leg horizontal position may be important for user 110 during bird-dog exercises, and user 110 can intuitively perceive whether their legs are horizontal through haptic feedback.

[0171] Figure 17a and Figure 17b This is a diagram illustrating an application using haptic feedback according to an embodiment.

[0172] Haptic feedback can be used in a variety of applications. (See reference) Figure 17a User 110 wears wearable device 100 and can perform exercise plans (such as virtual hula hoop exercises) based on hula hoop exercise content displayed on display device 1710 (e.g., a television (TV) or monitor). In an embodiment, when haptic actuators 1720 are disposed in the base and waist support frame of wearable device 100, the waist orientation of user 110 can be estimated based on sensor data obtained by inertial sensors, and the user 110 can be provided with a reproducing sense of performing hula hoop exercises by controlling the haptic feedback output by each of the haptic actuators 1720 based on the estimated waist orientation. The haptic actuators 1720 may be spaced apart from each other on the circumference of user 110's abdomen. When user 110 wears wearable device 100 and performs waist rotational movements (such as rotating a hula hoop), the haptic actuators can be controlled to sequentially output haptic feedback from the haptic actuator corresponding to the outermost direction. For example, when user 110 performs a waist rotation movement and the user's waist direction approaches position 1731, tactile feedback can be output through a tactile actuator arranged at position 1731, and when user 110's waist direction approaches position 1732, tactile feedback can be output through a tactile actuator arranged at position 1732. Subsequently, when user 110's waist direction sequentially approaches positions 1733, 1734, 1735, 1736, 1737, and 1738 based on the rotation sequence, tactile feedback can be output through tactile actuators arranged at positions 1733, 1734, 1735, 1736, 1737, and 1738 respectively. Tactile feedback can then be sequentially output from position 1731. Through this control, even if user 110 does not actually rotate the hula hoop, user 110 can feel the sensation of rotating the hula hoop.

[0173] Reference Figure 17b User 110 wears wearable device 100 and can perform diaphragmatic breathing based on tactile feedback-based inhalation guidance. In an embodiment, when the tactile actuators 1720 of wearable device 100 are arranged on the waist circumference of user 110, deep inhalation or exhalation can be guided by sequentially controlling the tactile feedback to user 110. In the case of guided inhalation 1752, tactile feedback can first be output through tactile actuators located at positions 1741 and 1742, then through tactile actuators located at positions 1743 and 1744, and finally through tactile actuators located at the most forward position 1745. Through the sequential output of tactile feedback, the rhythm of deep inhalation and exhalation in the direction of abdominal expansion can be guided to user 110. In the guided exhalation scenario 1754, tactile feedback can first be output through the tactile actuator positioned at the most forward position 1745, then through the tactile actuators positioned at positions 1743 and 1744, and finally through the tactile actuators positioned at positions 1741 and 1742. Through the sequential output of tactile feedback, the user 110 can be guided to maintain a rhythm of deep inhalation and exhalation in the direction of abdominal contraction.

[0174] It should be understood that the various embodiments of this disclosure and the terminology used therein are not intended to limit the technical features set forth herein to particular embodiments, but rather to include various changes, equivalents, or substitutions to the respective embodiments. Similar reference numerals may be used for similar or related components in conjunction with the description of the accompanying drawings. It will be understood that, unless the relevant context explicitly indicates otherwise, the singular form of a noun corresponding to an item may include one or more things. As used herein, “A or B,” “at least one of A and B,” “at least one of A or B,” “A, B, or C,” “at least one of A, B, and C,” and “at least one of A, B, or C” may include any one or all possible combinations of the items enumerated together with the corresponding phrase in the phrase. Terms such as “first” and “second” or “first” and “second” may be used to simply distinguish one component from another and do not limit the components in other respects (e.g., importance or order). It will be understood that, whether or not the terms “operably” or “communically” are used, if an element (e.g., a first element) is referred to as being “combined” with, “combined to”, “connected to”, or “attached to” another element (e.g., a second element), it means that the first element can be directly (e.g., wiredly) connected to the other element, wirelessly connected to the other element, or connected to the other element via a third element.

[0175] As used in conjunction with various embodiments of this disclosure, the term "module" may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with other terms (e.g., "logic," "logic block," "part," or "circuit"). A module may be a single integrated component adapted to perform one or more functions, or the smallest unit or part of such a single integrated component. For example, according to embodiments, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Therefore, each "module" in this disclosure may include a circuit / circuit system.

[0176] Software may include computer programs, code segments, instructions, or combinations thereof to independently or uniformly instruct or configure a processing device to operate as needed. Software and data may be permanently or temporarily embodied 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 the processing device. Software may also be distributed across a network-connected computer system, such that the software is stored and executed in a distributed manner. Software and data may be stored on one or more non-transitory computer-readable recording media. The embodiments described herein can be implemented as software including one or more instructions stored in a machine-readable storage medium. For example, a machine's processor may invoke and execute at least one of one or more instructions stored in the storage medium. This allows the machine to be operated to perform at least one function according to the invoked at least one instruction. One or more instructions may include code generated by a compiler or code executable by an interpreter. Machine-readable storage media may be provided in the form of non-transitory storage media. Here, the term "non-transitory" simply means that the storage medium is a tangible device and does not include signals (e.g., electromagnetic waves), but the term does not distinguish whether data is semi-permanently or temporarily stored in the storage medium.

[0177] According to an embodiment, the method of the embodiment may be included and set 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 read-only optical disc (CD-ROM)) or via an app store (e.g., the Play Store). TM Online distribution (e.g., download or upload) or direct distribution between two user devices (e.g., smartphones). If distributed online, at least a portion of the computer program product may be temporarily generated or at least temporarily stored in a machine-readable storage medium, such as the memory of a manufacturer's server, an app store's server, or a relay server.

[0178] According to embodiments, each component (e.g., a module or program) described above may include a single entity or multiple entities, and some of the multiple entities may be individually located in different components. According to various embodiments, one or more of the components described above 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 embodiments, the integrated component may still perform one or more functions of the corresponding components in the multiple components in the same or similar manner as each of the multiple components performed its function before integration. According to embodiments, operations performed by a module, program, or other component may be performed sequentially, in parallel, repeatedly, or heuristically, or may be run in a different order or one or more operations may be omitted, or one or more other operations may be added.

[0179] Although this disclosure has been illustrated and described with reference to various embodiments, it should be understood that these embodiments are for illustrative purposes and not for limitation. Those skilled in the art will also understand that various changes in form and detail may be made without departing from the true spirit and full scope of this disclosure, including the scope of the appended claims and their equivalents. Furthermore, it should be understood that the embodiments described herein can be used in conjunction with other embodiments of this disclosure.

Claims

1. A haptic feedback control method for controlling haptic feedback of a wearable device (100), the method comprising: When the wearable device (100) is used to execute an exercise plan, sensor data including the user's motion information is received from the wearable device (100); The threshold range for tactile intensity of tactile feedback is determined based on at least one of the user's profile data, the exercise program's motion attribute data, and the sensor data. The tactile intensity to be provided to the user is determined within a defined threshold range for tactile intensity. as well as When a haptic feedback event occurs, a control signal configured to provide haptic feedback to the user at a determined haptic intensity is sent.

2. The method as described in claim 1, wherein, The steps to determine the threshold range for tactile intensity include: A first threshold is determined based on at least one of the user's user profile data, the exercise program's exercise attribute data, and the sensor data; and At least by applying weights to a determined first threshold, a second threshold within the threshold range is determined. The threshold range for tactile intensity corresponds to the range between the first threshold and the second threshold.

3. The method as claimed in claim 1 or claim 2, wherein, The steps to determine the threshold range for tactile intensity include: As the intensity of the exercise in the exercise plan increases, the lower limit of the threshold range for tactile intensity is determined to become higher; and / or As users age, the lower limit of the threshold range for tactile intensity is determined to increase.

4. The method according to any one of claims 1 to 3, wherein, The lower limit of the threshold range for tactile intensity is greater when the user is male than when the user is female.

5. The method according to any one of claims 1 to 4, wherein, The operation of determining a threshold range for tactile intensity includes adjusting the determined threshold range for tactile intensity when at least one of the motion attribute data and the sensor data changes while the motion plan is being executed.

6. The method according to any one of claims 1 to 5, wherein, The procedures for determining tactile intensity include: Extract multiple tactile intensity values ​​within a threshold range related to tactile intensity; and One of the extracted tactile intensity values ​​is selected as the tactile intensity value to be provided to the user as tactile feedback.

7. The method according to any one of claims 1 to 6, further comprising: Determine whether the user perceives tactile feedback; as well as In response to determining that the user does not perceive tactile feedback, the threshold range for tactile intensity is adjusted.

8. The method according to any one of claims 1 to 7, wherein, Haptic feedback provides an event occurrence in at least one of the following situations: the hip joint angle reaches a reference angle based on the user's movement posture, or the user's movement posture deviates from the reference posture.

9. A non-transitory computer-readable storage medium for storing instructions, wherein, The instructions, when run by at least one processor, cause the at least one processor to perform the method as described in any one of claims 1 to 8, individually and / or jointly.

10. An electronic device (210), comprising: At least one processor (710) includes processing circuitry; as well as The communication module (730), including communication circuitry, is configured to communicate with the wearable device (100) under the control of the at least one processor (710). The at least one processor (710) is configured individually and / or collectively as follows: When an exercise plan is executed via the wearable device (100), sensor data including the user's motion information is received from the wearable device (100) at least via the communication module. The threshold range for tactile intensity of tactile feedback is determined based on at least one of the user's user profile data, the exercise program's motion attribute data, and the sensor data. Within a defined threshold range for tactile intensity, the tactile feedback to be provided to the user is determined, and Based on the occurrence of an event provided by tactile feedback, the control sends a control signal configured to provide tactile feedback to the user at a determined tactile intensity via at least the communication module (730).

11. The electronic device (210) as claimed in claim 10, wherein, The at least one processor (710) including the processing circuitry is configured individually and / or collectively as follows: A first threshold is determined based on at least one of the user's profile data, the exercise plan's exercise attribute data, and the sensor data, forming a threshold range. The second threshold of the threshold range is determined at least by applying weights to a determined first threshold, and The threshold range for tactile intensity corresponds to the range between the first threshold and the second threshold.

12. The electronic device (210) as claimed in claim 10 or claim 11, wherein, The at least one processor (710) including the processing circuitry is individually and / or collectively configured to adjust a determined threshold range for tactile intensity when at least one of the motion attribute data and the sensor data changes while the motion plan is being executed.

13. The electronic device (210) according to any one of claims 10 to 12, wherein, The at least one processor (710) including the processing circuitry is configured individually and / or collectively as follows: Determine whether the user perceives haptic feedback, and In response to determining that the user does not perceive tactile feedback, the threshold range for tactile intensity is adjusted.

14. The electronic device (210) according to any one of claims 10 to 13, wherein, The at least one processor (710) including the processing circuitry is individually and / or collectively configured to generate a control signal configured to reduce the period of a tactile pattern provided by the wearable device (100) when a walking exercise plan is executed and the target speed of the walking exercise increases.

15. A wearable device (100), comprising: Driver module (530; 530-1), including the motor (534; 534-1), configured to generate torque; The torque transmission frame (50; 55) is configured to transmit the generated torque to the user's legs; Thigh fastener (1; 2), is connected to the torque transmission frame (50; 55), and is configured to connect the torque transmission frame (50; 55) to the user's leg; The sensor module (520) includes sensors and is configured to acquire sensor data including user motion information when performing an exercise plan using the wearable device (100); The haptic module (560) includes a haptic actuator and is configured to provide haptic feedback to the user; The communication module (516), including communication circuitry, is configured to receive tactile intensity data from the electronic device (210), including information about the intensity of tactile feedback. as well as The processor (512), including processing circuitry, is configured to control the tactile intensity generated by the tactile actuator based on information about the tactile intensity included in the tactile intensity data. The maximum intensity and / or high intensity of the tactile intensity generated by the tactile actuator are included within a threshold range for tactile intensity determined based on at least one of the user profile data, the motion attribute data of the motion plan, and the sensor data.

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