Wearable device for controlling time delay parameter for torque output delay and operating method thereof

Abstract

The wearable device can acquire a joint angle value of a user by using an angle sensor, determine a stride time value of the user based on the acquired joint angle value, determine a delay value related to a delay of a torque output of a driving module based on at least one of a target value related to an ideal change time of a torque rotation direction of the driving module, the determined stride time value, and a gain value related to a torque intensity of the driving module, and control the driving module such that the torque is output from the driving module with a delay corresponding to the determined delay value.

Description

Technical Field

[0001] Specific example embodiments relate to a wearable device and / or a method for controlling a time delay parameter for delaying torque output. Background Technology

[0002] Assistive devices can refer to devices and / or equipment that help a user perform movements or mobility. Assistive devices can be worn on a user's body and can provide the user with the power needed to perform movements or mobility. Summary of the Invention

[0003] Technical solution According to an example embodiment, a wearable device may be provided for controlling a time delay parameter (e.g., a delay value) for delaying torque output.

[0004] According to an example embodiment, a wearable device may include: a drive module, including a motor and / or circuitry; an angle sensor (which may or may not be part of the drive module); and a processor, including processing circuitry. The processor may be configured to: obtain a user's joint angle value using the angle sensor; determine a user's step time value based on the obtained joint angle value; determine a delay value related to a delay in the torque output of the drive module based on at least one of a target value associated with an ideal moment for changing the torque rotation direction of the drive module, the determined step time value, and / or a gain value associated with the torque intensity of the drive module; and control the drive module such that the torque is delayed by the determined delay value and output from the drive module.

[0005] According to an example embodiment, a method of operating a wearable device may include: obtaining a user's joint angle value; determining a user's step time value based on the obtained joint angle value; determining a delay value related to a delay in the torque output of the drive module based on at least one of a target value related to an ideal moment for changing the torque rotation direction of a drive module of the wearable device, the determined step time value, and / or a gain value related to the torque intensity of the drive module; and outputting torque by causing the torque delay to be determined by the delay value. Attached Figure Description

[0006] The above and other aspects, features, and advantages of specific exemplary embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: Figure 1a This is an overview diagram showing a wearable device worn on a user's body according to an example embodiment; Figure 1b This is a diagram illustrating an example of a system including a wearable device according to an exemplary embodiment; Figure 2a This is a rear schematic diagram of a wearable device according to an example embodiment; Figure 2b This is a left-side view of a wearable device according to an example embodiment; Figure 3a and Figure 3b This is a block diagram illustrating an example configuration of a wearable device according to an example embodiment; Figure 4 This is a diagram illustrating the interaction between a wearable device and an electronic device according to an example embodiment; Figure 5 This is a diagram illustrating an example of the operation of a wearable device according to an exemplary embodiment; Figure 6 This is a diagram illustrating an example configuration of a wearable device according to an exemplary embodiment; Figure 7 and Figure 8 This is a diagram illustrating an example of a wearable device counting a user's steps according to an exemplary embodiment; Figure 9 This is a diagram illustrating an example of how a wearable device determines a user's stride time according to an exemplary embodiment; Figure 10 and Figure 11 This is a diagram illustrating an example of a time indicator for a wearable device according to an example embodiment; Figure 12 and Figure 13 These are illustrations showing other examples of time indicators for a wearable device according to an example embodiment; Figure 14 and Figure 15 This is a diagram illustrating an example of a wearable device determining a delay value according to an example embodiment; Figure 16 This is a flowchart illustrating a method of operating a wearable device according to an example embodiment. Detailed Implementation

[0007] The detailed structural or functional descriptions below are provided as examples only, and various changes and modifications can be made to the embodiments. 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 scope of the ideas and techniques of this disclosure.

[0008] Although terms such as first, second, etc., are used to describe various components, components are not limited to these terms. These terms should only be used to distinguish one component from another. For example, the first component may be referred to as the second component, and similarly, the second component may be referred to as the first component.

[0009] It should be noted that if a component is described as being “connected,” “joined,” or “attached” to another component, then at least a third component may be “connected,” “joined,” or “attached” between the first and second components, even though the first component may be directly connected, joined, or attached to the second component. Therefore, for example, the term “connected” as used herein encompasses both direct and indirect connections.

[0010] Unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. It will also be understood that the term "comprising / including," as used herein, specifies the presence of the stated feature, integer, step, operation, element, component, or combination thereof, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0011] 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. Terms such as those defined in common dictionaries shall be interpreted as having the same meaning as in the context of the relevant field, and shall not be interpreted in an idealized or overly formal sense unless expressly defined herein.

[0012] In the following description, embodiments will be described in detail with reference to the accompanying drawings. When describing embodiments with reference to the accompanying drawings, the same reference numerals refer to the same elements, and repeated descriptions will be omitted.

[0013] Figure 1a This is an overview diagram showing a wearable device worn on a user's body according to an embodiment.

[0014] Reference Figure 1a Wearable device 120 can be a device worn on a user's body to assist the user in walking, moving, and / or working. In embodiments, the term "wearable device" can be replaced by "wearable robot," "walking aid," or "movement aid." The user can be human or animal, but is not limited thereto. Wearable device 120 can be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide external forces (e.g., assistive forces and / or resistance) to the user's body movements. Assistive forces can be forces applied in the same direction as the user's body movement, and resistance can be forces applied in the opposite direction to the user's body movement. The term "resistance" can also be referred to as "motion load."

[0015] When the wearable device 120 performs its walking assistance function to help the user walk, it can assist the user's legs by providing auxiliary force to the user's body, thereby assisting the user in walking. The wearable device 120 can improve the user's walking ability by providing the force required for walking, enabling the user to walk independently or for extended periods. The wearable device 120 can also help improve abnormal walking habits or postures of walkers.

[0016] When the wearable device 120 performs a function to enhance the user's exercise performance, it can either impede the user's body movements or provide resistance to those movements. When the wearable device 120 is, for example, a hip-mounted device, it can provide exercise load to the user's body movements while being worn on the legs, thereby enhancing the user's exercise performance. The user can perform walking movements while wearing the wearable device 120. In this case, the wearable device 120 can apply resistance to leg movements during the user's walking motion.

[0017] In various embodiments, for ease of description, an example of a hip-type wearable device 120 worn on the waist and legs is described. However, as mentioned above, the wearable device 120 can be worn on another body part (e.g., upper arm, forearm, hand, calf, and foot) other than the waist and legs (especially the thigh), and the shape and configuration of the wearable device 120 can vary depending on the body part on which the wearable device 120 is worn.

[0018] Figure 1b This is a diagram illustrating an example of a system including a wearable device according to an embodiment.

[0019] Reference Figure 1b The electronic device 110 can communicate with and remotely control the wearable device 120. The electronic device 110 can be of various types. The electronic device 110 may include, but is not limited to, portable communication devices (e.g., smartphones), computer devices, portable multimedia devices, or home appliances.

[0020] According to an embodiment, electronic device 110 and / or wearable device 120 may be connected to another wearable device 130. For example, wearable device 120, electronic device 110, and another wearable device 130 may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device 130 may include, for example, wireless headphones 131, smartwatch 132, or smart glasses 133, but is not limited thereto. Smartwatch 132 may be a watch-type wearable device (or watch-type electronic device), and smart glasses 133 may be an eyeglass-type wearable device (or eyeglass-type electronic device).

[0021] In this embodiment, the smartwatch 132 can control the wearable device 120. When the smartwatch 132 is connected to the electronic device 110 via a wireless communication link and the electronic device 110 is connected to the wearable device 120 via a wireless communication link, the smartwatch 132 can control the wearable device 120 through the electronic device 110. The embodiment is not limited to this, and the smartwatch 132 can be directly connected to and control the wearable device 120.

[0022] In one embodiment, electronic device 110 may send a control signal to another wearable device 130 instructing the user to provide feedback corresponding to the state of wearable device 120. The other wearable device 130 may, in response to receiving the control signal, provide (or output) feedback (e.g., at least one of visual, auditory, or tactile feedback) corresponding to the state of wearable device 120.

[0023] In an embodiment, electronic device 110 may communicate with server 140 using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., fourth-generation (4G), 5G, etc.).

[0024] In one embodiment, electronic device 110 may receive user profile information from a user. The profile information may include at least one or a combination of, for example, age, gender, height, weight, or body mass index (BMI). Electronic device 110 may send the user profile information to server 140.

[0025] In an embodiment, electronic device 110 and / or wearable device 120 may request the user to perform one or more target actions to determine (or check) the user's motor abilities. One or more target actions may include, for example, knee raises, leg extensions, etc. A knee raise may be an action in which the user starts in a standing position with both feet on the ground, raises their knee as high as possible without bending their back, and then returns to a standing position. A leg extension may be an action in which the user starts in a standing position with their hands on a wall, raises their leg as far back as possible without bending their back, and then returns to a standing position.

[0026] In one embodiment, the wearable device 120 may use sensors (e.g., an inertial measurement unit (IMU)) to obtain motion information of a user performing a target action and send the obtained motion information to the electronic device 110. The electronic device 110 may then send the obtained motion information to the server 140.

[0027] In one embodiment, server 140 can determine the user's target exercise volume for each type of exercise (e.g., strength training, balance training, and aerobic exercise) using profile information and motion information received from electronic device 110. Server 140 can then send the target exercise volume for each type of exercise to electronic device 110.

[0028] In one embodiment, server 140 may include a database storing information about multiple exercise plans to be provided to a user via wearable device 120. For example, server 140 may manage user accounts for electronic device 110 or wearable device 120. Server 140 may store and manage exercise plans executed by the user and the results of those executions in association with the user account.

[0029] In embodiments, electronic device 110 and / or server 140 may provide users with various exercise plans to achieve exercise goals in various exercise environments desired by the user. Exercise goals may include at least one or a combination of, for example, improved muscle strength, improved physical fitness, improved cardiovascular endurance, improved core stability, improved flexibility, or improved symmetry.

[0030] In this embodiment, electronic device 110 and / or server 140 may recommend exercise plans to a user to achieve the user's exercise goals. Each exercise plan may include one or more exercise modes. For example, each exercise mode may be a physical movement for achieving a predetermined exercise goal. For example, running may be an exercise mode for improving the user's cardiovascular endurance. For example, lunges may be an exercise mode for improving the user's core stability. The combination of multiple exercise modes forming each exercise plan may vary according to the user's exercise goals. Even for the same exercise goal, electronic device 110 may provide the user with various exercise plans based on combinations of multiple exercise modes.

[0031] In this embodiment, multiple exercise patterns can be stored as a database in the electronic device 110 or the server 140. The electronic device 110 or the server 140 can generate multiple exercise plans based on various information about the user and, taking into account the user's exercise goals or performance status, recommend a target exercise plan from among the multiple plans. For example, the electronic device 110 or the server 140 can determine the target exercise plan to be recommended to the user based on at least one of the user's exercise goals, exercise history, or exercise performance results. Therefore, even if the user performs exercise with the same exercise goals every day, a new exercise plan can be recommended to the user, and by performing the new exercise plan, the user can feel as if they are performing an exercise different from the previous one.

[0032] Figure 2a This is a rear schematic diagram of a wearable device according to an embodiment. Figure 2b This is a left-side view of the wearable device according to an embodiment.

[0033] Figure 2a and Figure 2b The wearable device 200 shown can be an example of the wearable device 120.

[0034] Reference Figure 2a The wearable device 200 according to the embodiment may include a waist support module 10, a waist frame 20, a drive module 30, thigh fastening portions 40a and 40b, a main strap 50, and thigh frames 70a and 70b.

[0035] According to an embodiment, when a user is wearing the wearable device 200, the lumbar support module 10 can be placed on the user's lumbar region (lower back region). The lumbar support module 10 can be installed in the user's lumbar region to provide cushioning and support to the user's lumbar region. When the user is wearing the wearable device 200, the lumbar support module 10 can be suspended in the hip region (hip area) to prevent or reduce the possibility of the wearable device 200 separating downwards due to gravity. When the user is wearing the wearable device 200, the lumbar support module 10 can distribute some of the weight of the wearable device 200 to the user's lumbar region. The lumbar support module 10 can be directly or indirectly connected to the lumbar frame 20. Connecting elements (not shown) that can be connected to the lumbar frame 20 can be formed at both ends of the lumbar support module 10.

[0036] According to an embodiment, the lumbar support module 10 may include an illumination unit 60. The illumination unit 60 may include multiple light sources (e.g., light-emitting diodes (LEDs)). The illumination unit 60 can be controlled by a processor (e.g., as described below). Figure 3a and Figure 3b The processor 310 controls the illumination. According to an embodiment, the processor can control the illumination unit 60 so that the illumination unit 60 can provide (or output) visual feedback to the user corresponding to the state of the wearable device 200 (e.g., activation state, sensing state, etc.).

[0037] According to an embodiment, the lumbar frame 20 may extend from both ends of the lumbar support module 10. The user's lumbar region may be accommodated within the lumbar frame 20. The lumbar frame 20 may include at least one rigid beam. Each beam may be a curved shape with a predetermined curvature to surround the user's lumbar region. The main strap 50 may be directly or indirectly connected to the ends of the lumbar frame 20. A drive module 30 may be mounted on the lumbar frame 20. The lumbar frame 20 may include connectors (not shown) for mounting the drive module 30 thereon.

[0038] According to an embodiment, the driving module 30 may include a first driving module 30a and a second driving module 30b, wherein when the user is wearing the wearable device 200, the first driving module 30a is located on the user's left side, and when the user is wearing the wearable device 200, the second driving module 30b is located on the user's right side.

[0039] According to an embodiment, the first drive module 30a may include a first angle sensor (e.g., a first encoder or a first Hall sensor) for measuring the angle of a user's first joint (e.g., the angle of the left hip joint). The second drive module 30b may include a second angle sensor (e.g., a second encoder or a second Hall sensor) for measuring the angle of a user's second joint (e.g., the angle of the right hip joint).

[0040] According to an embodiment, a first drive module 30a and a second drive module 30b can generate torque. The first drive module 30a can be directly or indirectly connected to a first thigh frame 70a, and the second drive module 30b can be directly or indirectly connected to a second thigh frame 70b. The first drive module 30a can provide the generated torque to the user's left leg via the first thigh frame 70a. The first thigh frame 70a can provide external force to the user's left leg by rotating via the torque generated by the first drive module 30a. The second drive module 30b can provide the generated torque to the user's right leg via the second thigh frame 70b. The second thigh frame 70b can provide external force to the user's right leg by rotating via the torque generated by the second drive module 30b.

[0041] According to an embodiment, when the wearable device 200 is worn on a user's legs, thigh frames 70a and 70b can support the user's legs (e.g., thighs). Thigh frames 70a and 70b may include a first thigh frame 70a for supporting the user's left leg and a second thigh frame 70b for supporting the user's right leg.

[0042] According to an embodiment, thigh frames 70a and 70b can transmit torque generated by, for example, drive modules 30a and 30b to a user's thigh. When one end of thigh frames 70a and 70b is connected to drive modules 30a and 30b for rotation and the other end of thigh frames 70a and 70b is connected to thigh fastening portions 40a and 40b, thigh frames 70a and 70b can transmit torque generated by drive modules 30a and 30b to the user's thigh while supporting the user's thigh. For example, thigh frames 70a and 70b can push or pull the user's thigh. Thigh frames 70a and 70b can extend along the longitudinal direction of the user's thigh. Thigh frames 70a and 70b can bend to surround at least a portion of the outer periphery of the user's thigh. Each "drive module" herein may include a motor and / or drive circuitry, and optionally include an angle sensor. In various example embodiments, the angle sensor may or may not be part of the drive module.

[0043] According to an embodiment, thigh fastening portions 40a and 40b can be directly or indirectly connected to thigh frames 70a and 70b, and can fasten thigh frames 70a and 70b to the thigh. Thigh fastening portions 40a and 40b may include a first thigh fastening portion 40a for fastening the first thigh frame 70a to the user's left thigh and a second thigh fastening portion 40b for fastening the second thigh frame 70b to the user's right thigh.

[0044] According to an embodiment, the first thigh fastening portion 40a may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening portion 40b may include a second cover, a second fastening frame, and a second strap. The first and second covers may be disposed on one side of the user's thigh. The first and second covers may be disposed on the front surface of the user's thigh. The first and second covers may be disposed along the outer periphery of the user's thigh. The first and second covers may extend from the other ends of the thigh frames 70a and 70b to both sides and may include curved surfaces corresponding to the user's thigh. One end of the first and second covers may be directly or indirectly connected to the fastening frame, and the other end of the first and second covers may be directly or indirectly connected to the strap.

[0045] According to an embodiment, the first and second fastening frames may be arranged, for example, around at least some portions of the outer periphery of the user's thigh, thereby preventing or reducing the possibility of the user's thigh separating from the thigh frames 70a and 70b. The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0046] According to an embodiment, a first band may surround the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and a second band may surround the remaining portion of the user's right 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).

[0047] According to an embodiment, the main strap 50 may be directly or indirectly connected to the waist frame 20. The main strap 50 may include a first main strap 50a and a second main strap 50b, wherein the first main strap 50a is configured to surround the user's left abdomen when the user is wearing the wearable device 200, and the second main strap 50b is configured to surround the user's right abdomen when the user is wearing the wearable device 200. The first main strap 50a may be formed to have a length longer than, but is not limited to, the length of the second main strap 50b, and the first main strap 50a may be formed to have a length the same as or shorter than the length of the second main strap 50b. The first main strap 50a and the second main strap 50b may be directly or indirectly connected to the two ends of the waist frame 20, respectively. When the user's body is inserted in the direction in which it is accommodated in the wearable device 200, the main strap 50 may bend in the direction surrounding the user's abdomen. When the user is wearing the wearable device 200, the first main strap 50a and the second main strap 50b may be connected to each other. When a user is wearing the wearable device 200, the main strap 50 can distribute a portion of the weight of the wearable device 200 to the user's abdomen.

[0048] Reference Figure 2b The lumbar support module 10 can be mounted on the user's back in the lumbar region and suspended over the user's hip region, thereby supporting some of the weight of the wearable device 200. The first drive module 30a can be positioned on the user's left lumbar region. The lumbar frame 20 can extend from the end of the lumbar support module 10 and be inclined toward the first drive module 30a. The first main strap 50a mounted on the lumbar frame 20 can wrap around the user's left abdomen.

[0049] Figure 3a and Figure 3b This is a block diagram illustrating an example configuration of a wearable device according to an embodiment.

[0050] According to an embodiment, Figure 3a The wearable device 300 may include a processor 310, angle sensors 320 and 320-1, a battery 330, a power management integrated circuit (PMIC) 340, a memory 350, an IMU 360, motor driver circuits 370 and 370-1, a motor (or actuator) 380 and 380-1, and a communication module 390.

[0051] Despite Figure 3aThe diagram shows multiple angle sensors 320 and 320-1, multiple motor driver circuits 370 and 370-1, and multiple motors 380 and 380-1, but this is only an example. Figure 3b The wearable device 300-1 shown in the example may include a single angle sensor 320, a single motor driver circuit 370, and a single motor 380. Furthermore, according to embodiments, wearable devices 300 and 300-1 may include multiple processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part wearing the wearable devices 300 and 300-1.

[0052] Figure 3a Wearable devices 300 and Figure 3b The wearable device 300-1 can be an example of wearable device 120 and wearable device 200.

[0053] According to an embodiment, the angle sensor 320, the motor driver circuit 370, and the motor 380 may be included. Figure 2a The first drive module 30a may include the angle sensor 320-1, the motor driver circuit 370-1, and the motor 380-1. Figure 2a In the second drive module 30b.

[0054] According to an embodiment, angle sensor 320 and angle sensor 320-1 may each correspond to a Hall sensor, but are not limited thereto.

[0055] According to an embodiment, the angle sensor 320 can measure or sense the angle of the first thigh frame 70a (or the angle of the user's first joint (e.g., the left hip joint, etc.)). The angle sensor 320 can send the measurement result (e.g., the angle value of the first thigh frame 70a) to the processor 310.

[0056] According to an embodiment, angle sensor 320-1 can measure or sense the angle of the second thigh frame 70b (or the angle of the user's second joint (e.g., the right hip joint)). Angle sensor 320 can send the measurement result (e.g., the angle value of the second thigh frame 70b) to processor 310.

[0057] According to an embodiment, angle sensor 320 and angle sensor 320-1 can additionally measure the user's knee angle and ankle angle based on the position of angle sensor 320 and angle sensor 320-1.

[0058] According to embodiments, wearable devices 300 and 300-1 may include potentiometers. The potentiometers can sense R-axis joint angles, L-axis joint angles, R-axis joint angular velocities, and L-axis joint angular velocities based on the user's walking movements. In this example, the R-axis and L-axis may be reference axes for the user's right and left legs, respectively. For example, the R / L axes may be set perpendicular to the ground and configured such that the front of the body has negative values ​​and the back of the body has positive values.

[0059] According to an embodiment, the PMIC 340 can charge the battery 330 using power supplied from an external power source. For example, an external power source and wearable devices 300 and 300-1 can be connected via a cable (e.g., a Universal Serial Bus (USB) cable, etc.). The PMIC 340 can receive power from the external power source via the cable and use the received power to charge the battery 330. According to an embodiment, the PMIC 340 can charge the battery 330 via a wireless charging method.

[0060] According to an embodiment, PMIC 340 can send power stored in battery 330 to components (e.g., processor 310, memory 350, IMU 360, communication module 390, etc.) in wearable devices 300 and 300-1. PMIC 340 can, for example, adjust the power stored in battery 330 to a voltage or current level suitable for the components in wearable device 300. PMIC 340 may include, for example, a converter (e.g., a DC-DC converter) or regulator (e.g., a low dropout (LDO) regulator or switching regulator) configured to perform the above adjustments.

[0061] According to an embodiment, PMIC 340 can determine the state information of battery 330 (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheating, short circuit, or swelling) and send the state information of battery 330 to processor 310. Processor 310 can control the provision of the state information of battery 330 to the user. For example, processor 310 can output the state information of battery 330 through at least one of a sound output module (e.g., a speaker), a vibration output module (e.g., a vibration motor or haptic motor), or a display module (e.g., a display or lighting unit 60). For example, processor 310 can send the state information of battery 330 to electronic device 110 through communication module 390, and electronic device 110 can display the state information of battery 330 on a display.

[0062] According to an embodiment, IMU 360 can obtain motion information of wearable devices 300 and 300-1 (or the user). For example, IMU 360 can obtain rotation angle values ​​(e.g., X-axis rotation angle, Y-axis rotation angle, and Z-axis rotation angle) of the lumbar support module 10 (or the user). The X-axis rotation angle can be, for example, the angle of rotation of the lumbar support module 10 about the X-axis, the Y-axis rotation angle can be, for example, the angle of rotation of the lumbar support module 10 about the Y-axis, and the Z-axis rotation angle can be, for example, the angle of rotation of the lumbar support module 10 about the Z-axis. IMU 360 can send the obtained motion information (e.g., rotation angle values) to processor 310. According to an embodiment, IMU 360 can, for example, obtain three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration values ​​and angular acceleration values ​​of the lumbar support module 10 (or the user), and can send the obtained acceleration values ​​and angular acceleration values ​​to processor 310. The processor 310 can determine the rotation angle value of the lumbar support module 10 (or the user) based on at least some of the obtained acceleration values ​​and angular acceleration values.

[0063] According to an embodiment, the processor 310 can control the overall operation of wearable devices 300 and 300-1.

[0064] According to an embodiment, the processor 310 may be directly or indirectly operably connected to at least one or all of the angle sensors 320 and 320-1, the memory 350, or the IMU.

[0065] According to an embodiment, processor 310 may, for example, control components (e.g., motor driver circuits 370 and 370-1, etc.) in wearable devices 300 and 300-1 by running software (e.g., programs or instructions) stored in memory 350, and perform various data processing or calculations. As at least part of the data processing or calculations, processor 310 may store data received from other components (e.g., IMU 360, angle sensors 320 and 320-1, etc.) in memory 350, and process instructions or data stored in memory 350.

[0066] According to an embodiment, motor driver circuits 370 and 370-1 can control motors 380 and 380-1 respectively under the control of processor 310, and each of motors 380 and 380-1 can generate torque through this control.

[0067] 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 comprising 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, but not limited to, cases where one processor performs some of the described functions while another processor performs other of the described functions, and cases where a single processor can perform all of the described functions. Additionally, 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 execute program instructions to implement or perform various functions.

[0068] According to an embodiment, the communication module 390, including communication circuitry, can support the establishment of a direct (or wired) communication channel or a wireless communication channel between the wearable device 300, 300-1 and an external electronic device, and supports communication via the established communication channel. The communication module may include one or more communication processors configured to support direct (or wired) or wireless communication. According to an embodiment, the communication module 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) or a wired communication module (e.g., a local area network (LAN) communication module or a power line communication (PLC) module). A corresponding one of these communication modules can communicate via a first network (e.g., a short-range communication network such as Bluetooth). TM It communicates with external electronic devices via Wi-Fi Direct, Infrared Data Association (IrDA) or a second network (e.g., traditional cellular networks, 5G networks, next-generation communication networks, the Internet or computer networks). These various types of communication modules can be implemented as a single component (e.g., a single chip) or as multiple components that are separate from each other (e.g., multiple chips).

[0069] According to embodiments, wearable devices 300 and 300-1 may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., Figure 2a (Lighting unit 60). Processor 310 can control the display module, enabling the display module to provide visual feedback to the user.

[0070] According to an embodiment, wearable devices 300 and 300-1 may include a sound output module. The sound output module may include, for example, one or more speakers. Processor 310 may control the sound output module such that it can provide auditory feedback to the user.

[0071] According to embodiments, wearable devices 300 and 300-1 may include a vibration output module. The vibration output module may include, for example, one or more vibration motors or one or more haptic motors. Processor 310 may control the vibration output module such that it can provide tactile feedback (or haptic feedback) to the user.

[0072] According to an embodiment, at least one or a combination of the processor 310, battery 330, PMIC 340, memory 350, IMU 360, communication module 390 including communication circuitry, display module including a display, sound output module, or vibration output module may be located in Figure 2a and Figure 2b The lumbar support module 10. Each “module” in this document may include circuitry.

[0073] Figure 4 This is a diagram illustrating the interaction between a wearable device and an electronic device according to an embodiment.

[0074] Reference Figure 4 Wearable device 120 can communicate with electronic device 410 (e.g., a smartphone or smartwatch). For example, electronic device 410 can be a user terminal for a user of wearable device 120 or a controller device dedicated to wearable device 120. According to embodiments, wearable device 120 and electronic device 410 can communicate via short-range wireless communication (e.g., Bluetooth). TM They can connect to each other (or communicate via Wi-Fi).

[0075] According to an embodiment, the electronic device 410 can check the status of the wearable device 120 or run an application to control or operate the wearable device 120. The operation of the application can be controlled by displaying a user interface (UI) screen on the display 412 of the electronic device 410 to determine the operation mode of the wearable device 120 or to control the operation of the wearable device 120. The UI may be, for example, a graphical user interface (GUI).

[0076] According to an embodiment, a user can input commands to control the operation of the wearable device 120 (e.g., commands instructing the wearable device 120 to operate in an assist mode that generates assistive force or commands instructing the wearable device 120 to operate in a resistance mode that generates resistance) or commands to change the settings of the wearable device 120 via a GUI screen on the display 212 of the electronic device 410. The electronic device 410 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 120. The wearable device 120 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 sensors of the wearable device 120 (e.g., angle sensors 320 and 320-1 and / or IMU 360) to the electronic device 410. The electronic device 410 can provide the user with result information derived by analyzing the control results and / or sensor data (e.g., walking ability information, exercise ability information, or exercise posture evaluation information) via the GUI screen.

[0077] Figure 5 This is a diagram illustrating an example of the operation of a wearable device according to an embodiment.

[0078] Figure 5 The diagram shows a first position 501 at the first time point when the user's right foot touches the ground, a second position 503 at the second time point when the user's left foot touches the ground after the first time point, a third position 505 at the third time point when the user's right foot touches the ground again after the second time point, and a fourth position 507 at the fourth time point when the user's left foot touches the ground again after the third time point.

[0079] exist Figure 5 In the example shown, the length from the first position 501 where the user's right foot touches the ground to the third position 505 where the user's right foot touches the ground corresponds to the user's right stride length, and the difference between the third time point and the first time point corresponds to the user's right stride time. The length from the second position 503 where the user's left foot touches the ground to the fourth position 507 where the user's left foot touches the ground corresponds to the user's left stride length, and the difference between the fourth time point and the second time point corresponds to the user's left stride time.

[0080] exist Figure 5 In the example shown, a user's step can be, for example, the action of the user's first foot touching the ground and then touching the ground again. For example, the action of the user's right foot being in the first position 501 and then in the third position 505 can correspond to a step. The action of the user's left foot being in the second position 503 and then in the fourth position 507 can correspond to a step.

[0081] As described below, according to an embodiment, the wearable device 120 can count the user's steps based on the user's hip joint angle. The counted steps may include steps from the left foot and steps from the right foot.

[0082] According to an embodiment, when the user's hip joint rotates forward from the line 510 in the direction of gravity (or when the user's leg is in front of the line 510 in the direction of gravity), the user's hip joint angle may have a negative value. When the user's hip joint rotates backward from the line 510 in the direction of gravity (or when the user's leg is behind the line 510 in the direction of gravity), the user's hip joint angle may have a positive value. For example, in Figure 5 In the example shown, the user's right hip joint can be in a state of forward rotation from line 510 in the direction of gravity, therefore the right hip joint angle q r It can have negative values, and the user's left hip joint can be in a state of rearward rotation from line 510 in the direction of gravity, therefore the left hip joint angle q l It can have positive values.

[0083] According to an embodiment, the wearable device 120 can measure the user's left hip joint angle to obtain first raw angle data (e.g., q l _raw(t) ), and can measure the user's right hip angle to obtain a second raw angle data (e.g., q l _ raw(t) ).

[0084] According to an embodiment, the wearable device 120 (e.g., processor 310) can filter the first raw angle data and the second raw angle data using a first filter (e.g., a low-pass filter). The processor 310 can obtain the filtered first raw angle data (e.g., q l (t) and filtered second raw angle data (e.g., q r （t） For example, the first filter can be represented by Equation 1 below. The first filter is not limited to Equation 1 below.

[0085] [Equation 1]

[0086] In Equation 1 above, the time point t place x(t) It can represent the input (e.g., q l _raw(t) and qr _raw(t) ), This can represent the first filter at a previous time point. t-1 The filtering results at (e.g., q l （t-1） and q r （t-1） ), This can represent the first filter at time point t The filtering results at (e.g., q l （t） and q r （t） In equation 1 above... α This can represent the coefficients of the first filter.

[0087] The filtering performed by the first filter can remove high-frequency components from the first and second raw angle data.

[0088] According to an embodiment, based on Equation 2 below, the wearable device 120 (e.g., processor 310) can determine the torque value for controlling the drive module 30 (e.g., ...). ).

[0089] [Equation 2]

[0090]

[0091] In equation 2, y(t) This could be, for example, a state factor indicating the user's movement status. For example, a state factor. y （t） It can be related to the distance between the two legs (or the angle between the two hip joints). y(t) A value of "0" indicates a state where the distance between the two legs is "0" (e.g., a crossed position), and y(t) The absolute value of is maximum, which can indicate the state where the angle between the two legs is at its maximum (e.g., landing state).

[0092] According to the embodiment, the gain value κ It can be a parameter that indicates the magnitude and direction of the output torque.

[0093] With gain value κ Increasing the gain will increase the output torque. κ If it is, for example, a negative number, then the torque (or resistance torque) used as resistance can be output to the user, and if the gain... κIf it is a positive number, then the torque (or auxiliary torque) used as an auxiliary force can be output to the user.

[0094] Delay value △ t It can be used for delayed torque output. Gain value. κ and delay value △ t It can be a preset gain value. κ and delay value △ t It can be controlled by a user, wearable device 120, or an electronic device paired with wearable device 120 (e.g., a smartphone, a tablet PC). Latency value △ t For example, the delay value can remain the same while the user is moving. However, the embodiments are not limited to this, and as described below, the wearable device 120 can adjust or change the delay value Δ. t .

[0095] According to an embodiment, the wearable device 120 (e.g., processor 310) can determine the torque value that can be used to generate torque in the motor 380-1 via the following equation 3 (e.g., ) and torque values ​​that can be used to generate torque in motor 380 (e.g., ).

[0096] [Equation 3]

[0097]

[0098] and These can be values ​​with the same magnitude but opposite torque directions.

[0099] Wearable device 120 (e.g., processor 310) can control motor driver 370-1, causing motor 380-1 to output a torque value (e.g., The torque corresponding to the torque value is controlled, and the motor driver 380-1 is controlled so that the motor 380 outputs a torque value (e.g., ...). The corresponding torque.

[0100] Figure 6 This is a block diagram illustrating an example configuration of a wearable device according to an embodiment.

[0101] Reference Figure 6 According to an embodiment, wearable device 600 (e.g., wearable device 120, wearable device 200, wearable device 300 and wearable device 300-1) may include processor 610 (e.g. processor 310), angle sensor 620 and drive module 630 (e.g. drive module 30).

[0102] According to an embodiment, angle sensor 620 can sense or measure a user's joint angles (e.g., hip joint angles) and send the sensing results (or measurement results) (e.g., joint angle values) to processor 610. For example, angle sensor 620 may include angle sensor 320 and / or angle sensor 320-1. Angle sensor 320 can obtain a first joint angle value (e.g., left hip joint angle value) by sensing the angle of a user's first joint (e.g., left hip joint angle) and send the first joint angle value to processor 610. Angle sensor 320-1 can obtain a second joint angle value (e.g., right hip joint angle value) by sensing the angle of a user's second joint (e.g., right hip joint angle) and send the second joint angle value to processor 610.

[0103] According to an embodiment, the drive module 630 may include one or more motors (e.g., motor 380 and / or motor 380-1) and one or more motor driver circuits (e.g., motor driver circuit 370 and / or motor driver circuit 370-1). The drive module 630 may include a first drive module 30a and / or a second drive module 30b.

[0104] According to an embodiment, the processor 610 may use the angle sensor 620 to obtain or collect the user's joint angle values ​​(e.g., a first joint angle value and / or a second joint angle value). The processor 610 may determine the user's stride time value based on the obtained joint angle values ​​(e.g., ...). Figure 5 (The values ​​of the right step time and / or left step time). As used herein, "based on" encompasses at least based on.

[0105] According to an embodiment, the processor 610 may determine a delay value (e.g., delay value) related to the delay of the torque output of the drive module 630 based on at least one of a target value, a determined step time value, or a gain value (e.g., gain value κ) related to the torque intensity of the drive module 630. △t The target value can be, for example, a value related to an ideal moment for changing the torque rotation direction of the drive module 630. The ideal moment for changing the torque rotation direction of the drive module 630 can be the moment when the user's joint rotation direction is changed. Ideally, the torque rotation direction of the drive module 630 should be changed when the user's joint rotation direction changes. The target value can be a value representing a state where there is no difference or a very small difference between the ideal moment for changing the torque rotation direction of the drive module 630 and the moment for changing the user's joint rotation direction. The target value can be, for example, "0", but is not limited to this. According to embodiments, the target value can have a value close to "0" (e.g., 0.1, etc.).

[0106] According to an embodiment, the processor 610 can control the drive module 630 such that torque is output from the drive module 630 with a delay equal to a determined delay value.

[0107] According to an embodiment, processor 610 may use angle sensor 620 to obtain a first joint angle value of the user (e.g., a hip joint angle value when the hip joint is maximally forward-opening during a step or a minimum hip joint angle value during a step). Processor 610 may obtain a first time value corresponding to the time point at which the first joint angle value is obtained. Processor 610 may obtain a second time value corresponding to a first torque value of drive module 630 (e.g., 0 Nm). Processor 610 may determine, based on at least one of the determined step time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of drive module 630 corresponding to the obtained first time value, a value of an index (hereinafter referred to as the "Timing Index (TI)") regarding the degree to which the moment of changing the torque rotation direction of drive module 630 deviates from the moment of changing the user's hip joint rotation direction (or the ideal moment of changing the torque rotation direction of drive module 630).

[0108] For example, processor 610 can determine the difference between a first time value and a second time value, determine a ratio between the determined difference and the determined step time value (hereinafter referred to as the "first ratio value"), and use the determined first ratio value to determine the value of TI. Processor 610 can identify the zero-torque time point of the user's first step and the time point of maximum hip rotation during the first step (hereinafter referred to as the "maximum rotation time point"), and can determine the time difference between the zero-torque time point and the maximum rotation time point. Processor 610 can use the ratio between the step time and the determined time difference (e.g., the first ratio value) to determine the value of TI. See reference. Figure 10 and Figure 11 This will be described in detail.

[0109] In another example, processor 610 may determine a ratio (hereinafter referred to as the "second ratio value") between a first torque value and a third torque value of drive module 630. The third torque value may be, for example, a torque value corresponding to the maximum intensity torque applied to the leg during the user's first step or a torque value with minimum intensity during the first step. Processor 610 may use the determined second ratio value to determine the value of TI. Processor 610 may identify a torque value during the first step when the hip joint rotates to its maximum extent (hereinafter referred to as the "torque value at the point of maximum rotation") (e.g., the first torque value), and may identify a torque value during the first step corresponding to the maximum intensity torque of drive module 630 (e.g., the third torque value). Processor 610 may use the ratio (e.g., the second ratio value) between the torque value at the maximum rotation point in the first step and the torque value corresponding to the maximum intensity torque in the first step. See reference. Figure 12 and Figure 13 This will be described in detail.

[0110] Users may experience discomfort when they do not receive torque from the wearable device appropriate for their movement. For example, if the same delay value is used when the user walks at both fast and slow speeds, the user may not receive torque appropriate for their movement. Users may also experience discomfort when torque is received from the wearable device at inappropriate times. According to an embodiment, wearable device 600 can determine the delay value for a step to be performed and provide torque to the user based on the determined delay value. Wearable device 600 can determine the delay value such that the TI determined for the step to be performed has a target value, and can provide torque to the user based on the determined delay value. Therefore, wearable device 600 can provide torque to the user at appropriate times, thereby improving the user experience (UE) of wearable device 600.

[0111] Figure 7 and Figure 8 This is a diagram illustrating an example of a wearable device counting a user's steps according to an embodiment.

[0112] Reference Figure 7 The user's leg movement state (or walking state) may include a first state 710 (or low state) and a second state 720 (or high state). The first state 710 may include, for example, a state where the user's hip joint rotation is less than a first level (or hip joint opening is less than a first level). The first state 710 may also include, for example, a state where the user's hip joint angle value is greater than a first threshold angle value (or an upward threshold angle value) (e.g., an angle value corresponding to the first level). For example, the first threshold angle value may be negative. (Refer to the above...) Figure 5The hip joint angle can have a negative value when the hip joint rotates forward. When the user's hip joint angle value is greater than a first threshold angle value, the wearable device 600 (e.g., processor 610) can determine that the user's leg movement state is in a first state 710. When the user's hip joint angle value is greater than the first threshold angle value, the wearable device 600 (e.g., processor 610) can determine that the user's leg movement state is in the first state 710 (or the user's knee is not raised above a predetermined level).

[0113] As the user raises their leg higher, the hip angle can gradually increase in the negative direction. Conversely, as the leg is raised higher, the hip angle value can gradually decrease. Wearable device 600 (e.g., processor 610) can determine whether the user's hip angle value is less than or equal to a first threshold angle value. When it is determined that the user's hip angle value is less than or equal to the first threshold angle value, wearable device 600 (e.g., processor 610) can change (or transition) the user's leg movement state from a first state 710 to a second state 720. When the first state change condition (or first state transition condition) is met (e.g., the condition that the hip angle value is less than or equal to the first threshold angle value), wearable device 600 (e.g., processor 610) can determine the user's leg movement state as the second state 720 (or the state where the knee is raised above a predetermined level).

[0114] The second state 720 may include, for example, a state in which the user's hip joint rotation is greater than or equal to the first level (or a state in which the hip joint opening is greater than or equal to the first level). The second state 720 may also include, for example, a state in which the user's hip joint angle value is less than a first threshold angle value.

[0115] In the second state 720, the user's hip joint can rotate forward as much as possible, and then rotate in the opposite direction. As the user's hip joint begins to rotate in the opposite direction, the hip joint angle may decrease. As the user's hip joint begins to rotate in the opposite direction, the hip joint angle value may increase. As the user's hip joint rotates in the opposite direction, the user's hip joint angle may gradually decrease to a second level or lower. In other words, the hip joint angle value may be greater than or equal to a second threshold angle value (or a decreasing threshold angle value) (e.g., an angle value corresponding to the second level). When the user's hip joint angle value is greater than or equal to the second threshold angle value, the wearable device 600 (e.g., processor 610) can change (or transition) the user's leg movement state from the second state 720 to the first state 710. When the second state change condition (or second state transition condition) is met (e.g., the condition that the hip joint angle value is greater than or equal to the second threshold angle value), the wearable device 600 (e.g., processor 610) can determine the user's leg movement state as the first state 710 (or a state where the knee is lowered to a predetermined level or lower).

[0116] When a user's leg movement changes from a first state 710 to a second state 720 and then returns to the first state 710, the wearable device 600 (e.g., processor 610) can increment the user's step count by one. When a user's leg movement changes from a first state 710 to a second state 720 and then returns to the first state 710, the wearable device 600 (e.g., processor 610) can recognize that the user has taken a step and increment the user's step count by one. According to an embodiment, when a user's leg movement changes from a second state 720 to a first state 710 and then returns to the second state 720, the wearable device 600 (e.g., processor 610) can increment the user's step count by one.

[0117] Wearable device 600 (e.g., processor 610) can check whether the movement state of each of the user's legs has changed. When the movement state of the user's right leg changes from a first state 710 to a second state 720 and then returns to the first state 710, wearable device 600 (e.g., processor 610) can update (or increase) the user's step count, for example, from a to a+1. When the movement state of the user's left leg changes from a first state 710 to a second state 720 and then returns to the first state 710, wearable device 600 (e.g., processor 610) can update (or increase) the user's step count from a+1 to a+2. Wearable device 600 (e.g., processor 610) can accumulate the user's step count through changes in the movement state of each of the user's legs.

[0118] According to an embodiment, the wearable device 600 (e.g., processor 610) can change a first threshold angle value and / or a second threshold angle value. For example, the processor 610 can change the first threshold angle value via Equation 4 below and / or change the second threshold angle value via Equation 5 below.

[0119] [Equation 4]

[0120] [Equation 5]

[0121] In equations 4 and 5 above, It can represent the first threshold angle value (or the rising threshold angle value). Can represent second Threshold angle value (or falling threshold angle value). This can represent the hip angle value when the knee is raised to its highest point in the previous step. This can represent the hip angle value when the knee is lowered to its lowest point in the previous step, and It can represent weights.

[0122] In equations 4 and 5 above, These can be deviations or predetermined values. For example, at the start of a user's movement (e.g., walking), a first threshold angle value and a second threshold angle value can be given or set to a first value and a second value, respectively. It can represent half the difference between the second value and the first value. For example, Can represent initial value and Half the difference between the initial values.

[0123] According to an embodiment, the wearable device 600 (e.g., processor 610) can update when there is a change in leg movement state. and / or .

[0124] For example, the leg movement state of the first step (or current step) of the first leg can be a first state 710. In the first state 710, the processor 610 can determine (or update) a second threshold angle value based on the hip angle value when the knee of the first leg is raised to its highest point in the previous step of the first leg, the hip angle value when the knee of the first leg is lowered to its lowest point in the previous step of the first leg, weights, and biases. The processor 610 can multiply the hip angle value when the knee of the first leg is raised to its highest point in the previous step of the first leg by the weights ( The result (e.g.) ) and the value obtained by subtracting the weight from "1" (e.g., The result is the result of multiplying the hip angle value when the knee of the first leg is at its lowest point in the step before the first leg (e.g., The processor 610 can add the sum (e.g., ...) to the other end of the expression. The first threshold angle value is determined (or updated) by adding the deviation to the first threshold angle value. The processor 610 can determine (or update) the first threshold angle value according to Equation 4 above. The processor 610 can determine whether the leg movement state has changed from the first state 710 to the second state 720 by comparing the determined (or updated) first threshold angle value with the hip joint angle value.

[0125] The user's first leg movement state can change from a first state 710 to a second state 720. In the second state 720, the processor 610 can determine (or update) a second threshold angle value based on the hip angle value when the knee of the first leg is raised to its highest point in the previous step, the hip angle value when the knee of the first leg is lowered to its lowest point in the previous step, weights, and biases. The processor 610 can obtain this value from the above summation results (e.g., The processor 610 determines (or updates) the first threshold angle value by subtracting the deviation. The processor 610 can determine (or update) the second threshold angle value according to Equation 5 above. The processor 610 can determine whether the leg movement state has transitioned from the second state 720 to the first state 710 by comparing the determined (or updated) second threshold angle value with the hip joint angle value.

[0126] Figure 8 Corresponding examples are shown for graph 810, which shows the change of hip joint angle (e.g., the hip joint angle of the first leg) over time; graph 820, which shows the change of a first threshold angle value over time; and graph 830, which shows the change of a second threshold angle value over time.

[0127] exist Figure 8 In the example shown, wearable device 600 (e.g., processor 610) can determine each of a first threshold angle value and a second threshold angle value for the first step 840 of the first leg based on the maximum hip angle value in the step preceding the first step, the minimum hip angle value in the step preceding the first step, weights, and biases.

[0128] According to an embodiment, the wearable device 600 (e.g., processor 610) can use external information ( The processor 610 can change the first threshold angle value and / or the second threshold angle value by means of Equation 6 below and / or Equation 7 below.

[0129] [Equation 6]

[0130] [Equation 7]

[0131] In equations 6 and 7 above, It can represent external information. External information may include, for example, information related to the walking environment obtained from sensors (e.g., IMU 360, etc.).

[0132] According to an embodiment, the processor 610 can transfer external information ( (e.g., left hip angle value or sensor data obtained from IMU360, etc.) and deviation ( The first threshold angle value for the right leg is determined by adding the two values ​​together. The processor 610 can obtain information from external sources ( ). (For example, left hip angle value, sensor data obtained from IMU 360, etc.) minus the bias ( To determine the second threshold angle value for the right leg ( The processor 610 can transfer external information ( (For example, right hip angle value, sensor data obtained from IMU 360, etc.) and deviation ( The first threshold angle value for the left leg is determined by adding the two values ​​together. The processor 610 can obtain information from external sources ( ). (For example, right hip angle value, sensor data obtained from IMU 360, etc.) minus the bias ( To determine the second threshold angle value for the left leg ( ).

[0133] Figure 9 This is a diagram illustrating an example of how a wearable device determines a user's stride time according to an embodiment.

[0134] Figure 9 A graph 910 shows the change of hip joint angle (e.g., right hip joint angle) over time and a graph 920 shows the change of step time (e.g., right step time) over time.

[0135] According to an embodiment, the wearable device 600 (e.g., processor 610) can determine the user's stride time value based on at least one hip angle value of the user.

[0136] For example, processor 610 can detect that the movement state of the user's right leg changes from a first state 710 to a second state 720, and that the movement state of the right leg returns from the second state 720 to the first state 710. In this case, processor 610 can increment the right step count and identify or record the time value as the right step count increases (e.g., Figure 9 t a ).

[0137] Processor 610 can detect that the user's right leg movement state changes again from the first state 710 to the second state 720, and then changes again from the second state 720 to the first state 710. In this case, processor 610 can identify or record the time value when the right step count increases again (e.g., Figure 9 t a+1 The processor 610 can use time values ​​(e.g., t). a+1 ) and time values ​​(e.g., t) a ) to determine the stride time value of the right leg (or one step of the right leg) (e.g., t a+1 With t a The processor 610 can use the time value when the first step of the right leg occurs (e.g., t). a+1 ) and the time value when the previous step of the right leg occurs (e.g., t) aTo determine the stride time value of the right leg (or the first step) (e.g., t) a+1 With t a The difference between them). According to an implementation, the processor 610 can generate the time value during the first step of the right leg when the right hip joint rotates to its maximum extent (e.g., the difference between them). Figure 9 t b+1 ) and the time value during the previous step when the right hip joint rotates to its maximum extent (e.g., Figure 9 t b The difference between the two is determined as the stride time value of the right leg (e.g., the stride time value of the first step).

[0138] Similar to the embodiment that determines the stride time value of the right leg, processor 610 can determine the stride time value of the left leg. Processor 610 can determine the average of the stride time values ​​of the left and right legs as the user's stride time value. According to an embodiment, processor 610 can determine either the stride time value of the left leg or the stride time value of the right leg as the user's stride time value.

[0139] Reference Figure 9 As shown in graphs 910 and 920, stride time can be reduced when walking speed is fast and increased when walking speed is slow.

[0140] Figure 10 and Figure 11 This is a diagram illustrating an example of a wearable device TI according to an embodiment.

[0141] According to an embodiment, wearable device 600 (e.g., processor 610) may use angle sensor 620 to obtain a first joint angle value for the user. The first joint angle value may, for example, correspond to a hip joint angle value during a user's step when the hip joint rotates forward as far as possible, or correspond to a minimum hip joint angle value during a step. Wearable device 600 (e.g., processor 610) may obtain a first time value corresponding to the time point at which the first joint angle value is obtained.

[0142] According to an embodiment, the wearable device 600 (e.g., processor 610) can obtain a second time value corresponding to a first torque value of the drive module 630. The first torque value may be, for example, "0", but is not limited thereto.

[0143] According to an embodiment, the wearable device 600 (e.g., processor 610) can use a step time value, a first time value, and a second time value to determine the value of TI (e.g., a first TI).

[0144] According to an embodiment, processor 610 can determine the difference between a first time value and a second time value. Processor 610 can determine a first ratio value between the determined difference and the step time value. Processor 610 can use the determined first ratio value to determine the value of TI (e.g., a first TI).

[0145] For example, when the first time value is less than or equal to the second time value, the processor 610 can determine the value of the first TI by applying the first value (e.g., 1) to the first ratio value. When the first time value is greater than the second time value, the processor 610 can determine the value of the first TI by applying the second value (e.g., -1) to the first ratio value. The processor 610 can determine the value of the first TI using the following equation 8.

[0146] [Equation 8]

[0147] In Equation 8 above, time interval A indicates the difference between the first time value and the second time value, and time interval B indicates the step time value. Time interval B indicates the difference between the first time value and the time value at the highest point of the knee in the previous step.

[0148] Figure 10 A corresponding example is shown: a graph 1010 showing the change of hip joint angle (e.g., right hip joint angle) over time and a graph 1020 showing the change of torque (e.g., auxiliary torque) over time. For example, graph 1020 may be based on Equation 2 above.

[0149] exist Figure 10 In the example shown, wearable device 600 can obtain a first time value (e.g., t2) and a second time value (e.g., t3), and determine the time interval A 1040 (e.g., t3–t2) in Equation 8 above. Wearable device 600 can obtain the time interval B 1030 (e.g., t2–t1). The time value t1 can represent, for example, the time value when the right knee is raised to its highest point in the previous step of the right leg. The time interval B 1030 can correspond to, for example, the stepping time value (e.g., the stepping time value of the right step).

[0150] exist Figure 10In the example shown, the second time value (e.g., t3) may be greater than the first time value (e.g., t2), so the wearable device 600 can determine the value of TI (e.g., the first TI) by multiplying "time interval A / time interval B" (e.g., (t3 - t2) / (t2 - t1)) by the first value (e.g., 1). When the hip joint rotates forward to its maximum point earlier than the point of zero torque, the wearable device 600 can determine the value of TI (e.g., the first TI) by multiplying "time interval A / time interval B" (e.g., (t3 - t2) / (t2 - t1)) by the first value (e.g., 1).

[0151] Figure 11 Examples of graphs 1110 showing the change of hip joint angle (e.g., right hip joint angle) over time and 1120 showing the change of torque (e.g., resistance torque) over time are shown. For example, graph 1120 may be based on Equation 2 above.

[0152] exist Figure 11 In the example shown, wearable device 600 can obtain a first time value (e.g., t6) and a second time value (e.g., t5), and determine the time interval A 1140 (e.g., t6–t5) in Equation 8 above. Wearable device 600 can obtain time interval B 1130 (e.g., t5–t4). The time value t4 can represent, for example, the time value when the right knee is raised to its highest point in the previous step of the right leg. Time interval B 1130 can correspond to, for example, a stepping time value (e.g., the stepping time value of the right step).

[0153] exist Figure 11 In the example shown, the second time value (e.g., t5) may be less than the first time value (e.g., t4), so the wearable device 600 can determine the value of TI (e.g., the first TI) by multiplying "time interval A / time interval B" (e.g., (t6-t5) / (t5-t4)) by the second value (e.g., -1). When the zero torque value occurs earlier than the point when the hip joint rotates forward to its maximum, the wearable device 600 can determine the value of TI (e.g., the first TI) by multiplying "time interval A / time interval B" (e.g., (t6-t5) / (t5-t4)) by the second value (e.g., -1).

[0154] Figure 12 and Figure 13 This is a diagram illustrating other examples of TI's wearable devices according to embodiments.

[0155] According to an embodiment, wearable device 600 (e.g., processor 610) may use angle sensor 620 to obtain a first joint angle value for the user. The first joint angle value may, for example, correspond to a hip joint angle value during a user's step when the hip joint rotates forward as far as possible, or correspond to a minimum hip joint angle value during a step. Wearable device 600 (e.g., processor 610) may obtain a first time value corresponding to the time point at which the first joint angle value is obtained.

[0156] According to an embodiment, the wearable device 600 (e.g., processor 610) may obtain a third torque value. The third torque value may correspond, for example, to the maximum intensity value of the torque applied to the forward-rotating leg during a user's step or the minimum torque value during a step. The wearable device 600 (e.g., processor 610) may obtain a time value corresponding to the third torque value (hereinafter referred to as the "third time value").

[0157] According to an embodiment, the wearable device 600 (e.g., processor 610) can use a first time value, a third time value, a first torque value, and a third torque value to determine the value of TI (e.g., a second TI).

[0158] According to an embodiment, the processor 610 may determine a second ratio value between a first torque value and a third torque value, and use the determined second ratio value to determine the value of TI (e.g., a second TI).

[0159] For example, when the first time value is greater than the third time value, the processor 610 can determine the value of the second TI by applying the first value (e.g., 1) to the second ratio value. When the first time value is less than or equal to the third time value, the processor 610 can determine the value of the second TI by applying the second value (e.g., -1) to the second ratio value. The processor 610 can determine the value of the second TI using the following equation 9.

[0160] [Equation 9]

[0161] In Equation 9 above, torque A can indicate the first torque value, and torque B can indicate the third torque value.

[0162] Figure 12 A corresponding example is shown in graph 1210, which shows the change of hip joint angle (e.g., right hip joint angle) over time, and graph 1220, which shows the change of torque (e.g., auxiliary torque) over time. For example, graph 1220 may be based on Equation 2 above.

[0163] exist Figure 12In the example shown, the wearable device 600 may obtain a first time value (e.g., t8) and a first torque value (e.g., τ1) corresponding to the first time value (e.g., t8). The wearable device 600 may obtain a third torque value (e.g., τ2) and a third time value (e.g., t7) corresponding to the third torque value (e.g., τ2).

[0164] exist Figure 12 In the example shown, the first time value (e.g., t8) may be greater than the third time value (e.g., t7), so the wearable device 600 can determine the value of TI (e.g., the second TI) by multiplying “torque A / torque B” (e.g., τ1 / τ2) by the first value (e.g., 1).

[0165] Figure 13 Examples of graphs 1310 showing the change of joint angle (e.g., right hip angle) over time and 1320 showing the change of torque (e.g., resistance torque) over time are shown. For example, graph 1320 may be based on Equation 2 above.

[0166] exist Figure 13 In the example shown, wearable device 600 may obtain a first time value (e.g., t9) and a first torque value (e.g., τ3) corresponding to the first time value (e.g., t9). Wearable device 600 may obtain a third torque value (e.g., τ4) and a third time value (e.g., t) corresponding to the third torque value (e.g., τ4). 10 ).

[0167] exist Figure 13 In the example shown, the first time value (e.g., t9) may be less than or equal to the third time value (e.g., t). 10 Therefore, the wearable device 600 can determine the value of TI (e.g., the second TI) by multiplying “torque A / torque B” (e.g., τ3 / τ4) by a second value (e.g., -1).

[0168] Figure 14 and Figure 15 This is a diagram illustrating an example of a wearable device determining a delay value according to an embodiment.

[0169] Figure 14 Table 1410 is shown, in which gain values, step times, target values, time intervals (TI) (e.g., first TI or second TI), and delay values ​​are recorded. Table 1410 may be stored, for example, in memory 350.

[0170] According to an embodiment, delay values ​​corresponding to multiple combinations are recorded in Table 1410. Each of the multiple combinations may include each of multiple gain values, each of multiple step time values, each of multiple target values, and each of multiple TI values. For example, in Figure 14 The example shown includes gain values. κ 1. The first combination of the step time value T1, the target value, and the TI value TI1 corresponds to the delay value Δ. t 1. Includes gain value κ 2. The second combination of the step time value T2, the target value, and the TI value T2 can correspond to the delay value Δ. t 2.

[0171] According to an embodiment, wearable device 600 (e.g., processor 610) can determine a latency value based on a gain value, a step time value, a target value, a TI (e.g., a first TI or a second TI) value, and table 1410. For example, when the gain value is Figure 14 of κ 1. The step time value is Figure 14 ST1, the target value is Figure 14 The target and TI is Figure 14 For the TI1, the processor 610 can be found mapped to in Table 1410. κ The delay value △ of 1 / ST1 / target / TI1 t 1.

[0172] According to an embodiment, processor 610 can obtain from table 1410 a delay value corresponding to a combination including a gain value, a target value, a step time value determined for each step, and a TI value determined for each step. Processor 610 can repeatedly obtain the delay value, and the delay value can approach the target value over time. Processor 610 can obtain a delay value close to the target value by repeatedly performing the operation of obtaining the delay value.

[0173] Figure 15 Model 1510 is shown. Model 1510 can be a model based on, for example, various step time values, various gain values, various delay values, and various TI values. Model 1510 can be a statistical model and / or a machine learning model. Model 1510 can be stored in memory 350.

[0174] According to an embodiment, the wearable device 600 (e.g., the processor 610) may determine a delay value based on a gain value, a stride time value, a target value, the value of TI (e.g., the first TI or the second TI), and the model 1510. For example, the processor 610 may input the gain value, the stride time value, the target value, and the value of TI into the model 1510, and obtain the delay value from the model 1510. The processor 610 may input the gain value, the target value, the stride time value determined for each step, and the value of TI determined for each step into the model 1510, and obtain an output (e.g., the delay value) corresponding to the input from the model 1510. The processor 610 may repeatedly obtain the delay value from the model 1510, and the delay value may approach the target value over time. The processor 610 may obtain the delay value approaching the target value by repeatedly performing the operation of obtaining the delay value.

[0175] According to an implementation, the processor 610 may input the gain value, the stride time value, and the target value into the model 1510, and obtain the delay value from the model 1510.

[0176] According to an embodiment, different from the example shown in Figure 14 and Figure 15 the wearable device 600 (e.g., the processor 610) may determine the delay value through a control algorithm (e.g., a proportional integral derivative (PID) control algorithm). For example, the processor 610 may use the PID control algorithm to ensure that TI has the target value.

[0177] Figure 16 is a flowchart showing a method of operating a wearable device according to an embodiment.

[0178] In operation 1610, the wearable device 600 may obtain the joint angle value of the user.

[0179] In operation 1620, the wearable device 600 may determine the stride time value of the user based on the obtained joint angle value.

[0180] In operation 1630, the wearable device 600 may determine a delay value related to the delay of the torque output of the drive module 630 based on at least one of the target value, the determined stride time value, or the gain value.

[0181] In operation 1640, the wearable device 600 may output torque (e.g., assist torque or resistance torque) with a delay equal to the determined delay value.

[0182] Refer Figures 1a to 15 The described embodiment may be applied to Figure 16 the method of operating a wearable device.

[0183] According to an embodiment, a wearable device 120, 200, 300, 300-1, 600 may include a drive module 630, an angle sensor 620, and a processor 610. The processor may use the angle sensor to obtain a user's joint angle value. The processor may determine a user's step time value based on the obtained joint angle value. The processor may determine a delay value related to the delay of the drive module's torque output based on at least one of a target value related to an ideal moment for changing the torque rotation direction of the drive module, a determined step time value, or a gain value related to the torque intensity of the drive module. The processor may control the drive module such that torque is output from the drive module with a delay equal to the determined delay value.

[0184] According to an embodiment, the processor can use an angle sensor to obtain a first joint angle value of the user, obtain a first time value corresponding to the time point at which the first joint angle value is obtained, obtain a second time value corresponding to a first torque value of the drive module, and determine a value of TI (e.g., the above-mentioned TI) related to the degree to which the time of changing the torque rotation direction of the drive module deviates from the time of changing the joint rotation direction of the user, based on at least one of the determined step time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the drive module corresponding to the obtained first time value.

[0185] According to an embodiment, the processor can determine the difference between a first time value and a second time value, determine a first ratio between the determined difference and a determined step time value, and determine the value of an index (e.g., a first TI) based at least on the determined first ratio.

[0186] According to an embodiment, when the first time value is less than or equal to the second time value, the processor can determine the value of the index by applying the first value (e.g., 1) to a determined first ratio value, and when the first time value is greater than the second time value, the processor can determine the value of the index by applying the second value (e.g., -1) to a determined first ratio value.

[0187] According to an embodiment, the processor can obtain a third torque value of the drive module, determine a second ratio value between the first torque value and the third torque value, and use the determined second ratio value to determine the value of an indicator (e.g., a second TI).

[0188] According to the embodiment, when the first time value is greater than the third time value corresponding to the third torque value, the processor can determine the value of the index by applying the first value to a determined second ratio value, and when the first time value is less than or equal to the third time value, the processor can determine the value of the index by applying the second value to a determined second ratio value.

[0189] According to an embodiment, the processor can determine a latency value so that the metric has a target value.

[0190] According to an embodiment, the processor can input the determined step time value, gain value, and target value into the model, and determine the delay value through the model.

[0191] According to an embodiment, the processor can obtain a delay value corresponding to the determined step time value, gain value, target value, and determined index value from a table stored in the memory of the wearable device.

[0192] According to an embodiment, the processor can obtain joint angle values ​​in the second state after the user's leg movement state changes from a first state to a second state, and increase the user's step count when the obtained joint angle values ​​are used to detect a change in movement state from the second state to the first state. The second state may include a state in which the hip joint of the leg is rotated to a first level or higher, and the first state may include a state in which the hip joint is rotated to a second level or lower.

[0193] According to an embodiment, the processor can use the hip angle value when the knee of the leg is raised to its highest point in the previous step, the hip angle value when the knee of the leg is lowered to its lowest point in the previous step, weights, and biases to determine the first level and the second level.

[0194] The processor can identify the time value as the user's number of steps increases, and use the identified time value and the time value when the previous step of the leg occurs to determine the user's stride time value.

[0195] According to an embodiment, a method for operating wearable devices 120, 200, 300, 300-1, 600 may include: obtaining a user's joint angle value; determining a user's step time value based on the obtained joint angle value; determining a delay value related to a delay in the torque output of drive module 630 based on at least one of a target value related to an ideal moment for changing the torque rotation direction of the drive module of the wearable device, a determined step time value, or a gain value related to the torque intensity of the drive module; and outputting torque with a delay equal to the determined delay value.

[0196] According to an embodiment, the method may further include: obtaining a first joint angle value of the user; obtaining a first time value corresponding to the time point at which the first joint angle value is obtained; obtaining a second time value corresponding to a first torque value of the drive module; and determining, based on at least one of a determined step time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the drive module corresponding to the obtained first time value, a value related to the degree to which the time of changing the torque rotation direction of the drive module deviates from the time of changing the joint rotation direction of the user.

[0197] Each embodiment described herein may be used in combination with any other embodiment described herein.

[0198] According to an embodiment, the operation of determining the value of an indicator may include: determining the difference between a first time value and a second time value; determining a first ratio between the determined difference and a determined step time value; and using the determined first ratio to determine the value of the indicator.

[0199] According to an embodiment, the operation of determining the value of an indicator using a determined first ratio value may include: determining the value of an indicator by applying a first value to a determined first ratio value when a first time value is less than or equal to a second time value; and determining the value of an indicator by applying a second value to a determined first ratio value when a first time value is greater than a second time value.

[0200] According to an embodiment, the operation of determining the value of the index may include: obtaining a third torque value of the drive module; determining a second ratio value between the first torque value and the third torque value; and using the determined second ratio value to determine the value of the index.

[0201] According to an embodiment, the operation of determining the value of an index using a determined second ratio value may include: determining the value of an index by applying the first value to the determined second ratio value when the first time value is greater than the third time value corresponding to the third torque value; and determining the value of an index by applying the second value to the determined second ratio value when the first time value is less than or equal to the third time value.

[0202] According to an embodiment, the operation of determining the delay value may include: determining the delay value such that the indicator has a target value.

[0203] According to an embodiment, obtaining joint angle values ​​may include: obtaining joint angle values ​​in the second state after the user's leg movement state changes from a first state to a second state. The method may further include: increasing the user's step count when a change from the second state to the first state is detected using the obtained joint angle values.

[0204] The second state may include a state in which the hip joint of the leg is rotated to a first level or higher, and the first state may include a state in which the hip joint is rotated to a second level or lower.

[0205] The embodiments described herein can be implemented using hardware components, software components, and / or combinations thereof. A processing device including processing circuitry (such as, for example, a processor, controller, and arithmetic logic unit (ALU), digital signal processor (DSP), microcomputer, field-programmable gate array (FPGA), programmable logic unit (PLU), microprocessor, or any other device capable of responding to and executing instructions in a defined manner) can be implemented using one or more general-purpose or special-purpose computers. The processing device may run an operating system (OS) and one or more software applications running on the OS. The processing device may also access, store, manipulate, process, and create data in response to the execution of the software. For simplicity, the description of the processing device is singular; however, those skilled in the art will understand that the processing device may include multiple processing elements and various types of processing elements. For example, the processing device may include multiple processors, or a single processor and a single controller. Furthermore, different processing configurations are possible, such as parallel processors.

[0206] Software may include computer programs, code, instructions, or one or more combinations thereof, to independently or jointly instruct or configure a processing device to operate on demand. Software and data may be stored in any type of machine, component, physical or virtual device, or computer storage medium or device capable of providing instructions or data to the processing device or capable of being interpreted by the processing device. Software may also be distributed across networked computer systems, enabling it to be stored and executed in a distributed manner. Software and data may be stored on one or more non-transitory computer-readable recording media.

[0207] The methods according to the above embodiments can be recorded in a non-transitory computer-readable medium including program instructions to implement the various operations of the above embodiments. The medium may also include data files, data structures, etc., alone or in combination with the program instructions. The program instructions recorded on the medium may be program instructions specifically designed and configured for the purposes of the embodiments, or they may be of types known and available to those skilled in the art of computer software. Examples of non-transitory computer-readable media include: magnetic media, such as hard disks, floppy disks, and magnetic tapes; optical media, such as CD-ROMs and DVDs; magneto-optical media, such as optical discs; and hardware devices specifically configured to store and execute program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, etc. Examples of program instructions include, for example, machine code generated by a compiler and files containing higher-level code that can be executed by a computer using an interpreter.

[0208] The hardware device described above can be configured to act as one or more software modules to perform the operations of the embodiments described above, and vice versa.

[0209] As described above, although embodiments have been described with reference to the limited accompanying drawings, various technical modifications and variations can be applied based on this. For example, suitable results may be achieved if the described techniques are performed in a different order, and / or if the components in the described system, architecture, apparatus, or circuit are combined in a different manner, or replaced or supplemented by other components or their equivalents.

[0210] Therefore, other implementations, other embodiments, and equivalent forms of the claims are within the scope of the following claims.

Claims

1. A wearable device (120, 200, 300, 300-1, 600), comprising: Drive module (630), including motor and / or circuitry; Angle sensor (620); as well as Processor (610), including processing circuitry, said processor is configured to: The user's joint angle value is obtained via the angle sensor. The user's stride time value is determined based on the obtained joint angle values. Based on at least one of a target value related to the ideal moment of changing the torque rotation direction of the drive module, a determined step time value, or a gain value related to the torque intensity of the drive module, a delay value related to the delay of the torque output of the drive module is determined, and The drive module is controlled such that the torque is delayed by a determined delay value and output from the drive module.

2. The wearable device as claimed in claim 1, wherein, The processor is configured to: obtain a first joint angle value of the user at least via the angle sensor; and obtain a first time value corresponding to the time point at which the first joint angle value is obtained. Obtain a second time value corresponding to a first torque value of the drive module; and, based on at least one of a determined step time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the drive module corresponding to the obtained first time value, determine a value of an index relating to the degree to which the moment of changing the torque rotation direction of the drive module deviates from the moment of changing the joint rotation direction of the user.

3. The wearable device as described in claim 2, wherein, The processor is configured to: determine a difference between a first time value and a second time value; determine a first ratio between the determined difference and a determined step time value; and determine a value of the index based at least on the determined first ratio.

4. The wearable device as claimed in claim 3, wherein, The processor is configured to: determine the value of the indicator by applying a first value to a determined first ratio value when the first time value is less than or equal to the second time value; and determine the value of the indicator by applying a second value to a determined first ratio value when the first time value is greater than the second time value.

5. The wearable device as claimed in claim 2, wherein, The processor is configured to: obtain a third torque value of the drive module; determine a second ratio between the first torque value and the third torque value; and use the determined second ratio to determine the value of the index.

6. The wearable device as claimed in claim 5, wherein, The processor is configured to determine the value of the index by at least applying the first value to a determined second ratio value when the first time value is greater than a third time value corresponding to the third torque value. And when the first time value is less than or equal to the third time value, the value of the index is determined at least by applying the second value to a determined second ratio value.

7. The wearable device as claimed in claim 2, wherein, The processor is configured to determine the latency value such that the metric has the target value.

8. The wearable device as claimed in claim 1, wherein, The processor is configured to input the determined step time value, the gain value, and the target value into the model, and determine the delay value via at least the model.

9. The wearable device as claimed in claim 2, wherein, The processor is configured to obtain a delay value corresponding to the determined step time value, the gain value, the target value, and the determined index value from a table stored in the memory of the wearable device.

10. The wearable device of claim 1, wherein, The processor is configured to obtain the joint angle value in the second state after the user's leg movement state changes from a first state to a second state; And when the movement state changes from the second state to the first state based on the obtained joint angle values, the user's step count is increased, wherein... The second state includes a state in which the hip joint of the leg is rotated to a first level or higher, and the first state includes a state in which the hip joint is rotated to a second level or lower.

11. The wearable device of claim 10, wherein, The processor is configured to determine the first level and the second level based on the hip angle value when the knee of the leg is raised to its highest point in the previous step, the hip angle value when the knee of the leg is lowered to its lowest point in the previous step, weights, and biases.

12. The wearable device of claim 10, wherein, The processor is configured to: identify time values ​​as the user's step count increases; and determine the user's stride time value based on the identified time values ​​and the time value when the previous step of the leg occurs.

13. A method of operating a wearable device (120, 200, 300, 300-1, 600), the method comprising: Obtain the user's joint angle values; The user's stride time value is determined based on the obtained joint angle values; Based on at least one of a target value related to the ideal moment of changing the torque rotation direction of the drive module (630), a determined step time value, or a gain value related to the torque intensity of the drive module, a delay value related to the delay of the torque output of the drive module is determined. as well as The torque is output by a delay value determined by the torque delay.

14. The method of claim 13, further comprising: Obtain the user's first joint angle value; Obtain a first time value corresponding to the time point at which the first joint angle value is obtained; Obtain a second time value corresponding to the first torque value of the drive module; Based on at least one of the determined step time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the drive module corresponding to the obtained first time value, determine the value of an index related to the degree to which the moment of changing the torque rotation direction of the drive module deviates from the moment of changing the joint rotation direction of the user.

15. The method of claim 14, wherein, The operation of determining the value of the indicator includes: Determine the difference between the first obtained time value and the second obtained time value; A first ratio value between the determined difference and the determined step time value is determined; and The value of the indicator is determined based on a predetermined first ratio value.

Images