Method and device for providing resistance to user of wearable device

Abstract

To provide a method and device for providing a resistance force to a user.SOLUTION: To provide a resistance force, the method comprises measuring an angle of a joint of a user using a sensor of a wearable device, determining a resistance level for the joint based on the angle, determining a connection ratio of a motor driver circuit of the wearable device that corresponds to the resistance level, and controlling a motor through the connection ratio of the motor driver circuit.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The following embodiments relate to methods and apparatus for providing a resistance force to a user of a wearable device. For example, at least one embodiment relates to a method and apparatus for providing a resistance force to a user without providing energy to a motor of the wearable device. [Background technology]

[0002] As we enter an aging society, the number of people who complain of discomfort and pain when walking due to muscle weakness or joint abnormalities caused by aging is increasing. Therefore, there is growing interest in walking assist devices that enable elderly people with muscle weakness and patients with joint discomfort to walk more smoothly. Summary of the Invention [Problem to be solved by the invention]

[0003] The present embodiment relates to a method of operating a wearable device to provide a resistive force to a user. [Means for solving the problem]

[0004] In one embodiment, a method for providing resistance force performed by a wearable device includes the steps of measuring a first angle of a first joint of a user via a sensor, determining a resistance level for the first joint based on the first angle, determining a coupling ratio between a coupling time for controlling a motor driver circuit electrically connected to a motor of the wearable device as a closed loop and a non-coupling time for controlling the motor driver circuit as an open loop based on the resistance level, and controlling the motor via the motor driver circuit based on the coupling ratio.

[0005] The motor driver circuit may include at least one switch controlled based on the coupling ratio.

[0006] The coupling ratio can be expressed as a pulse width modulation (PWM).

[0007] The resistance level provided to the user may be adjusted by the engagement ratio, and the resistance may increase as the engagement time during which the motor driver circuit is controlled as a closed loop increases.

[0008] When the motor driver circuit is controlled as a closed loop, the motor can operate as a generator in response to an external force from the user.

[0009] The method for providing resistance may further include, when the motor operates as the generator, charging a battery of the wearable device based on energy generated by the generator.

[0010] The resistance providing method may further include receiving an instruction from the user to set the operation mode of the wearable device to an exercise mode.

[0011] When set to the exercise mode, the motor may not be provided with energy from the battery of the wearable device.

[0012] The resistance force providing method may further include receiving an instruction from the user to set the operation mode of the wearable device to an assist mode; calculating an assist torque value for the first joint in the assist mode based on the first angle; and providing an assist force to the user by controlling the motor based on the assist torque value.

[0013] One embodiment relates to a wearable device that provides a resistive force to a user.

[0014] In one embodiment, a wearable device for providing a resistance force to a user includes a memory storing a program including instructions for providing a resistance force to a user, a sensor for measuring a first angle of a first joint of the user, a motor driver circuit, a motor electrically connected to the motor driver circuit, and a processor for executing the program, wherein the processor measures the first angle of the first joint of the user using the sensor, determines a resistance level for the first joint based on the first angle, determines a coupling ratio between a coupling time for controlling the motor driver circuit as a closed loop and a non-coupling time for controlling the motor driver circuit as an open loop based on the resistance level, and controls the motor via the motor driver circuit based on the coupling ratio.

[0015] The motor driver circuit may include at least one switch controlled based on a coupling ratio.

[0016] The engagement ratio is represented by PWM (pulse width modulation), and the resistance force provided to the user is adjusted by the engagement ratio, and the resistance force can increase as the engagement time during which the motor driver circuit is controlled as a closed loop increases.

[0017] When the motor driver circuit is controlled as a closed loop, the motor can operate as a generator in response to an external force from the user.

[0018] When the motor operates as the generator, the processor can charge the battery of the wearable device based on the energy generated by the generator.

[0019] The processor can receive an instruction from the user to set the operation mode of the wearable device to an exercise mode, and determine the resistance level for the first joint based on the exercise mode and the first angle.

[0020] When set to the exercise mode, the motor may not be provided with energy from the battery of the wearable device.

[0021] The processor can receive an instruction from the user to set the operating mode of the wearable device to an assistance mode, calculate an assistance torque value for the first joint in the assistance mode based on the first angle, and provide an assistance force to the user by controlling the motor based on the assistance torque value.

[0022] Additional aspects of the exemplary embodiments are set forth in part in the description that follows, and additional aspects of the exemplary embodiments will be obvious from the description, or may be learned by practice of the disclosure. [Brief explanation of the drawings]

[0023] [Figure 1A] FIG. 1 is a diagram illustrating a wearable device according to an example. [Figure 1B] FIG. 1 is a diagram illustrating a wearable device according to an example. [Figure 1C] FIG. 1 is a diagram illustrating a wearable device according to an example. [Figure 1D] FIG. 1 is a diagram illustrating a wearable device according to an example. [Figure 2] FIG. 1 is a diagram illustrating a wearable device communicating with an electronic device according to an example. [Figure 3] 1 shows an example of a walking state. [Figure 4] 1 illustrates transitions between walking states according to an example. [Figure 5] 1 illustrates an ankle joint angle trajectory for a gait cycle according to an example. [Figure 6] 1 illustrates an ankle torque trajectory for a gait cycle according to an example. [Figure 7] FIG. 2 is a diagram illustrating a motor driver circuit of a wearable device according to an example. [Figure 8]FIG. 2 is a diagram illustrating a motor driver circuit of a wearable device according to an example. [Figure 9] FIG. 2 is a diagram illustrating a motor driver circuit of a wearable device according to an example. [Figure 10] FIG. 2 is a diagram illustrating a motor driver circuit of a wearable device according to an example. [Figure 11] 1 is a flowchart of a method for providing a resistive force according to one embodiment. [Figure 12] 10 illustrates a resistance force profile output to a user terminal according to an example. [Figure 13] 10 is a flowchart of a method for providing a resistance force according to another embodiment. [Figure 14] 1 illustrates an example open-loop motor driver circuit. [Figure 15] 1 illustrates an example closed-loop motor driver circuit. [Figure 16] 1 illustrates an example closed-loop motor driver circuit. [Figure 17] 1 illustrates an example closed-loop motor driver circuit. [Figure 18] 1 illustrates a closed-loop motor driver circuit including a braking resistor according to an example. [Figure 19] 10 illustrates another example of a closed-loop motor driver circuit including a resistor. [Figure 20] 1 illustrates a closed-loop motor driver circuit including a BLDC motor according to an example. [Figure 21] FIG. 2 is a diagram illustrating a configuration of a drive unit of a wearable device according to an example. [Figure 22] 10 shows a full-body wearable device according to another example. [Figure 23] 10 shows a full-body wearable device according to another example. [Figure 24] 10 shows a full-body wearable device according to another example. DETAILED DESCRIPTION OF THE INVENTION

[0024] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. However, the scope of the patent application is not limited or restricted by the embodiments. The same reference numerals shown in each drawing indicate the same elements.

[0025] Various modifications can be made to the embodiments described below. The embodiments described below are not intended to be limited to the embodiments, and should be understood to include all modifications, equivalents, and alternatives thereto.

[0026] The terms used in the embodiments are merely used to describe specific embodiments and are not intended to limit the embodiments. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, the terms "include" or "have" and the like are intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the presence or possibility of addition of one or more different features, numbers, steps, operations, components, parts, or combinations thereof.

[0027] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiments pertain. Terms as defined in commonly used dictionaries should be understood to have a meaning consistent with the meaning they have in the context of the relevant description, and should not be construed as idealized or overly formal unless expressly defined in this application.

[0028] In the description with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In describing the embodiments, if it is determined that a detailed description of related publicly known technology may obscure the gist of the embodiments, the detailed description thereof will be omitted.

[0029] 1A to 1D show a wearable device according to an example.

[0030] 1A to 1C, a wearable device 100 is worn by a user and assists the user's gait. For example, the wearable device 100 is a device that assists the user's walking. Furthermore, the wearable device 100 is an exercise device that not only assists the user's walking but also provides the user with an exercise function by providing a resistance force. The resistance force provided to the user is not a force actively applied to the user, such as a force output by a device such as a motor, but a force that impedes the user's movement (for example, the resistance force is a force that acts in the opposite direction to the direction in which the user moves). In other words, the resistance force may be expressed as an exercise load.

[0031] 1A and 1B illustrate a hip-type wearable device 100, the type of the wearable device is not limited to the hip type, and the wearable device may be a type that supports the entire lower leg or a type that supports part of the lower leg. The wearable device may also be any one of a type that supports part of the lower leg, a type that supports up to the knee, a type that supports up to the ankle, and a type that supports the whole body.

[0032] The embodiment described with reference to FIGS. 1A to 1B is applied to a hip type, but is not limited thereto and can be applied to all types of wearable devices.

[0033] 1A to 1D, the wearable device 100 includes a driving unit 110, a sensor unit 120, an IMU (Inertial Measurement Unit) 130, a control unit 140, and a battery 150.

[0034] The driving unit 110 includes a motor 114 and a motor driver circuit 112 for driving the motor 114. The sensor unit 120 includes at least one sensor 121. The control unit 140 includes a processor 142, a memory 144, and an input interface 146. While FIG. 1C illustrates one sensor 121, one motor driver circuit 112, and one motor 114, this is not limiting. For example, as illustrated in FIG. 1D, the wearable device 100-1 includes multiple sensors 121 and 121-1, multiple motor driver circuits 112 and 112-1, and multiple motors 114 and 114-1. Depending on the implementation, the wearable device 100 may also include multiple processors. The number of motor driver circuits, motors, or processors may vary depending on the body part on which the wearable device 100 is worn.

[0035] The following description of the sensor 121, the motor driver circuit 112, and the motor 114 can also be applied to the sensor 121-1, the motor driver circuit 112-1, and the motor 114-1 shown in FIG. 1D.

[0036] The drive unit 110 can drive the hip joint of the user. For example, the drive unit 110 is disposed at the right hip and / or left hip of the user. The drive unit 110 may additionally be disposed at the knee and ankle of the user. The drive unit 110 includes a motor 114 capable of generating rotational torque and a motor driver circuit 112 for driving the motor 114.

[0037] The sensor unit 120 can measure the angle of the user's hip joint when walking. Information about the hip joint angle detected from the sensor unit 120 includes the angle of the right hip joint, the angle of the left hip joint, the difference between the angles of the two hip joints, and the direction of hip joint movement. For example, the sensor 121 may be disposed in the driving unit 110. Depending on the position of the sensor 121, the sensor unit 120 can additionally measure the angle of the user's knee and ankle.

[0038] According to one embodiment, the sensor unit 120 includes a potentiometer that detects the R-axis joint angle, the L-axis joint angle, the R-axis joint angular velocity, and the L-axis joint angular velocity resulting from the user's walking motion.

[0039] The IMU 130 measures acceleration information and posture information during walking. For example, the IMU 130 detects accelerations along the X-, Y-, and Z-axes and angular velocities along the X-, Y-, and Z-axes caused by the user's walking motion.

[0040] The wearable device 100 detects the point where the user's feet land based on the acceleration information measured by the IMU 130.

[0041] A pressure sensor (not shown) is located on the sole of the user's foot to detect the time when the user's foot lands.

[0042] In addition to the sensor unit 120 and IMU 130 described above, the wearable device 100 includes other sensors (e.g., an ElectroMyoGram sensor (EMG sensor)) that can detect changes in the user's exercise amount or biological signals due to walking movements.

[0043] According to one embodiment, the processor 142 of the control unit 140 may control the driving unit 110 to provide a resistance force to the user. In this case, the driving unit 110 may provide a resistance force to the user using the back-drivability of the motor 114 without outputting torque to the user. The back-drivability of the motor refers to the responsiveness of the rotating shaft of the motor 114 to an external force, and the higher the back-drivability of the motor 114, the more easily the rotating shaft of the motor 114 responds to an external force acting on the rotating shaft of the motor 114 (i.e., the more easily the rotating shaft of the motor 114 rotates). For example, even if the same external force is applied to the rotating shaft of the motor 114, the degree to which the rotating shaft of the motor 114 rotates will vary depending on the degree of back-drivability.

[0044] The manner in which resistance is provided to the user is described in more detail below with reference to Figures 7-21.

[0045] According to another embodiment, the processor 142 of the control unit 140 may control the drive unit 110 so that the drive unit 110 outputs a torque (or an assist torque) for assisting the user's walking. For example, in a hip-type wearable device 100, the drive unit 110 may be configured to be disposed on the left hip portion and the right hip portion, respectively, and the control unit 140 may output a control signal to control the drive unit 110 to generate a torque.

[0046] The driver 110 may generate torque based on a control signal output by the controller 140. The torque value for generating torque may be set externally or by the controller 140. For example, the controller 140 may use the magnitude of the current for the signal sent to the driver 110 to indicate the magnitude of the torque value. That is, the greater the magnitude of the current received by the driver 110, the greater the torque value.

[0047] The battery 150 supplies power to the components of the wearable device 100. There is a circuit (e.g., a PMIC (Power Management Integrated Circuit)) that converts the power of the battery 150 to match the operating voltage of the components of the wearable device 100 and provides the power to the components of the wearable device 100. Furthermore, depending on the operation mode of the wearable device 100, the battery 150 may or may not supply power to the motor 114. In other words, the battery 150 may supply power to the motor 114 in auxiliary mode and may not supply power to the motor 114 in exercise mode. Therefore, a small amount of power is consumed by the battery 150 in exercise resistance mode, thereby extending the usage time of the wearable device 100.

[0048] FIG. 2 is a diagram illustrating a wearable device communicating with an electronic device according to an example.

[0049] As an example shown in FIG. 2 , the wearable device 100 can communicate with the electronic device 200. The electronic device 200 may include a smartphone, a tablet, a smartwatch, glasses, etc., and is not limited to the described embodiment. The electronic device 200 may be an electronic device related to a user of the wearable device 100. Alternatively, the user may exercise with a trainer while wearing the wearable device 100. In this case, the electronic device 200 corresponds to an electronic device related to the trainer.

[0050] Depending on the implementation, the wearable device 100 and the electronic device 200 may communicate via a server (not shown) via short-range wireless communication or cellular mobile communication.

[0051] The electronic device 200 can display on the display 200-1 a user interface (UI) for controlling the operation of the wearable device 100. For example, the UI may include at least one soft key that allows the user to control the wearable device 100.

[0052] The user (or trainer) can input a control command for controlling the operation of the wearable device 100 via the UI on the display 200-1 of the electronic device 200, and the electronic device 200 can transmit the corresponding control command to the wearable device 100. The wearable device 100 operates according to the received control command and transmits the control result to the electronic device 200. The electronic device 200 can display a control completion message on the display 200-1 of the electronic device 200.

[0053] FIG. 3 shows a walking state according to an example.

[0054] The walking state (or walking phase) of one leg of the user during walking can be predefined. For example, the walking state includes stance and swing. Swing refers to a state in which the leg is off the ground. The walking state of the left leg is classified into left stance (LSt) and left swing (LSw). The walking state of the right leg is classified into right stance (RSt) and right swing (RSw).

[0055] A walking cycle may be mapped in advance to the finite state machine (FSM) for each walking state. For example, a walking cycle of 0% may be mapped when support starts, a walking cycle of 60% may be mapped when swing starts, and a walking cycle of 100% may be mapped just before support starts.

[0056] According to one embodiment, support and swing may be further subdivided into multiple states. For example, support may be subdivided into initial contact, weight bearing, middle stance, terminal stance, and pre-swing. Swing may be subdivided into initial swing, middle swing, and terminal swing. Support and swing may be subdivided differently depending on the embodiment and are not limited to the described embodiment.

[0057] FIG. 4 illustrates transitions between walking states according to an example.

[0058] According to a general gait mechanism, the walking state of each leg includes support and swing, and support and swing are alternately performed for walking.

[0059] The right side walking state 410 for the right leg change 400 due to walking includes right side support and right side swing. Support includes weight bearing, mid-support, and end-support, but is not limited to the disclosed and illustrated embodiment. The left side walking state 420 for the left leg change (not shown) for the right leg change 400 includes left side support and left side swing.

[0060] When a user's ankle muscles weaken due to aging or illness, it can cause inconvenience when walking. For example, when a leg starts to swing, the toe must be lifted. If the toe is not lifted, the swinging foot may hit the ground. That is, foot drop may occur, leading to a fall. To prevent this risk, the angle of the ankle must be adjusted according to the progression or change of the walking phase. A wearable device can be provided to users who have difficulty adjusting the angle of their ankle due to weakened ankle muscles. The wearable device is worn near the user's ankle and can output an auxiliary torque based on a value detected in relation to the user's walking. The auxiliary torque can adjust the angle of the user's ankle.

[0061] The above embodiment is for assisting the ankle, but the same applies to embodiments for assisting the hip or knee to assist walking.

[0062] FIG. 5 illustrates an ankle joint angle trajectory for a gait cycle according to an example.

[0063] When a person walks with a typical walking mechanism, the person's ankle joint angle trajectory 500 will exhibit a trajectory such as that shown in Figure 5. Even in the same walking state, the ankle joint angle may vary depending on the stride length and walking speed, but the ankle joint angle trajectory for one walking cycle will exhibit a similar pattern. The ankle joint angle trajectory 500 is shown to have an exemplary range of change as a particular walking cycle progresses.

[0064] For patients with one affected leg, no ankle joint angle trajectory 500 is shown for the affected leg. If the angle of the ankle joint of the patient's affected leg is adjusted so that the ankle joint has ankle joint angle trajectory 500, the patient's walking mechanics can be improved.

[0065] Although FIG. 5 shows the trajectory of the ankle joint angle, the explanation for FIG. 5 can be applied to the hip joint angle and the knee joint angle as well.

[0066] FIG. 6 shows an ankle torque trajectory for a gait cycle according to one example.

[0067] The description with reference to Fig. 6 may be applied when the wearable device 100 operates in a mode that assists the user's walking. The description with reference to Figs. 7 to 21 below will be given in detail for the wearable device 100 operating in an exercise mode.

[0068] When a person walks with a typical walking mechanism, the trajectory 600 of the ankle torque output by the person's ankle joint will exhibit a trajectory such as that shown in Figure 6. Positive ankle torque values increase the ankle joint angle (e.g., plantar flexion), and negative ankle torque values decrease the ankle joint angle (e.g., dorsiflexion).

[0069] According to one embodiment, a first portion 610 of the ankle torque trajectory 600, which corresponds to the section after push-off occurs, is a torque assist value for dorsiflexion to prevent foot drop. The torque assist value for dorsiflexion is a negative number.

[0070] A patient with an inconvenient leg cannot generate auxiliary torque by himself / herself, so the patient can wear a wearable device on the inconvenient leg to provide the auxiliary torque. The wearable device can adjust the ankle angle by outputting the auxiliary torque via a drive unit. The auxiliary torque for adjusting the ankle angle is output at an appropriate timing so that the user does not feel inconvenienced. For example, a strong auxiliary torque for increasing the ankle angle must be provided at the timing when the inconvenient leg must perform push-off. For example, the timing can be determined by directly determining the gait state of the inconvenient leg. As another example, the timing can be determined by indirectly determining the gait state of the inconvenient leg based on the gait state of the normal leg.

[0071] The structure of the motor driver circuit 112 included in the driving unit 110 for operating the wearable device 100 in an exercise mode that does not require the use of the battery 150 will be described in detail below with reference to FIGS. 7 to 10.

[0072] 7 to 10 are diagrams illustrating a motor driver circuit of a wearable device according to an example.

[0073] 7 is an H-bridge circuit and includes a plurality of switches 710 to 740. The motor driver circuit 112 is connected to a motor 114.

[0074] When the first switch 710 and the fourth switch 740 are closed and the second switch 220 and the third switch 230 are open under the control of the processor 142, a closed loop including the battery 150 is formed, and power is supplied from the battery 150 to the motor 114. The motor 114 rotates in a first direction.

[0075] Conversely, when the second switch 720 and the third switch 730 are closed and the first switch 710 and the fourth switch 740 are opened under the control of the processor 142, a closed loop including the battery 150 is formed, and power is supplied from the battery 150 to the motor 114. However, the motor 114 rotates in a second direction opposite to the first direction.

[0076] 8 shows a case where the motor driver circuit 112 is controlled to form a closed loop including the battery 150, and the battery 150 supplies power to the motor 114. The motor 114 rotates in accordance with the direction of the current. When the operation mode of the wearable device 100 is the auxiliary mode, the processor 142 can control the motor driver circuit 112 to form a closed loop including the battery 150.

[0077] Unlike the method of controlling the motor driver circuit 112 to form a closed loop including the battery 150 described with reference to Figures 7 and 8, a method of controlling the motor driver circuit 112 that does not include the battery 150 will be described with reference to Figures 9 and 10. The control method of the motor driver circuit 112 shown in Figures 9 and 10 is used when the operation mode of the wearable device 100 is the exercise mode.

[0078] 9, the processor 142 cuts off the electrical connection between the battery 150 and the motor 114 by opening the first switch 710 and the second switch 720. In the exercise mode, the first switch 710 and the second switch 720 remain open. In the exercise mode, only the lower driver circuit including the third switch 730 and the fourth switch 740 coupled to the motor 114 can be controlled.

[0079] The processor 142 applies a control signal 1 to the third switch 730 and a control signal 2 to the fourth switch 740 so that the control state of the motor driver circuit 112 changes between a first control state and a second control state. The control signals 1 and 2 have a duty ratio as a form of PWM in which high and low values are repeated. The duty ratio means a connection ratio. The duty ratio is expressed as a period T, and the time during which the high value is maintained within one period is t. H If t H / T. Although an embodiment in which processor 142 outputs separate control signals 1 and 2 has been described, this is merely an example. As another example, processor 142 may output one control signal, which may be branched by a separate circuit, and each branched control signal may be applied to third switch 730 and fourth switch 740, respectively.

[0080] When control signals 1 and 2 are at high values, the + and - terminals of motor 114 are connected to each other and are in an equipotential state. In other words, in the first control state, the + and - terminals of motor 114 are electrically connected to each other and have the same potential (or voltage).

[0081] In the first control state, the motor 114 can form a closed loop with ground without electrical connection to the battery 150, so the first control state is expressed differently as a closed loop state of the motor 114 without electrical connection to the battery 150.

[0082] In the first control state, when the user moves, the motor 114 located near the corresponding joint rotates in response to the movement of the user's joint, and this rotation generates an electromotive force (or a potential difference) in the motor 114. In the first control state, the terminals of the motor 114 are in an equipotential state, so a rotational resistance is generated in the motor 114 to reduce the generated electromotive force. This rotational resistance is provided to the user as a resistance force.

[0083] When control signals 1 and 2 are low, the + and - terminals of motor 114 are electrically open. In the second control state, there is no electrical connection to motor 114, so the second control state is expressed differently as an open-loop state of motor 114.

[0084] In the second control state, when the user moves, the motor 114 rotates in response to the user's movement. In the second control state, the positive and negative terminals of the motor 114 are electrically open, so the above-mentioned electromotive force is not generated in the motor 114 and no resistance force is output. In other words, the reverse drive capability of the motor 114 is increased, and the only resistance force felt by the user is the frictional force due to the gear ratio.

[0085] The control signals 1 and 2 are repeatedly switched between high and low values by the PWM signal, so that the control state of the motor driver circuit 112 is repeatedly switched between the first control state and the second control state.

[0086] The processor 142 can adjust the magnitude of the resistance force by controlling the duty ratio of each of the control signals 1 and 2. If the time during which the High value is held increases in each cycle of the control signals 1 and 2 (in other words, the time during which the Low value is held decreases), the motor 114 operates more frequently in the first control state than in the second control state in each cycle of the control signals 1 and 2, and the strength of the resistance force output to the user increases. Conversely, if the time during which the High value is held decreases in each cycle of the control signals 1 and 2 (in other words, the time during which the Low value is held increases), the motor 114 operates more frequently in the second control state than in the first control state in each cycle of the control signals 1 and 2, and the strength of the resistance force output to the user decreases.

[0087] In the exercise mode, the wearable device 100 can output resistance without supplying power from the battery 150 to the motor 114, thereby consuming a small amount of power from the battery 150 and improving the usage time of the wearable device 100. Furthermore, if power from the battery 150 is supplied to the motor 114, the motor 114 may malfunction. However, in the exercise mode, power from the battery 150 is not supplied to the motor 114, which prevents the motor 114 from malfunctioning and improves the safety of the wearable device 100.

[0088] 10 shows a case where the motor driver circuit 112 is controlled so as not to include the battery 150, and the battery 150 is electrically isolated from the motor 114. Depending on the connection state of the motor driver circuit 112, the motor 114 generates an electromotive force in response to an external force (when the connection state is a closed loop) or does not generate an electromotive force (when the connection state is an open loop).

[0089] FIG. 11 is a flowchart of a method for providing a resistive force according to one embodiment.

[0090] According to one embodiment, steps 1110-1180 are performed by the wearable device 100 described above. The wearable device 100 shown in FIG. 1 is described as being worn on the lower body of a user, but is not limited to the disclosed subject matter. For example, the wearable device may be worn on the upper body of a user. As a different example, the wearable device may be worn on the entire body of a user.

[0091] In step 1110, the wearable device 100 receives or inputs from the user an operation mode for controlling the wearable device 100. The operation mode includes an exercise mode and an assistance mode, and the received operation mode may be the exercise mode or the assistance mode.

[0092] According to one embodiment, a user can transmit a specific operation mode to the wearable device 100 via a user terminal connected to the wearable device 100 via a wireless network. The wearable device 100 receives the specific operation mode via a communication module. The wireless network may include a cellular network, a Bluetooth network, a Wi-Fi network, etc., and is not limited to the described embodiment.

[0093] According to another embodiment, a user can input an operation mode via the input interface 146 of the wearable device 100. For example, the input interface 146 may include physical buttons and software buttons formed based on a touch panel for receiving user input, and may also include a display and an indicator for outputting the status of the wearable device 100. The indicator may be an LED (Light Emitting Diode), but is not limited to the described embodiment.

[0094] The wearable device 700 may be pre-installed with a number of dynamic modes that can control the wearable device 100 .

[0095] According to one embodiment, the wearable device 100 can control the operation of the wearable device 100 through a control algorithm. The control algorithm may be an algorithm that outputs a control value corresponding to an input from a user, the sensor unit 120, the IMU 130, etc. For example, the control algorithm may operate based on a control table that indicates an output value relative to an input value.

[0096] According to another embodiment, the wearable device 100 may control the operation of the wearable device 100 based on a neural network corresponding to each operation mode rather than a control algorithm. The neural network may be an artificial neural network, and the neural network may be pre-trained through machine learning. The neural network may be a convolutional neural network (CNN), a recurrent neural network (RNN), a deep neural network (DNN), or a combination thereof, but is not limited to the described embodiment.

[0097] The neural network can output a result for the received input. For example, a neural network trained for the assistance mode can determine a walking state corresponding to an input joint angle and calculate an assistance torque value for the joint. As another example, a neural network trained for the exercise mode can determine a walking state corresponding to an input joint angle and calculate and output a resistance level for the joint. The calculated resistance level can vary depending on the exercise level set by the user. For example, the higher the exercise level set, the higher the resistance level calculated.

[0098] In step 1120, the wearable device 100 measures the angles of the user's joints using the sensor 121. The sensor 121 may be an angle sensor and may measure the angle of at least one of the hip joint, knee joint, and ankle joint. The angles of multiple joints may be measured. The angles of multiple joints measured simultaneously may constitute a joint angle set for a specific time. The joint angle set may be used to determine the extent of the user's walking cycle. For example, the user's leg posture may be determined based on the hip joint angle, knee joint angle, and ankle joint angle. Furthermore, each acceleration calculated based on the amount of change in the same joint angle may be included in the joint angle set.

[0099] Although hip joints, knee joints, and ankle joints are exemplified, the above description can also be applied to joints other than those of the lower limbs (for example, shoulder joints, elbow joints, and wrist joints).

[0100] Although step 1120 is described as being performed between step 1110 and step 1130, step 1120 may be performed constantly while power is supplied to sensor 121. Sensor 121 may generate data (e.g., joint angle) at a preset cycle. That is, joint angle measurement may be performed continuously and persistently.

[0101] In step 1130, processor 142 of wearable device 100 determines whether the operation mode is an exercise mode or an assistance mode. If the operation mode is an exercise mode, a resistance force is provided to the user, and if the operation mode is an assistance mode, an assistance force is provided to the user. Steps 1140-1160 are performed to provide the resistance force to the user, and steps 1170-1180 are performed to provide the assistance force to the user.

[0102] Although step 1130 has been described as determining the operation mode, in a different example, step 1130 may determine whether the operation mode is an assist mode, and if the operation mode is not an assist mode, determine whether the operation mode is an exercise mode. In a different example, step 1130 may determine whether the operation mode is an exercise mode, and if the operation mode is not an exercise mode, determine whether the operation mode is an assist mode.

[0103] According to one embodiment, when a user is walking, the exercise mode may be applied to all walking states, or may be selectively applied only to a specific walking state. For example, the exercise mode may be applied only to the swing state out of the support state and the swing state, depending on the user's selection. The user's joint angles may be used to determine the user's current walking state.

[0104] In step 1140, if the operation mode is an exercise mode, the processor 142 of the wearable device 100 determines a resistance level for the joint based on the measured joint angle. For example, the resistance level may be determined in response to input of the joint angle via a control algorithm. As another example, the resistance level may be output by inputting the joint angle into a specific neural network determined based on the operation mode.

[0105] The resistance level may be the degree or magnitude of the resistance force felt by the user. For example, if a user desires the same resistance force to be provided throughout the entire walking motion (or running motion), the same resistance level is determined for the entire walking motion. As another example, if a user desires different resistance force to be provided only for a specific step (e.g., swing state) of the walking mechanism, the degree of the user's walking cycle may be determined based on the joint angles (e.g., joint angle set), and a resistance level corresponding to the determined degree of the walking cycle may be determined. As the degree of the walking cycle changes in real time, the determined resistance level may also change in real time.

[0106] According to one embodiment, the pre-generated resistance force profile indicates a trajectory of resistance levels for the entire walking cycle, and based on the resistance force profile for the entire walking cycle, a resistance level corresponding to the extent of the current walking cycle can be determined.

[0107] The resistance force profile can be modified by the user. For example, the user may modify the resistance level for at least a portion of the resistance force profile via the input interface 146 of the wearable device 100 or a user terminal connected to the wearable device 100. That is, the user can modify the resistance level for at least a portion of the resistance force profile in order to set the exercise method desired by the user. The resistance force profile will be described in detail with reference to FIG. 12 below.

[0108] The neural network for each operation mode may be pre-trained by the manufacturer of the wearable device 100 (pre-training). The neural network may also be further trained by the user of the wearable device 100 (fine tuning). For example, the user may input feedback on the current output of the neural network to the wearable device 100, and the processor 142 may further train the neural network to reflect the feedback. For example, methods such as backpropagation or reinforcement learning may be used to train the neural network, but are not limited to the described embodiments.

[0109] According to one embodiment, the resistance level may be determined based on the position and angle of the user's joints. For example, a target posture for the user's left leg may be preset, and the resistance level may be determined based on the difference between the target posture and the user's current posture. If the current posture is significantly different from the target posture, a lower resistance level may be determined, and the more similar the current posture is to the target posture, the higher the resistance level may be determined. If the current posture is the target posture, the highest resistance level may be provided to the user.

[0110] For example, if a posture in which the thighs are lifted by a certain angle or more is set as the target posture, the resistance level increases the further the user lifts the thighs, and the user feels the strongest resistance in the target posture.

[0111] A damping control technique that applies a muscle model may be used to determine the resistance level. If the resistance level determined by the damping control technique is changed gradually, the user's resistance to changes in exercise load may be reduced.

[0112] According to a commonly known biological model of muscles (the Hill-type muscle model studied in medical engineering), when a stimulation signal is input to a muscle, the input stimulation signal is amplified in proportion to the force generated by the muscle (positive feedback), and the muscle force (power) amplified by the stimulation signal has a certain relationship depending on the muscle length and the muscle contraction speed.

[0113] When a muscle contracts the most or grows the most, it cannot have much force, but when it is at the right length, it can have the strongest force. The force generated depending on the speed at which the muscle length changes is greater the faster the speed of change.

[0114] The relationship between muscle force and muscle length can be expressed as a normal distribution. The relationship between muscle force and muscle length velocity can be expressed as a sigmoid distribution.

[0115] Because users are accustomed to the changes in body movement and the magnitude of force exerted due to such muscle stretching, when a resistance level is provided to a user that corresponds to the magnitude of force exerted in response to changes in body movement, the user will also feel accustomed to the resistance (exercise load) provided by that resistance level and the changes in resistance due to changes in resistance level.

[0116] The wearable device 100 can calculate the user's body movement based on the positions and angles of the user's joints. In the exercise mode, the processor 142 of the wearable device 100 can calculate the user's body movement and the magnitude of the resulting force based on the positions and angles of the user's joints, and calculate the control level based on the calculated magnitude of the force.

[0117] In step 1150, the processor 142 of the wearable device 100 determines the ratio between the time for which the motor driver circuit 112 is controlled as a closed loop and the time for which the motor driver circuit 112 is controlled as an open loop based on the resistance level. The ratio between the time for which the motor driver circuit 112 is controlled as a closed loop and the time for which the motor driver circuit 112 is controlled as an open loop may be referred to as a coupling ratio. For example, a coupling ratio of the motor driver circuit 112 corresponding to the resistance level may be determined. The coupling ratio of the motor driver circuit 112 refers to the ratio at which the motor driver circuit 112 is controlled as a closed loop (i.e., a first control state) or an open loop (i.e., a second control state) in a controlled state in which energy is not provided from the battery 150 to the motor 114. For example, a circuit coupling ratio of 0.5 relative to the closed loop state means that the closed loop state is controlled 50% and the open loop state is controlled 50% within a predetermined period. The circuit coupling ratio can be dynamically adjusted when the resistance level changes.

[0118] For example, the coupling ratio is realized using PWM, but this is not limited to the described embodiment, and various methods for adjusting the coupling state of the motor driver circuit 112 may be applied. When PWM is used to control the coupling ratio, the coupling ratio determined in step 1150 may be represented by a PWM having a specific duty ratio. The PWM having a specific duty ratio may be preset so that the PWM can provide a desired resistance force to the user. The PWM having a specific duty ratio may control the motor driver circuit 112 in a closed loop (first control state) or an open loop (second control state). For example, the processor 142 can control the motor driver circuit 112 in a closed loop or an open loop by using PWM to control the operation of a switch in the motor driver circuit 112.

[0119] When the motor driver circuit 112 is in a closed loop, the motor 114 operates as a generator, and dynamic braking reduces the backdrivability of the motor 114. The lower the backdrivability, the greater the resistance felt by the user. On the other hand, when the motor driver circuit 112 is in an open loop, the backdrivability of the motor 114 increases, and the only resistance felt by the user is the frictional force due to the gear ratio.

[0120] The ratio of the open and closed states of the motor driver circuit 112 can be adjusted based on the coupling ratio to achieve the desired backdrivability. For example, the resistance provided to the user can be adjusted by the ratio at which the motor driver circuit 112 is controlled as closed loop or open loop within the uniform, repeating time interval of the PWM, with the resistance increasing the percentage of time the motor driver circuit 112 is controlled as closed loop.

[0121] In step 1160, the processor 142 of the wearable device 100 controls the motor 114 via the motor driver circuit 112 based on the determined coupling ratio. The motor driver circuit 112 may include at least one switch (e.g., first switch to fourth switch) 710 to 740 controlled based on the coupling ratio, and the motor driver circuit 112 is controlled as a closed loop or an open loop by the switch. When the operation mode of the wearable device 100 is set to the exercise mode, energy of the wearable device 100 is not provided to the motor 114. For example, electrical energy stored in the battery 150 of the wearable device 100 is not provided to the motor 114. Even when electrical energy is not provided to the motor 114, the backdrivability of the motor 112 can be controlled by controlling the motor driver circuit 112 as an open loop or a closed loop, and the resistance force can be adjusted by the controlled backdrivability.

[0122] When the user does not move, the motor 112 does not operate as a generator. Since the motor 112 does not operate as a generator, no resistance force is generated on the user. In other words, the resistance force generated based on the backdrivability of the motor 112 is generated only when the user moves.

[0123] When the motor 112 operates as a generator, the battery 150 of the wearable device 100 can be charged based on the energy generated by the generator. That is, while the wearable device 100 operates in the exercise mode, the energy of the battery 150 of the wearable device 100 is consumed very little, but rather can be charged. When the wearable device 100 operates in the exercise mode, the wearable device 100 can be operated continuously even without an external energy supply.

[0124] The above steps 1140 to 1160 describe the case where the operation mode of the wearable device 100 is set to the exercise mode, and the following steps 1170 and 1180 describe the case where the operation mode is set to the assistance mode.

[0125] In step 1170, if an assistance mode is received or entered, the processor 142 of the wearable device 100 calculates an assistance torque value for the joint based on the measured joint angle. For example, the assistance torque value may be determined in response to an input of the joint angle via a control algorithm. As another example, the assistance torque value may be output by inputting the joint angle into a neural network determined based on the operation mode.

[0126] According to one embodiment, the processor 142 can determine the user's walking state or the degree of the walking cycle based on the angles of the joints, and determine an assist torque value corresponding to the determined walking state or the degree of the walking cycle. The more joints that are measured, the more accurate the walking state or the degree of the walking cycle can be determined.

[0127] The assist torque value is determined based on a preset torque profile, and the method for calculating the assist torque value is not limited to the embodiment described above.

[0128] In step 1180, the processor 142 of the wearable device 100 provides an assistive force to the user by controlling the motor 114 based on the assistive torque value. The wearable device 100 drives the motor 114 using the battery 150 of the wearable device 100 to output an assistive torque, and can provide the assistive force to the user by the assistive torque output by the motor 114. The assistive torque value refers to a control signal applied to the motor 114, the assistive torque refers to a rotational torque output by the motor 114 based on the assistive torque value, and the assistive force refers to a force felt by the user due to the assistive torque.

[0129] 11 illustrates an embodiment in which the wearable device 100 can provide both the exercise mode and the assistance mode to the user. However, according to another embodiment, the wearable device 100 may operate only in the exercise mode. When the wearable device 100 operates only in the exercise mode, the above-described steps 1110, 1130, 1170, and 1180 may not be performed. Furthermore, the wearable device 100 may not include a battery for supplying power to the motor 114. If a battery is not included, the wearable device 100 will be lighter.

[0130] FIG. 12 illustrates a resistance force profile output to a user terminal according to an example.

[0131] According to an embodiment, the wearable device 100 is connected to the user terminal 1200 via a wired or wireless network. For example, the wearable device 100 can transmit and receive information about the wearable device 100 via an application installed on the user terminal 1200. The information about the wearable device 100 includes setting values for the wearable device 100, an operating state of the wearable device 100, and a device status of the wearable device 100. The setting values for the wearable device 100 may include detailed setting values for an assistance mode or an exercise mode set by the user. The operating status of the wearable device 100 may include the user's current walking state or the progress of the walking cycle. The device status of the wearable device 100 may include the remaining capacity of the battery 150, etc.

[0132] Various resistance force profiles for exercise modes may be pre-stored in the wearable device 100 or the user terminal 1200. For example, each of the resistance force profiles may be pre-generated to exhibit a different exercise effect.

[0133] A user can personalize the resistance force profile 1210 by modifying at least a portion 1220 of the conventional resistance force profile 1210 to a desired resistance level. For example, the portion 1220 corresponds to a swing state, and the user can modify the resistance level of the portion 1220 so that the resistance level is minimized in the swing state. For example, the user can modify the resistance level by touching the portion 1220 via the touch panel of the user terminal 1200 and dragging the trajectory of the selected portion 1220.

[0134] FIG. 13 is a flowchart of a method for providing a resistive force according to another embodiment.

[0135] According to another embodiment, the following steps 1310 to 1380 are performed by the wearable device 100 described above.

[0136] In step 1310, the wearable device 100 receives from the user an operation mode for controlling the wearable device 100. The description of step 1310 may be replaced with the description of step 1110 described above with reference to FIG.

[0137] In step 1320, the wearable device 100 measures the angle of the user's joint using the sensor 121. The description of step 1320 may be replaced with the description of step 1120 described above with reference to FIG. 11. Step 1320 may be performed independently of and in parallel with step 1330.

[0138] In step 1330, the wearable device 100 determines whether the operation mode is an exercise mode or an assistance mode.

[0139] If the wearable device 100 operates based on multiple neural networks, the wearable device 100 determines the neural network corresponding to the determined operation mode. The subsequent steps are performed based on the determined neural network. For example, an exercise mode neural network may be determined for the exercise mode, and an auxiliary mode neural network may be determined for the auxiliary mode. If the operation mode is the exercise mode, steps 1340 to 1360 are performed, and if the operation mode is the auxiliary mode, steps 1370 to 1380 are performed.

[0140] Although the description is given of the exercise mode or assistance mode being operable based on the respective neural networks, this is not intended to be limiting to the described embodiments, and for example, the operation of the wearable device 100 may be controlled via a control algorithm other than a neural network.

[0141] <Exercise mode> In step 1340, the processor 142 of the wearable device 100 determines a resistance level for the joint based on the measured joint angle. The description for step 1340 is substituted for the description for step 1340 described above with reference to FIG.

[0142] In step 1350, the processor 142 of the wearable device 100 determines the coupling ratio of the motor driver circuit 112 corresponding to the resistance level. The description of step 1350 is substituted for the description of step 1350 described above with reference to FIG.

[0143] In step 1360, the processor 142 of the wearable device 100 controls the motor 114 via the coupling ratio of the motor driver circuit 112. The description of step 1360 is substituted for the description of step 1160 described above with reference to FIG.

[0144] <Assist mode> In step 1370, the processor 142 of the wearable device 100 calculates an assist torque value for the joint based on the measured joint angle. The description of step 1370 is substituted for the description of step 1170 described above with reference to FIG. 11 .

[0145] In step 1380, the processor 142 of the wearable device 100 provides an assist force to the user by controlling the motor 114 based on the assist torque value. The description of step 1380 may be replaced with the description of step 1180 described above with reference to FIG. 8.

[0146] FIG. 14 illustrates an example open-loop motor driver circuit.

[0147] The motor driver circuit 1400 according to one embodiment may be an H-bridge circuit. The open / close state of the motor driver circuit 1400 changes depending on the connection state of the switches 1410 to 1440. The switches 1410 to 1440 may be realized by BJTs (Bipolar Junction Transistors) and MOSFETs (Metal-Oxide Semiconductor Field-effect Transistors), but are not limited to the described embodiment.

[0148] When the motor driver circuit 1400 is in an open-loop state, dynamic braking of the motor 114 is minimized, which increases the backdrivability of the motor 114. In this case, the backdrivability may be frictional forces generated by gears coupled to the motor 114.

[0149] 15 and 16 show an example closed-loop motor driver circuit.

[0150] According to one embodiment, a closed loop of the motor driver circuit 1400 is formed to include the battery 150 and the motor 114 .

[0151] For example, if switches 1410 and 1440 of motor driver circuit 1400 are open and switches 1420 and 1430 are closed, the current provided to motor 114 flows in first direction 1510 .

[0152] As another example, when switches 1410 and 1440 of motor driver circuit 1400 are closed and switches 1420 and 1430 are open, current provided to motor 114 may flow in second direction 1610, which is opposite to first direction 1510. The direction of the current may change the direction of rotation of the shaft of motor 114.

[0153] The closed loop may be formed when in assist mode, and the direction of the current 1510 and 1610 may be determined by the direction of the assist force provided to the user.

[0154] FIG. 17 illustrates an example closed-loop motor driver circuit.

[0155] According to an embodiment, the motor driver circuit 1400 connected to the motor 114, which is controlled so as not to utilize the energy of the battery 150, can form a closed loop, i.e., the illustrated motor driver circuit 1400 is a closed loop circuit connected to the motor 114 as the motor driver circuit 1400 for a motion mode that does not use the power of the battery 150.

[0156] For example, when switches 1410 and 1430 of circuit 1400 are open and switches 1420 and 1440 are closed, a closed loop including motor 114 may be formed. That is, the closed loop may be formed by the lower driver circuit of motor driver circuit 1400. The closed loop may be formed in a motion mode, causing dynamic braking of motor 114. A user rotating motor 114 will feel a resistance force due to the dynamic braking.

[0157] FIG. 18 illustrates a closed-loop motor driver circuit including a braking resistor according to an example.

[0158] In one embodiment, motor driver circuit 1800 includes switches 1810-1840 coupled to battery 150 and motor 114, and a braking resistor 1850. In the illustrated embodiment, switches 1820 and 1840 are closed, forming a closed loop that includes motor 114. With the closed loop in place, the user feels the greatest resistance.

[0159] The degree of resistance can be adjusted by adjusting the ratio of open-loop and closed-loop states for the motor driver circuit 1800 using the coupling ratio. To maximize the resistance, the closed-loop state can be maintained, and to minimize the resistance, the open-loop state can be maintained.

[0160] With the motor driver circuit 1800 controlled as a closed loop, the motor 114 operates as a generator in response to an external force from the user, and the generated energy may be consumed as heat via the braking resistor 1850. As another example, in the illustrated motor driver circuit 1800, a current as energy generated by the motor 114 flows from the + terminal to the - terminal of the battery 150 due to a diode, regardless of the direction of rotation of the rotating shaft of the motor 144. Therefore, the generated energy can charge the battery 150.

[0161] FIG. 19 shows another example of a closed-loop motor driver circuit including a resistor.

[0162] A circuit 1900 obtained by adding an auxiliary path including at least one resistor 1962 and a switch 1964 to the circuit 1400 described above with reference to FIGS. 14 to 17 can improve the electrical safety of the closed loop.

[0163] In a motor driver circuit 1900 in a closed loop state including a motor 114, when the motor 114 is rotated by an external force, it operates as a generator and generates an electromotive force. There is a risk that the generated electromotive force may damage electronic elements within the closed loop. Adding a resistor 1962 to the closed loop increases the internal resistance of the closed loop itself, thereby reducing the magnitude of the current generated by the electromotive force. This reduction in the magnitude of the current also reduces the risk of damage to electronic elements within the closed loop.

[0164] FIG. 20 illustrates a closed-loop motor driver circuit including a BLDC motor according to an example.

[0165] While the motor driver circuits 1400, 1800, and 1900 shown in FIGS. 14 to 19 are connected to a DC motor, as a different example, the motor driver circuit 2000 may be connected to a BLDC motor 2005. The BLDC motor 2005 may be connected to three terminals within the motor driver circuit 2000. In general, a BLDC motor generates more torque per volume than a DC motor, and does not use mechanical brushes for current commutation, as used in DC motors, so friction does not occur between the brushes and the rotor windings. Therefore, since friction does not occur between the brushes and the rotor windings in a BLDC motor, it has superior durability compared to a DC motor.

[0166] For example, when switches 2010, 2030, and 2050 of motor driver circuit 2000 are open and switches 2020, 2040, and 2060 are closed, a closed loop may be formed that includes BLDC motor 2005. The closed loop may also be formed to exclude battery 150.

[0167] PWM signals applied to switches 2020, 2040 and 2060 control the closed and open loop states of circuit 2000. Resistance levels can change the control ratio.

[0168] Switch 2020 controls the opening and closing of a first terminal u of BLDC motor 2005, switch 2040 controls the opening and closing of a second terminal v of BLDC motor 2005, and switch 2060 controls the opening and closing of a third terminal w of BLDC motor 2005. For example, if the same PWM signal is applied to switches 2020, 2040, and 2060, a closed loop may be formed that is unrelated to the commutation sequence for BLDC motor 2005.

[0169] Because the BLDC motor 2005 is connected to three terminals u, v, and w, an electrical closed loop between the terminals u, v, and w may be formed by determining rotor Hall sensor information (the angle of the motor's rotating shaft) and selectively connecting two of the switches 2020, 2040, and 2060 to match the commutation sequence. However, when the BLDC motor 2005 is controlled in the motion mode to control only the backdrivability of the BLDC motor 2005, a closed loop that does not require consideration of the commutation sequence may be formed by connecting all of the switches 2020, 2040, and 2060. Since the commutation sequence does not need to be considered to form a closed loop, the time required to calculate the commutation sequence and the risk of malfunction of the BLDC motor 2005 can be reduced.

[0170] As another example, PWM signals may be applied to each of the switches 2020, 2040, and 2060 to form a closed loop corresponding to a commutation sequence for states classified based on the angle of the rotational shaft of the BLDC motor 2005.

[0171] FIG. 21 is a configuration diagram of a drive unit of a wearable device according to an example.

[0172] According to one embodiment, the driving unit 110 of the wearable device 100 described above includes a motor 2110, a clutch 2120, and multiple gears 2130 and 2140. The multiple gears 2130 and 2140 may be selected differently based on a user input or a determined resistance level. The clutch 2120 can control the transmission of driving force by selectively connecting the motor 2110 to one of the multiple gears 2130 and 2140.

[0173] The gear ratio can be set differently depending on the purpose of the operation mode of the wearable device 100, thereby adjusting the magnitude of the resistance force provided to the user.

[0174] Unlike the hip-type wearable device 100 shown with reference to Figures 1A to 1D, the wearable device is the whole-body type wearable device 1 described above with reference to Figures 22 to 24. The whole-body type wearable device 1 is a device that provides walking assist torque to the hip joints, knee joints, and ankle joints of the user, respectively.

[0175] <Overview of the full-body walking assist device> 22 to 24 show a whole-body type wearable device according to another example.

[0176] 22 is a front view of one embodiment of the whole-body type wearable device 1, FIG. 23 is a side view of the whole-body type wearable device 1, and FIG. 24 is a rear view of the whole-body type wearable device 1. As shown in FIG.

[0177] According to one embodiment, the whole-body wearable device 1 includes the driving unit 110, the sensor unit 120, the IMU 130, the control unit 140, and the battery 150 described above.

[0178] As shown in FIGS. 22 to 24, the whole-body wearable device 1 has an exoskeleton structure so as to be worn on the left and right legs of a user. While wearing the wearable device 1, the user can perform movements such as extension, flexion, adduction, and abduction. An extension movement is a movement that extends a joint, and a flexion movement is a movement that flexes a joint. An adduction movement is a movement that moves the leg closer to the central axis of the body. An abduction movement is a movement that stretches the leg in a direction away from the central axis of the body.

[0179] 22 to 24, the wearable device 1 includes a main body unit 10 and mechanical units 20R, 20L, 30R, 30L, 40R, and 40L.

[0180] The main body 10 includes a housing 11. The housing 11 houses various components. Examples of components housed in the housing 11 include a central processing unit (CPU), a printed circuit board, various types of storage devices, and a power supply. The main body 10 includes the control unit 140 described above. The control unit 140 includes a CPU and a printed circuit board.

[0181] The CPU may be a microprocessor. The microprocessor may be provided with an arithmetic logic unit, a register, a program counter, an instruction decoder, and / or a control circuit on a silicon chip. The CPU selects a control mode appropriate for the walking environment and generates control signals for controlling the operation of the mechanism units 20, 30, and 40 according to the selected control mode.

[0182] The printed circuit board is a board on which a predetermined circuit is printed, and the printed circuit board may be provided with a CPU and / or various storage devices. The printed circuit board is fixed to the inner surface of the housing 11.

[0183] The storage device built into the housing 11 may be of various types, including a magnetic disk storage device that stores data by magnetizing the surface of a magnetic disk, and a semiconductor storage device that stores data using various types of memory semiconductors.

[0184] A power source contained within the housing 11 can provide power to the various components or mechanisms 20, 30, 40 contained within the housing 11.

[0185] The main body 10 further includes a lumbar support part 12 for supporting the user's lumbar region. The lumbar support part 12 may have the shape of a curved flat plate so as to support the user's lumbar region.

[0186] The main body 10 further includes a fixing portion 11a for fixing the housing 11 to the user's hips and a fixing portion 12a for fixing the waist support portion 12 to the user's waist. The fixing portions 11a and 12a may be realized as one of an elastic band, a belt, and a strap.

[0187] The main body 10 includes the above-described IMU 130. For example, the IMU 130 may be provided outside or inside the housing 11. The IMU 130 may be provided on a printed circuit board provided inside the housing 11. The IMU 130 measures acceleration and angular velocity.

[0188] The mechanism sections 20, 30, 40 include a first structural section 20, a second structural section 30, and a third structural section 40, as shown in FIGS.

[0189] The first structural members 20R, 20L assist the movement of the user's thighs and hip joints during walking. The first structural members 20R, 20L include first driving devices 21R, 21L, first support members 22R, 22L, and first fixed members 23R, 23L.

[0190] The above-described driving unit 110 may include first driving devices 21R and 21L, and the description of the driving device 110 described with reference to FIGS. 19 to 21 may be replaced with the description of the first driving devices 21R and 21L.

[0191] The first drive units 21R, 21L may be located at the hip joints of the first structural members 20R, 20L and may generate rotational forces of various magnitudes in predetermined directions. The rotational forces generated by the first drive units 21R, 21L are applied to the first support members 22R, 22L. The first drive units 21R, 21L are set to rotate within the range of motion of the hip joints of the human body.

[0192] The first driving devices 21R, 21L may be driven by a control signal provided by the main body 10. The first driving devices 21R, 21L may be realized as any one of a motor, a vacuum pump, and a hydraulic pump, but are not limited thereto.

[0193] A joint angle sensor may be provided around the first drive units 21R, 21L. The joint angle sensor can detect the angle at which the first drive units 21R, 21L have rotated around the rotation axis. The sensor unit 120 described above includes the joint angle sensor.

[0194] The first support parts 22R and 22L are physically connected to the first driving devices 21R and 21L. The first support parts 22R and 22L can be rotated in a predetermined direction by the rotational force generated by the first driving devices 21R and 21L.

[0195] The first support portions 22R, 22L may be realized in various shapes. For example, the first support portions 22R, 22L may be realized in a shape in which a plurality of nodes are connected to each other. Here, joints are provided between the nodes, and the first support portions 22R, 22L can bend within a certain range by means of these joints. As another example, the first support portions 22R, 22L may be realized in a rod shape. Here, the first support portions 22R, 22L may be made of a flexible material so that they can bend within a certain range.

[0196] The first fixing portions 23R, 23L may be provided on the first support portions 22R, 22L. The first fixing portions 23R, 23L serve to fix the first support portions 22R, 22L to the user's thighs.

[0197] 22 to 24 show a case where first support portions 22R, 22L are fixed to the outside of the user's thighs by first fixing portions 23R, 23L. When first support portions 22R, 22L are rotated by first driving devices 21R, 21L, the thighs to which first support portions 22R, 22L are fixed also rotate in the same direction as the rotation of first support portions 22R, 22L.

[0198] The first fixing parts 23R, 23L may be realized as any one of an elastic band, a belt, and a strap, or may be realized as a metal material. Fig. 19 shows the case where the first fixing parts 23R, 23L are chains.

[0199] The second structural members 30R, 30L assist the movement of the user's lower leg and knee joint during walking. The second structural members 30R, 30L include second driving devices 31R, 31L, second support members 32R, 32L, and second fixed members 33R, 33L.

[0200] The second drive units 31R, 31L are located at the knee joints of the second structural members 30R, 30L and can generate rotational forces of various magnitudes in a predetermined direction. The rotational forces generated by the second drive units 31R, 31L are applied to the second support members 22R, 22L. The second drive units 31R, 31L may be configured to rotate within the range of motion of the knee joints of the human body.

[0201] The above-described driving section 110 includes second driving devices 31R and 31L. The explanation related to the hip joint explained with reference to Figures 1 and 2 can be applied to the knee joint as well.

[0202] The second driving devices 31R, 31L can be driven by a control signal provided by the main body 10. The second driving devices 31R, 31L may be realized as any one of a motor, a vacuum pump, and a water pressure pump, but are not limited thereto.

[0203] A joint angle sensor may be provided around the second drive units 31R, 31L. The joint angle sensor can detect the angle at which the second drive units 31R, 31L have rotated around the rotation axis. The sensor unit 120 described above includes the joint angle sensor.

[0204] The second support parts 32R, 32L are physically connected to the second driving devices 31R, 31L. The second support parts 32R, 32L can be rotated in a predetermined direction by the rotational force generated by the second driving devices 31R, 31L.

[0205] The second fixing portions 33R, 33L are provided on the second supports 32R, 32L. The second fixing portions 33R, 33L serve to fix the second supports 32R, 32L to the user's lower legs. FIGS. 11 to 13 show a case in which the second supports 32R, 32L are fixed to the outside of the user's lower legs by the second fixing devices 33R, 33L. When the second driving devices 31R, 31L are driven to rotate the second supports 22R, 22L, the thighs to which the second supports 22R, 22L are fixed also rotate in the same direction as the rotation of the second supports 22R, 22L.

[0206] The second fixing devices 33R and 33L may be realized as any one of an elastic band, a belt, and a strap, or may be realized as a metal material.

[0207] The third structural members 40R, 40L can assist the movement of the user's ankle joint and associated muscles during walking. The third structural members 40R, 40L include third driving devices 41R, 41L, foot supports 42R, 42L, and third fixing devices 43R, 43L.

[0208] The above-mentioned drive unit 110 includes third drive devices 41R and 41L. The description relating to the hip joint described with reference to Fig. 1 can be applied in the same manner as the description relating to the ankle joint.

[0209] The third drive units 41R, 41L are provided at the ankle joints of the third structural units 40R, 40L and can be driven by a control signal provided from the main body unit 10. The third drive units 41R, 41L can also be realized by a motor, similar to the first drive units 21R, 21L or the second drive units 31R, 31L.

[0210] The foot supports 42R and 42L are provided at positions corresponding to the soles of the user's feet and are physically connected to the third drive devices 41R and 41L.

[0211] The third fixing portions 43R, 43L are provided on the foot support portions 42R, 42L. The third fixing portions 43R, 43L serve to fix the user's feet to the foot support portions 42R, 42L.

[0212] The units and / or modules described in this disclosure may be implemented using hardware and software components. For example, hardware components include a microphone, an amplifier, a bandpass filter, an audio-to-digital converter, and a processing unit. A processing unit may be implemented using one or more hardware devices configured to execute and / or operate program code by performing arithmetic, logical, and input / output operations. Processing units include processors, controllers, and arithmetic logic units, digital signal processors, microcomputers, field programmable arrays, programmable logic devices, microprocessors, or other devices capable of executing instructions in a defined manner. A processing unit executes an operating system (OS) and one or more software applications executed by the OS. A processing unit may also connect to, store, manipulate, process, and generate data in response to software execution. For simplicity, references to a processing unit may be made in the singular. However, those skilled in the art will understand that a processing unit may include multiple processing elements and multiple types of processing elements. For example, a processing unit may include multiple processors or a processor and a controller. Various processing configurations, such as parallel processors, are also possible.

[0213] Software includes computer programs, codes, instructions, or a combination of one or more thereof, which can configure a processing device to operate as desired or can independently or in combination instruct the processing device. The software and / or data can be permanently or temporarily embodied in any type of machine, component, physical device, virtual device, computer storage medium or device, or transmitted signal wave to be interpreted by the processing device or to provide instructions or data to the processing device. The software can be distributed across computer systems coupled to a network and stored and executed in a distributed manner. The software and data can be stored on one or more computer-readable recording media.

[0214] The methods according to the present invention may be embodied in the form of program instructions that can be executed by various computer means and stored on a computer-readable storage medium. The storage medium may include program instructions, data files, data structures, and the like, alone or in combination. The storage medium and program instructions may be specially designed and constructed for the purposes of the present invention, or they may be well-known and available to those skilled in the art of computer software. Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks, and magnetic tape, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include not only machine code, such as generated by a compiler, but also high-level language code executed by a computer using an interpreter, for example. The hardware devices described above may be configured to operate as one or more software modules to perform the operations described in the present invention, or vice versa.

[0215] Although several exemplary embodiments have been described above, it should nevertheless be understood that various technical modifications and variations may be made to the exemplary embodiments. For example, the described techniques may be performed in an order different from that described, and / or the described system, structure, device, circuit, or other element may be combined or combined in a manner different from that described, and other elements or equivalents may be substituted or substituted while still achieving suitable results. Accordingly, other implementations are within the scope of the following claims.

Claims

1. A resistance force providing method performed by a wearable device includes: measuring a first angle of a first joint of the user via a sensor; determining a resistance level for the first joint based on the first angle; determining, based on the resistance level, a coupling ratio between a coupling time during which a motor driver circuit electrically connected to a motor of the wearable device is controlled as a closed loop and a non-coupling time during which the motor driver circuit is controlled as an open loop; controlling the motor via the motor driver circuit based on the coupling ratio; A method of providing resistance, comprising:

2. The method of claim 1 , wherein the motor driver circuit includes at least one switch that is controlled based on the coupling ratio.

3. The method of claim 1 , wherein the coupling ratio is indicated by pulse width modulation (PWM).

4. the resistance level provided to the user is adjusted by the coupling ratio; The method of claim 3 , wherein the resistance increases as the coupled time during which the motor driver circuit is controlled as a closed loop increases.

5. The resistance force providing method according to claim 1 , wherein the motor operates as a generator in response to an external force exerted by the user when the motor driver circuit is controlled as a closed loop.

6. The method for providing resistance force according to claim 5, further comprising the step of charging a battery of the wearable device based on energy generated by the generator when the motor operates as the generator.

7. The method of claim 1 , further comprising receiving an instruction from the user to set the operation mode of the wearable device to an exercise mode.

8. The resistance force providing method of claim 7, wherein when set as the exercise mode, the motor is not provided with energy from a battery of the wearable device.

9. receiving an instruction from the user to set the operation mode of the wearable device to an auxiliary mode; calculating an assist torque value for the first joint in the assist mode based on the first angle; providing an assist force to the user by controlling the motor based on the assist torque value; The method of claim 1 further comprising:

10. A computer-readable recording medium storing a program for carrying out the method according to claim 1.

11. A wearable device that provides resistance to the user a memory storing a program including instructions for providing resistance to a user; a sensor for measuring a first angle of a first joint of the user; a motor driver circuit; a motor electrically connected to the motor driver circuit; a processor that executes the program; Including, The processor: measuring the first angle of the first joint of the user using the sensor; determining a resistance level for the first joint based on the first angle; determining an engagement ratio between an engagement time during which the motor driver circuit is controlled as a closed loop and an engagement time during which the motor driver circuit is controlled as an open loop based on the resistance level; The wearable device controls the motor via the motor driver circuit based on the connection ratio.

12. The coupling ratio is expressed in PWM (pulse width modulation), the resistance force provided to the user is adjusted by the coupling ratio; The wearable device of claim 11 , wherein the resistive force increases as the coupled time during which the motor driver circuit is controlled as a closed loop increases.

13. The wearable device of claim 11 , wherein when the motor driver circuit is controlled as a closed loop, the motor operates as a generator in response to an external force from the user.

14. The processor: receiving an instruction from the user to set the operation mode of the wearable device to an exercise mode; The wearable device of claim 11 , further comprising: determining the resistance level for the first joint based on the exercise mode and the first angle.

15. The processor: receiving an instruction from the user to set the operation mode of the wearable device to an assistance mode; calculating an assist torque value for the first joint in the assist mode based on the first angle; The wearable device of claim 11 , wherein the wearable device provides the user with an assistive force by controlling the motor based on the assistive torque value.

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