Wearable device and operating method therefor

Abstract

To provide a wearable device worn on a trainee so as to output torque.SOLUTION: A wearable device comprises: a motor; a motor driver circuit; a communication circuit for receiving movement information about a first user from a server 530 or an electronic device 510, 520; a frame connected to the motor, and worn on the lower body of a second user so as to support the lower body; a sensor; and a processor for controlling the motor driver circuit so that motion information about the second user is obtained using the sensor, the difference between the obtained motion information and the received motion information is calculated, torque strength is determined on the basis of the calculated difference, and a torque of a determined torque strength is output from the motor.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The following embodiments relate to a wearable device that is worn on the body of a user and outputs torque to the user. [Background technology]

[0002] Generally, a walking assistance device refers to a mechanism or device that assists patients who are unable to walk due to various illnesses or accidents to walk as part of rehabilitation therapy. Recently, as the aging society has become more severe, an increasing number of people are finding it difficult to walk normally or are experiencing inconvenience when walking due to ankle problems, leading to growing interest in walking assistance devices. A walking assistance device is worn on the user's body and provides assistance to the user's muscles required for walking, guiding the user's walking so that the user can walk in a normal walking pattern. Summary of the Invention [Means for solving the problem]

[0003] A wearable device that outputs torque according to one aspect includes a motor, a motor driver circuit, a communication circuit that receives movement information of a first user from a server or an electronic device, a frame connected to the motor and worn on the lower body of a second user to support the lower body, a sensor, and a processor that acquires movement information of the second user using the sensor, calculates a difference between the acquired movement information and the received movement information, determines a torque strength based on the calculated difference, and controls the motor driver circuit so that a torque of the determined torque strength is output from the motor.

[0004] If the calculated difference is greater than a predetermined value, the processor may confirm a gain for increasing torque strength, determine the torque strength using the confirmed gain and the calculated difference, determine a torque direction opposite to the direction of the second user's movement, control the converter to draw power corresponding to the determined torque strength from a battery, and turn on some switches of the motor driver circuit and turn off the remaining switches so that the motor rotates according to the determined torque direction and outputs a torque that resists the second user's movement.

[0005] If the calculated difference is smaller than a predetermined value, the processor may confirm a gain for increasing torque strength, determine the torque strength using the confirmed gain and the calculated difference, determine a torque direction in the same direction as the movement direction of the second user, control the converter to draw power corresponding to the determined torque strength from a battery, and turn on some switches of the motor driver circuit and turn off the remaining switches so that the motor rotates according to the determined torque direction and outputs torque that assists the movement of the second user.

[0006] The received movement information includes joint angles of the first user, and the acquired movement information includes joint angles of the second user, and the movement information of the first user can be generated by a wearable device of the first user located remotely detecting the movement of the first user.

[0007] The electronic device receives content streamed from the server (the content including video data and audio data generated by pre-recording the first user's movements, and movement information generated by the first user's wearable device detecting the first user's movements), extracts the first user's movement information from the content, and the communication circuit receives the extracted movement information from the electronic device.

[0008] The communication circuitry may transmit movement information of the second user to the electronic device.

[0009] The electronic device further includes an IMU (Inertial Measurement Unit) sensor that acquires acceleration information, angular velocity information, and attitude information of the second user, and the communication circuit can transmit the acquired acceleration information, angular velocity information, and attitude information to the electronic device.

[0010] In one embodiment, a remote training system includes a server, a first wearable device worn by a first user, and a second wearable device worn by a second user, wherein the first wearable device operates to acquire motion information of the first user and transmit the motion information of the first user to the second wearable device via the server, and the second wearable device receives the motion information of the first user via the server, acquires the motion information of the second user, calculates a difference between the motion information of the second user and the motion information of the first user, determines a torque intensity based on the calculated difference, and outputs a torque of the determined torque intensity to the second user.

[0011] If the calculated difference is greater than a predetermined value, the second wearable device may check a gain for increasing torque strength, determine the torque strength using the confirmed gain and the calculated difference, determine a torque direction opposite to the second user's movement direction, control the converter so that the converter draws power corresponding to the determined torque strength from the battery, and turn on some switches of a motor driver circuit and turn off the remaining switches so that the motor rotates according to the determined torque direction and outputs a torque that resists the second user's movement.

[0012] If the calculated difference is smaller than a predetermined value, the second wearable device may check a gain for increasing the torque strength, determine the torque strength using the confirmed gain and the calculated difference, determine a torque direction in the same direction as the movement direction of the second user, control the converter so that the converter draws power corresponding to the determined torque strength from the battery, turn on some switches of a motor driver circuit and turn off the remaining switches so that the motor rotates according to the determined torque direction and outputs torque that assists the movement of the second user.

[0013] The first user's movement information includes joint angles of the first user, and the second user's movement information includes joint angles of the second user, and the first wearable device can cause the second user's movement information to be transmitted to the second wearable device via the server.

[0014] The second wearable device is connected to the first user's electronic device and transmits the first user's movement information to the first user's electronic device; the second user wearable device is connected to the second user's electronic device; the first user's electronic device transmits video data and audio data generated by capturing the first user's movements to the server and transmits the first user's movement information to the server; the server time-synchronizes the video data, audio data, and the first user's movement information received from the first user's electronic device and transmits the time-synchronized video data, audio data, and the first user's movement information to the second user's electronic device; and the second user's electronic device outputs the video data and audio data received from the server and transmits the first user's movement information to the first wearable device.

[0015] In one embodiment, a streaming-based training system includes a server that streams content including video data, audio data, and movement information of a first user related to exercise to an electronic device of a second user, and a wearable device connected to the electronic device.

[0016] The wearable device can receive movement information of the first user from the electronic device, acquire movement information of the second user, calculate a difference between the acquired movement and the received movement information, determine a torque strength based on the calculated difference, and output a torque of the determined torque strength to the second user.

[0017] In one embodiment, a method for operating a wearable device that outputs torque includes steps of receiving movement information of a first user from a server or electronic device, acquiring movement information of the second user, calculating a difference between the acquired movement information and the received movement information, determining a torque strength based on the calculated difference, and controlling the motor driver circuit so that a torque of the determined torque strength is output from the motor. [Brief explanation of the drawings]

[0018] [Figure 1A] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 1B] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 1C] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 1D] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 1E] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 2A] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 2B] FIG. 1 is a diagram illustrating a wearable device according to an embodiment. [Figure 3A] 10A and 10B are diagrams for explaining torque of a wearable device according to an embodiment. [Figure 3B] 10A and 10B are diagrams for explaining torque of a wearable device according to an embodiment. [Figure 3C] 10A and 10B are diagrams for explaining torque of a wearable device according to an embodiment. [Figure 3D] 10A and 10B are diagrams for explaining torque of a wearable device according to an embodiment. [Figure 4A] 1 is a diagram illustrating a trainee wearable device and a trainer wearable device according to an embodiment. [Figure 4B] 1 is a diagram illustrating a trainee wearable device and a trainer wearable device according to an embodiment. [Figure 4C] 1 is a diagram illustrating a trainee wearable device and a trainer wearable device according to an embodiment. [Figure 5] 1 is a diagram illustrating an example of a remote training system according to an embodiment. [Figure 6A] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 6B] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 7A] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 7B] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 7C] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 7D] FIG. 2 is a diagram for explaining a screen of a trainee electronic device according to the embodiment. [Figure 8] FIG. 10 is a diagram illustrating another example of a remote training system according to an embodiment. [Figure 9A] FIG. 10 is a diagram illustrating another example of a remote training system according to an embodiment. [Figure 9B] FIG. 10 is a diagram illustrating another example of a remote training system according to an embodiment. [Figure 10A] FIG. 1 is a diagram illustrating a streaming-based training system according to an embodiment. [Figure 10B] FIG. 1 is a diagram illustrating a streaming-based training system according to an embodiment. [Figure 10C] FIG. 1 is a diagram illustrating a streaming-based training system according to an embodiment. [Figure 11] 1A and 1B are diagrams for explaining motion analysis and evaluation according to an embodiment. [Figure 12] 10 is a flowchart for explaining an operation method of a trainee wearable device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0019] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified in various forms. Therefore, the embodiments are not limited to the specific disclosed forms, and the scope of the present specification includes modifications, equivalents, or alternatives within the technical spirit.

[0020] Although terms such as "first" or "second" may be used to describe various components, such terms should be construed only to distinguish one component from another. For example, a first component may be designated as a second component, and similarly, a second component may be designated as a first component.

[0021] When any component is referred to as being "coupled" to another component, it is directly coupled or connected to the other component, but it should be understood that there may be other components in between.

[0022] The singular expression includes the plural expression unless the context clearly dictates otherwise. In this specification, the words "comprise" or "have" and the like indicate the presence of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0023] 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 present invention belongs. Commonly used predefined terms should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant art, and should not be interpreted as having an ideal or overly formal meaning unless expressly defined herein.

[0024] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, the same components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted.

[0025] 1A to 2B are diagrams illustrating a wearable device according to an embodiment.

[0026] Referring to FIG. 1A , the wearable device 100 includes a processor 110, a first sensor 120, a first motor driver circuit 130, a first motor 140, an IMU (Inertial Measurement Unit) sensor 150, a memory 160, and a communication circuit 170. While FIG. 1A illustrates one first sensor 120, one first motor driver circuit 130, and one first motor 140, this is merely an example. As illustrated in FIG. 1B , the wearable device 100 may include first and second sensors 120 and 121, multiple motor driver circuits 130 and 131, and multiple motors 140 and 141. 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.

[0027] 1C and 1D show an example in which the wearable device 100 is worn on the hip. In FIG. 1C, motors 140 and 141 may be disposed near the user's right and left hip joints, respectively. This is because the wearable device 100 applies torque (or force) to the flexion and extension of each hip joint when the user walks. Here, flexion indicates forward rotation of the hip joint, and extension indicates backward rotation of the hip joint. Without being limited to the example shown in FIG. 1C, motors 140 and 141 may be disposed to apply torque (or force) to the adduction and abduction of each hip joint. Here, abduction indicates a movement away from the body when the user exercises laterally, and adduction indicates a movement toward the body.

[0028] 1D , the wearable device 100 includes a frame for fixing the wearable device 100 to the user's body and supporting the body when the wearable device 100 is worn on the user's body. Such a frame may include, for example, a waist-mounted frame for fixing the wearable device 100 to the user's waist, and a foot-mounted frame for fixing a part of the wearable device 100 to the user's foot. Depending on the implementation form of the wearable device 100, the shape and configuration of the frame may be modified to suit the implementation form.

[0029] In one embodiment, a processor 110, a memory 160, a communication circuit 170, and the like for controlling the operation of the wearable device 100 are disposed on the rear of the user's waist 101. A first motor 140 and a first sensor 120 are located near the user's right hip joint 20R, and a second motor 141 and a second sensor 121 are located near the user's left hip joint 20L.

[0030] When power is supplied to the first motor 140 located near the right hip joint 20R and the second motor 141 located near the left hip joint 20L and the first motor 140 and the second motor 141 operate, the force output from each of the first motor 140 and the second motor 141 is transmitted to the respective foot frames via the right / left transmission units 40R and 40L, and the force transmitted to the foot frames is applied to the user's feet.

[0031] 1E shows an example in which the wearable device 100 is worn on the upper body. Motors 140 and 141 may be arranged near the right and left shoulder joints, respectively. This is so that the wearable device 100 applies torque to flexion and extension of each shoulder joint. Without being limited to the example shown in FIG. 1E, motors 140 and 141 may also be arranged to apply torque to adduction and adductor of each shoulder joint.

[0032] The operation of the wearable device 100 will be described in more detail below based on the configuration of the wearable device 100.

[0033] The processor 110 controls the overall operation of the wearable device 100.

[0034] The processor 110 may obtain user movement information (e.g., joint angle) using the first sensor 120. More specifically, the first sensor 120 may include an encoder. Because the first motor 140 and the first sensor 120 are connected to each other, the shaft of the first sensor 120 may rotate simply by rotating the first motor 140. The first sensor 120 transmits bit values ​​corresponding to each rotation position of the shaft to the processor 110, and the processor 110 may calculate the rotation angle of the shaft based on the transmitted bit values. For example, if the shaft is at a first rotation position, the first sensor 120 transmits a first bit value corresponding to the first rotation position to the processor 110. If the shaft has rotated to a second rotation position, the first sensor 120 transmits a second bit value corresponding to the second rotation position to the processor 110. The processor 110 may calculate the rotation angle of the shaft by subtracting the angle corresponding to the first bit value from the angle corresponding to the second bit value. Depending on the implementation, the first sensor 120 may calculate the rotation angle of the shaft by subtracting the second rotation position from the first rotation position of the shaft and communicate the calculated rotation angle to the processor 110.

[0035] The first sensor 120 is not limited to the encoder described above, and may include a resolver, an acceleration sensor, a gyro sensor, or the like.

[0036] The description of the first sensor 120 can be applied to the description of the second sensor 121, so a detailed description of the second sensor 121 will be omitted.

[0037] Since the user's joint can be rotated by the torque of the first motor 140, the user's joint angle corresponds to the rotation angle of the shaft of the first sensor 120. In the wearable device 100, the rotation angle of the shaft of the first sensor 120 may be used as the user's joint angle. Hereinafter, for convenience of explanation, the rotation angle of the shaft of the first sensor 120 will be expressed as the user's joint angle.

[0038] The processor 110 may calculate the angular velocity of the joint using the user's joint angle. For example, if the joint angle acquired during time T is X, the processor 110 may calculate X / T as the angular velocity of the joint. Depending on the implementation, the first sensor 120 may calculate the angular velocity of the joint using the user's joint angle and transmit the calculated angular velocity to the processor 110.

[0039] The first motor driver circuit 130 controls the operation of the first motor 140 under the control of the processor 110. As an example, the first motor driver circuit 130 can form an electrical path so that power is supplied to the first motor 140 by a battery under the control of the processor 110. An example of the first motor driver circuit 130 is shown in FIG. 2A.

[0040] 2A is an H-bridge circuit and includes a plurality of switches 210 to 240. Under the control of the processor 110, the first switch 210 and the fourth switch 240 are turned on, and the second switch 220 and the third switch 230 are turned off. Under the control of the processor 110, the converter 202 can draw power from the battery 200 and supply the drawn power to the first motor 140.

[0041] The first motor 140 rotates in the forward direction when power is supplied with the first switch 210 and the fourth switch 240 turned on and the second switch 220 and the third switch 230 turned off. Here, forward rotation refers to the first motor 140 rotating clockwise. In contrast, the first motor 140 rotates in the reverse direction. Here, reverse rotation refers to the first motor 140 rotating counterclockwise. More specifically, under the control of the processor 110, the second switch 220 and the third switch 230 are turned on and the first switch 220 and the fourth switch 240 are turned off, and power is supplied to the first motor 140 from the battery 200 via the converter 202, causing the first motor 140 to rotate in the reverse direction.

[0042] FIG. 2B shows an example of the second motor driver circuit 131. The structure of the second motor driver circuit 131 is the same as the structure of the first motor driver circuit 130. The second motor driver circuit 131 shown in FIG. 2B is an H-bridge circuit and includes a plurality of switches 250 to 280. Under the control of the processor 110, the fifth switch 250 and the eighth switch 280 may be turned on, and the sixth switch 260 and the seventh switch 270 may be turned off. Under the control of the processor 110, the converter 202 can draw power from the battery 200 and supply it to the second motor 141.

[0043] The second motor 141 rotates in the forward direction if power is supplied when the fifth switch 250 and the eighth switch 280 are turned on and the sixth switch 260 and the seventh switch 270 are turned off. Under the control of the processor 110, the sixth switch 260 and the seventh switch 270 are turned on and the fifth switch 250 and the eighth switch 280 are turned off, and power can be supplied from the battery 200 to the second motor 141 via the converter 202. In this case, the second motor 141 rotates in the reverse direction.

[0044] 1A , the IMU sensor 150 measures acceleration and / or angular velocity relative to the user's movement. The user's movement may include movement along the x-axis, the y-axis, and the z-axis, and the IMU sensor 150 measures acceleration and / or angular velocity relative to the movement along the x-axis, the y-axis, and the z-axis. The acceleration relative to the movement along each of the x-axis, y-axis, and z-axis is referred to as acceleration information relative to the user's movement. The angular velocity relative to the movement along each of the x-axis, y-axis, and z-axis is referred to as angular velocity information relative to the user's movement.

[0045] When a user is moving, the user can rotate around a longitudinal axis, a lateral axis, and a vertical axis, respectively. The angles by which the user rotates around the longitudinal axis, the lateral axis, and the vertical axis, respectively, indicate a roll angle, a pitch angle, and a yaw angle, and the IMU sensor 150 can measure the roll angle, the pitch angle, and the yaw angle. The roll angle, the pitch angle, and the yaw angle of the user may be referred to as posture information of the user.

[0046] The memory 160 stores software necessary for the operation of the wearable device 100. The memory 160 also stores the user's joint angles and angular velocities of the joints. The memory 160 also stores acceleration information, angular velocity information, and user posture information in response to the user's movements.

[0047] The memory 160 includes, but is not limited to, non-volatile memory, volatile memory, and the like.

[0048] The communication circuit 170 enables the wearable device 100 to communicate with the outside world.

[0049] The communication circuit 170 may include one or more of a short-range wireless communication circuit, a Wi-Fi communication circuit, and a mobile communication circuit. The short-range wireless communication circuit can communicate with electronic devices located in close proximity using a short-range wireless communication method (e.g., Near Field Communication (NFC), Bluetooth, ZigBee, etc.). The electronic devices may include mobile devices (e.g., smartphones or tablet PCs) and display devices (e.g., smart TVs). The Wi-Fi communication circuit may connect to a network using a Wi-Fi communication method and communicate with a server. The mobile communication circuit can connect to a mobile communication network using a mobile communication method (e.g., 3G, 4G, 5G, etc.) and communicate with a server.

[0050] 3A to 3D are diagrams for explaining torque of the wearable device according to the embodiment.

[0051] An example of a wearable device 100 worn on a HIP will be described with reference to FIGS. 3A to 3D.

[0052] 3A, 1A, and 1B, the wearable device 100 can generate a torque in the same direction as the user's movement. The torque in the same direction as the user's movement is referred to as an "assist torque."

[0053] In FIG. 3A, the processor 110 calculates or obtains the angular velocity of the user's right hip joint using the first sensor 120.

[0054] The processor 110 can determine control information for torque output via equation (1) below so that an assist torque is provided to the user.

[0055]

number

[0056] The first gain and the magnitude of the angular velocity are factors that determine the strength of the torque. The strength of the torque determined solely by the magnitude of the angular velocity may not be strong enough to assist the user's movement. Therefore, the processor 110 may determine a torque strength that is greater than the strength of the torque determined solely by the magnitude of the angular velocity by multiplying the angular velocity by the first gain for increasing the strength of the torque as shown in Equation (1) above. In other words, the processor 110 may multiply the first gain by the angular velocity to determine a torque strength that is greater than the magnitude of the angular velocity.

[0057] The magnitude of the torque increases as the first gain and the magnitude of the angular velocity increase. The first gain may be adjusted by processor 110 in response to a user adjustment request, etc. Depending on the embodiment, the first gain may be a fixed value.

[0058] The first gain may be, for example, any value within the range of 0 to 2. The range of 0 to 2 described above is merely an example, and the range to which the first gain belongs is not limited to the example described above.

[0059] The direction of angular velocity is a factor in determining the torque direction, and processor 110 can determine the direction of angular velocity as the torque direction. In Figure 3A, the right hip joint is rotating counterclockwise, so the direction of angular velocity is counterclockwise. Processor 110 determines the torque direction to be counterclockwise.

[0060] Depending on the implementation, processor 110 may determine the angular velocity as control information for torque output, where the magnitude of the angular velocity determines the strength of the torque, and the direction of the angular velocity determines the torque direction.

[0061] The processor 110 can control the converter 202 to draw from the battery 200 power corresponding to the torque intensity determined by the product of the first gain and the magnitude of the angular velocity (or the magnitude of the angular velocity). In addition, the processor 110 turns on the second switch 220 and the third switch 230 of the first motor driver circuit 130 and turns off the first switch 210 and the fourth switch 240 so that the first motor 140 rotates in the same direction as the angular velocity. The power drawn by the converter 202 is supplied to the first motor 140, so that the first motor 140 can output auxiliary torque to the right foot. Similarly, the second motor 141 can output auxiliary torque to the left foot.

[0062] 3B, the wearable device 100 generates a torque in the opposite direction to the direction of the user's movement. The torque in the opposite direction to the direction of the user's movement is referred to as a "resistance torque."

[0063] In FIG. 3B, the processor 110 calculates or obtains the angular velocity of the user's right hip joint using the first sensor 120.

[0064] The processor 110 determines control information for the torque output via equation (2) below so that a resistive torque is provided to the user.

[0065]

number

[0066] The second gain and the magnitude of the angular velocity are factors that determine the strength of the torque. The strength of the torque determined solely by the magnitude of the angular velocity may not be strong enough to provide resistance to the user's movement. Therefore, the processor 110 may multiply the angular velocity by the second gain to increase the strength of the torque, as shown in Equation (2), to determine a strength of the torque that is greater than the strength of the torque determined solely by the magnitude of the angular velocity. In other words, the processor 110 may multiply the second gain by the angular velocity to determine a strength of the torque that is greater than the magnitude of the angular velocity.

[0067] The magnitude of the torque increases as the second gain and the magnitude of the angular velocity increase. The second gain may be adjusted by processor 110, such as in response to a user adjustment request. Depending on the embodiment, the second gain may be a fixed value.

[0068] The second gain may be, for example, any value within the range of 0 to 2. The range of 0 to 2 described above is merely an example, and the range to which the second gain belongs is not limited to the example described above.

[0069] In equation (2), "-1" is a factor that determines the torque direction. Processor 110 determines the opposite direction of the angular velocity as the torque direction. In FIG. 3B, the right hip joint is rotating counterclockwise, so the direction of the angular velocity is counterclockwise. "-1" enables processor 110 to determine the torque direction as clockwise, which is the opposite direction of the angular velocity.

[0070] Depending on the implementation, processor 110 may determine "-1 x angular velocity" as the control information for torque output. In this case, processor 110 determines the magnitude of the angular velocity as the strength of the torque, and determines the opposite direction of the angular velocity as the torque direction.

[0071] The processor 110 may control the converter 202 to draw power from the battery 200 corresponding to a torque intensity determined by the product of the second gain and the magnitude of the angular velocity (or the magnitude of the angular velocity). The processor 110 may also turn on the first switch 210 and the fourth switch 240 of the first motor driver circuit 130 and turn off the second switch 220 and the third switch 230 so that the first motor 140 rotates in a direction opposite to the direction of the angular velocity. The power drawn by the converter 202 is supplied to the first motor 140, so that the first motor 140 can output a resistance torque to the right foot. Similarly, the second motor 141 can output a resistance torque to the left foot.

[0072] When an object moves in a fluid, a force that resists the movement of the object is generated. Here, the force is proportional to the square of the object's velocity. In FIG. 3B, the processor 110 can determine control information for torque output using the following equation (3) so that the user can feel the resistance as if walking in a fluid such as water.

[0073]

number

[0074] The processor 110 may control the converter 202 to draw power from the battery 200 corresponding to the torque intensity determined through Equation (3). In addition, the processor 110 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 130 and turns off the second switch 220 and the third switch 230 so that the first motor 140 rotates in the direction opposite to the direction of the angular velocity. The power drawn by the converter 202 is supplied to the first motor 140, so that the first motor 140 can output a resistance torque to the right foot. Similarly, the second motor 141 can output a resistance torque to the left foot.

[0075] In FIG. 3C, it is assumed that the user's right hip joint rotates counterclockwise and the left hip joint rotates clockwise, thereby increasing the hip angle. Here, as will be described later, the hip angle is the sum of the right hip joint angle and the left hip joint angle. In FIG. 3C, the wearable device 100 can provide the user with a torque in the direction opposite to the movement direction that increases the hip angle. This will be described in detail below.

[0076] Processor 110 acquires the user's right hip joint angle using first sensor 120 and acquires the user's left hip joint angle using second sensor 121. Processor 110 can calculate the hip angle by adding the right hip joint angle and the left hip joint angle.

[0077] The processor 110 calculates the difference between the hip angle and the reference angle, and when the calculated difference is greater than 0, the processor 110 can determine control information for torque output according to the following equation (4) so ​​that a torque in the opposite direction to the movement direction in which the hip angle is increasing is provided to the user. In other words, when the hip angle is greater than the reference angle, the processor 110 can determine control information for torque output according to the following equation (4).

[0078]

number

[0079] The greater the magnitude of the third gain and the "hip angle - reference angle," the greater the torque strength. The third gain may be adjusted by processor 110 upon a user adjustment request, etc. Depending on the embodiment, the third gain may be a fixed value.

[0080] The third gain may be, for example, any value within the range of 0 to 6. The range of 0 to 6 described above is merely an example, and the range to which the third gain belongs is not limited to the example described above.

[0081] In the above equation (4), "-1" is a factor that determines the torque direction. Processor 110 determines the torque direction to be the opposite of the increasing direction of the hip angle. In FIG. 3C, the right hip joint angle rotates counterclockwise and the left hip joint angle rotates clockwise, so processor 110 can determine the direction of torque output to the right foot to be clockwise and the direction of torque output to the left foot to be counterclockwise.

[0082] As an example different from the above equation (4), processor 110 may determine "-1 x (hip angle - reference angle)" as the control information for torque output. In this case, processor 110 determines the magnitude of "hip angle - reference angle" as the torque strength, and determines the torque direction as the opposite direction to the increasing direction of the hip angle.

[0083] As a further example of equation (4) above, processor 110 can determine control information for torque output via equation (5) below such that a torque is provided to the user in the opposite direction to the direction of movement in which the hip angle is increasing:

[0084]

number

[0085] As an example different from the above equation (5), processor 110 may determine "-1 x hip angle" as the control information for torque output. In this case, processor 110 determines the magnitude of the hip angle as the torque strength, and determines the direction opposite to the increasing direction of the hip angle as the torque direction.

[0086] The processor 110 may control the converter 202 to draw power from the battery 200 corresponding to the torque intensity determined through Equation (4), a different example of Equation (4), Equation (5), or a different example of Equation (5). The processor 110 may also provide control signals to the first motor driver circuit 130 and the motor driver circuit 131, respectively, so that the first motor 140 and the second motor 141 rotate in a direction opposite to the direction of increase of the hip angle. More specifically, the processor 110 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 130 and turns off the second switch 220 and the third switch 230 so that the first motor 140 rotates clockwise. The processor 110 turns on the sixth switch 260 and the seventh switch 270 of the second motor driver circuit 131 and turns off the fifth switch 250 and the eighth switch 280 so that the second motor 141 rotates counterclockwise. The power drawn by the converter 202 is supplied to each of the first motor 140 and the second motor 141, allowing the first motor 140 and the second motor 141 to provide a resistive torque to the user against movements that increase the hip angle.

[0087] In an embodiment, the wearable device 100 can provide the user with a torque in a direction opposite to the direction of movement that increases the angle of one of the user's hip joints. In Figure 3C, it is assumed that the user's first hip joint rotates counterclockwise and the second hip joint does not rotate.

[0088] The processor 110 obtains a first hip joint angle of the user using the first sensor 120 .

[0089] The processor 110 calculates the difference between the first hip joint angle and the reference angle, and when the calculated difference is greater than 0, the processor 110 can determine control information for torque output using the following equation (6) so that a torque in the opposite direction to the movement direction in which the hip joint angle is increasing is provided to the user. In other words, when the first hip joint angle is greater than the reference angle, the processor 110 can determine control information for torque output using the following equation (6).

[0090]

number

[0091] As an example different from the above equation (6), processor 110 may determine "-1 × (first hip joint angle - reference angle)" as the control information for torque output. In this case, processor 110 determines the magnitude of "first hip joint angle - reference angle" as the torque strength, and determines the direction opposite to the rotation direction of the first hip joint as the torque direction.

[0092] As a further example of equation (6) above, processor 110 can determine control information for torque output via equation (7) below, such that a torque is provided to the user in the opposite direction to the direction of movement in which the hip joint angle is increasing:

[0093]

number

[0094] As an example different from the above equation (7), processor 110 may determine "-1 × first hip joint angle" as the control information for torque output. In this case, processor 110 determines the magnitude of the first hip joint angle as the torque strength, and determines the direction opposite to the rotation direction of the first hip joint as the torque direction.

[0095] The processor 110 may control the converter 202 to draw power from the battery 200 corresponding to the torque intensity determined through Equation (6), another example of Equation (6), Equation (7), or a different example of Equation (7). In addition, the processor 110 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 130 and turns off the second switch 220 and the third switch 230 so that the first motor 140 rotates in the direction opposite to the rotation direction of the first hip joint. The power drawn by the converter 202 is supplied to the first motor 140, so that the first motor 140 can provide the user with a resistance torque against a movement in which the angle of the first hip joint increases.

[0096] In Fig. 3D, it is assumed that the user's right hip joint rotates counterclockwise and the left hip joint rotates clockwise, thereby increasing the hip angle. In Fig. 3D, the wearable device 100 provides the user with a torque in the same direction as the movement direction that increases the user's hip angle. This will be explained in detail below.

[0097] 3D, processor 110 can obtain the user's right hip joint angle using first sensor 120 and the user's left hip joint angle using second sensor 121. Processor 110 calculates the hip angle by combining the right hip joint angle and the left hip joint angle.

[0098] The processor 110 calculates the difference between the hip angle and the reference angle, and when the calculated difference is greater than 0, the processor 110 can determine control information for torque output using the following equation (8) so that torque in the same direction as the movement direction in which the hip angle is increasing is provided to the user. In other words, when the hip angle is greater than the reference angle, the processor 110 can determine control information for torque output using the following equation (8).

[0099]

number

[0100] The torque strength increases as the fourth gain and the magnitude of the "hip angle - reference angle" increase. The fourth gain may be adjusted by processor 110 when there is a user adjustment request, etc. Depending on the embodiment, the fourth gain may be a fixed value.

[0101] The fourth gain may be, for example, any value within the range of 0 to 6. The range of 0 to 6 described above is merely illustrative, and the range to which the fourth gain belongs is not limited to the example described above.

[0102] Processor 110 can determine the direction of increasing hip angle as the torque direction. In Figure 3D, the right hip angle rotates counterclockwise and the left hip angle rotates clockwise, and processor 110 can determine the direction of torque output to the right foot as counterclockwise and the direction of torque output to the left foot as clockwise.

[0103] As an example different from the above equation (8), the processor 110 may determine the "hip angle - reference angle" as the control information for torque output. In this case, the processor 110 may determine the magnitude of the "hip angle - reference angle" as the torque strength, and the increasing direction of the hip angle as the torque direction.

[0104] As a further example of equation (8) above, processor 110 can determine control information for torque output via equation (9) below, such that a torque is provided to the user in the same direction as the direction of movement in which the hip angle is increasing:

[0105]

number

[0106] As an example different from the above equation (9), processor 110 may determine the hip angle as control information for torque output. In this case, processor 110 determines the magnitude of the hip angle as the torque strength, and the increasing direction of the hip angle as the torque direction.

[0107] The processor 110 may control the converter 202 to draw power from the battery 200 corresponding to the torque intensity determined through Equation (8) above, an example different from Equation (8), Equation (9) above, or an example different from Equation (9). The processor 110 may also provide control signals to the first motor driver circuit 130 and the second motor driver circuit 131, respectively, so that the first motor 140 and the second motor 141 rotate in a direction increasing the hip angle. More specifically, the processor 110 turns on the second switch 220 and the third switch 230 of the first motor driver circuit 130 and turns off the first switch 210 and the fourth switch 240 so that the first motor 140 rotates in the same direction as the rotation direction of the right hip joint (i.e., counterclockwise). The processor 110 turns on the fifth switch 250 and the eighth switch 280 of the second motor driver circuit 131 and turns off the sixth switch 260 and the seventh switch 270 so that the second motor 141 rotates in the same direction as the left hip joint (i.e., clockwise). The power drawn by the converter 202 is supplied to the first motor 140 and the second motor 141, allowing the first motor 140 and the second motor 141 to provide the user with auxiliary torque for movements in which the hip angle increases.

[0108] In an embodiment, the wearable device 100 can provide the user with a torque in the same direction as the movement of one hip joint increasing its angle. In Figure 3D, assume that the user's first hip joint rotates counterclockwise and the second hip joint does not rotate.

[0109] The processor 110 acquires the user's first hip joint angle using the first sensor 120. The processor 110 calculates the difference between the first hip joint angle and a reference angle, and when the calculated difference is greater than 0, the processor 110 can determine control information for torque output using the following equation (10) so that a torque in the same direction as the movement direction in which the first hip joint angle is increasing is provided to the user. In other words, when the first hip joint angle is greater than the reference angle, the processor 110 can determine control information for torque output using the following equation (10).

[0110]

number

[0111] As an example different from the above equation (10), the processor 110 can determine the "first hip joint angle - reference angle" as the control information for torque output. In this case, the processor 110 can determine the magnitude of the "first hip joint angle - reference angle" as the torque strength, and the rotation direction of the first hip joint as the torque direction.

[0112] As a further example of the above equation (10), the processor 110 can determine control information for torque output via the following equation (11) so that a torque in the same direction as the movement direction in which the first hip joint angle increases is provided to the user.

[0113]

number

[0114] As an example different from the above equation (11), processor 110 may determine the first hip joint angle as control information for torque output. In this case, processor 110 may determine the magnitude of the first hip joint angle as the torque strength, and the rotation direction of the first hip joint as the torque direction.

[0115] The processor 110 can control the converter 202 to draw power from the battery 200 corresponding to an intensity determined by the above equation (10), a different example of the above equation (10), the above equation (11), or a different example of the above equation (11). The processor 110 can also turn on the second switch 220 and the third switch 230 of the first motor driver circuit 130 and turn off the first switch 210 and the fourth switch 240 so that the first motor 140 rotates in the same direction as the rotation direction of the first hip joint. The power drawn by the converter 202 is supplied to the first motor 140, so that the first motor 140 can provide the user with an auxiliary torque for movements in which the angle of the first hip joint increases.

[0116] 4A to 4C are diagrams illustrating a trainee wearable device and a trainer wearable device according to an embodiment.

[0117] Referring to FIG. 4A, a trainee wearable device 410 and a trainer wearable device 420 are shown.

[0118] Trainee wearable device 410 refers to a wearable device worn by a trainee, and trainer wearable device 420 refers to a wearable device worn by a trainer. The trainer may be referred to as a first user or a second user. Trainer wearable device 420 may be referred to as a first wearable device, and trainee wearable device 410 may be referred to as a second wearable device.

[0119] Trainee wearable device 410 includes a processor 410-1, a first sensor 410-2, a first motor driver circuit 410-3, a first motor 410-4, an IMU sensor 410-8, a communication circuit 410-9, and a memory 410-10. Without being limited thereto, trainee wearable device 410 may also include first and second sensors 410-2 and 410-5, multiple motor driver circuits 410-3 and 410-6, and multiple motors 410-4 and 410-7, as illustrated in FIG.

[0120] Trainer wearable device 420 includes processor 420-1, first sensor 420-2, first motor driver circuit 420-3, first motor 420-4, IMU sensor 420-8, communication circuit 420-9, and memory 420-10. Without being limited thereto, trainer wearable device 420 may also include first and second sensors 420-2 and 420-5, multiple motor driver circuits 420-3 and 420-6, and multiple motors 420-4 and 420-7, as illustrated in FIG.

[0121] The operation of the components in trainee wearable device 410 and the operation of the components in trainer wearable device 420 are the same as the operation of the components in wearable device 100 described with reference to FIGS. 1A to 3D.

[0122] As illustrated in FIG. 4C , a trainer wearing a trainer wearable device 420 and a trainee wearing a trainee wearable device 410 perform an exercise in which the trainer raises and lowers the knee of the first leg. Even though the trainer and trainee are in different spaces, the trainee can accurately learn the trainer's exercise as intended by the trainer through the trainee wearable device 410 and the trainee's movements (physical forces). For example, if the trainee's speed is slower than the trainer's movements or their posture is incorrect, a physical force based on the difference between the trainer's and trainee's movement speeds (or the difference between the trainer's and trainee's posture) is transmitted to the trainee through the trainee wearable device 410, and the trainee can correct their posture and movement using the force transmitted through the trainee wearable device 410. By exercising in accordance with the trainer's posture, the trainee can obtain the exercise effect intended by the trainer, and the trainee wearable device 410, which provides feedback on the trainer's movements, can maximize the exercise effect compared to imitating the trainer's movements using only visual information. This will be described in more detail below.

[0123] FIG. 5 is a diagram illustrating an example of a remote training system according to an embodiment.

[0124] Referring to FIG. 5, the remote training system includes a trainee wearable device 410, a trainer wearable device 420, a server 530, trainee electronic devices 510, and trainer electronic devices 520.

[0125] Trainee electronic devices 510 refer to the trainee's electronic devices, which may include the trainee's mobile devices (e.g., smartphones, tablets, etc.) and / or display devices (e.g., smart TVs, etc.).

[0126] Trainer electronics 520 refers to the trainer's electronic devices, including the trainer's mobile devices (e.g., smartphones, tablets, etc.) and / or display devices (e.g., smart TVs, etc.).

[0127] Communications circuitry 410-9 of trainee wearable device 410 may be connected via short-range wireless communication circuitry and a short-range wireless communication link (e.g., Bluetooth, etc.) of trainee electronic device 510. Similarly, communications circuitry 420-9 of trainer wearable device 420 may be connected via short-range wireless communication circuitry and a short-range wireless communication link (e.g., Bluetooth, etc.) of trainer electronic device 520.

[0128] Trainee electronic devices 510 may include Wi-Fi and / or mobile communication circuitry and communicate with server 530 via Wi-Fi or mobile communication circuitry. Similarly, trainer electronic devices 520 may include Wi-Fi and / or mobile communication circuitry and communicate with server 530 via Wi-Fi or mobile communication circuitry.

[0129] Assume that the trainer and the trainee perform the exercise of raising and lowering the knee of the first leg upward as described with reference to Fig. 4C. When the trainer and the trainee raise the knee of the first leg upward, the hip joint of the first leg (i.e., the first hip joint) of each of the trainer and the trainee rotates counterclockwise.

[0130] The trainer electronic device 520 records the trainer's exercise and generates audio and video data for the trainer's exercise.

[0131] Processor 420-1 of trainer wearable device 420 acquires first hip joint angle X_1 of the trainer using first sensor 420-2 and transmits first hip joint angle X_1 of the trainer to trainer electronic device 520 using communication circuit 420-9.

[0132] IMU sensor 420-8 of trainer wearable device 420 measures acceleration information, angular velocity information, and attitude information related to trainer movement. As described above, acceleration information includes acceleration related to trainer movement along each of the x-, y-, and z-axes; angular velocity information includes angular velocities related to trainer movement along each of the x-, y-, and z-axes; and attitude information includes the roll, pitch, and yaw angles of the trainer. Processor 420-1 of trainer wearable device 420 can transmit the acceleration information, angular velocity information, and attitude information related to trainer movement to trainer electronics device 520 using communications circuit 420-9.

[0133] Trainer electronic device 520 transmits audio data, video data, and the trainer's first hip joint angle X_1 to server 530. Trainer electronic device 520 also transmits acceleration information, angular velocity information, and posture information regarding the trainer's movements to server 530.

[0134] To prevent discrepancies between the audio / video data and the hip joint angle data, which may occur due to a time difference between data sampling times between the trainer electronic device 520 and the trainer wearable device 420, the server 530 time-synchronizes the audio data, video data, and the trainer's first hip joint angle X_1. The audio data and video data are generated by the trainer electronic device 520, and the first hip joint angle X_1 is generated by the trainer wearable device 420. The generator of the audio data and video data is different from the generator of the first hip joint angle X_1. Therefore, the server 530 synchronizes the trainer's audio, the trainer's movements shown in the video, and the first hip joint angle X_1 in time. For example, the audio data and video data have time values ​​(ta, tb, tc, etc.). Here, of the time values ​​(ta, tb, tc, etc.) of the audio data and video data, ta may be the fastest. The first hip joint angle X_1 also has time values ​​(ta, tb, tc, etc.). The server 530 can synchronize the audio data and video data with the first hip joint angle X_1 based on ta.

[0135] The server 530 transmits the time-synchronized audio data, video data, and the first hip joint angle X_1 to the trainee electronic device 510.

[0136] The trainee electronic device 510 can display the video data received from the server 530 on a display and output the audio data through a speaker, so that the trainee can visually see the trainer exercising and hear the trainer's voice through the trainee electronic device 510.

[0137] Furthermore, the trainee electronic device 510 transmits the first hip joint angle X_1 of the trainer received from the server 530 to the trainee wearable device 410. In other words, the communication circuit 410-9 of the trainee wearable device 410 can receive the first hip joint angle X_1 of the trainee from the trainee electronic device 510.

[0138] The processor 410-1 of the trainee wearable device 410 sets the first hip joint angle X_1 of the trainer as the reference angle. In other words, the processor 410-1 of the trainee wearable device 410 can set the first hip joint angle X_1 of the trainer as the exercise posture of the trainer.

[0139] The processor 410-1 of the trainee wearable device 410 acquires the first hip joint angle Y_1 of the trainee using the first sensor 410-2.

[0140] The processor 410-1 of the trainee wearable device 410 can calculate the difference "Y_1-X_1" between the trainee's first hip joint angle Y_1 and the reference angle X_1.

[0141] When "Y_1-X_1" calculated by the processor 410-1 of the trainee wearable device 410 is greater than 0, it means that the angle at which the trainee lifted the knee of the first leg is greater than the reference angle. In this case, the processor 410-1 controls the application of a resistance torque to the first leg, thereby guiding the trainee to lower the knee of the first leg. More specifically, the first motor driver circuit 410-3 of the trainee wearable device 410 includes first through fourth switches 210-240, the same as the first motor driver circuit 130 shown in FIG. 2A. The processor 410-1 can determine the torque intensity by multiplying the magnitude of "Y_1-X_1" by a gain (e.g., the third gain described with reference to FIG. 3C). Depending on the implementation, the processor 410-1 determines the torque intensity using a table in which the magnitude of "Y_1-X_1" and the torque intensity are mapped. Table 1 below shows an example of a table in which the magnitude of "Y_1-X_1" and the torque intensity are mapped.

[0142] [Table 1] Processor 410-1 can determine that the torque direction is opposite to the rotation direction of the trainee's first hip joint because "Y_1-X_1" is greater than 0 and must provide a resistive torque to the trainee's first leg.

[0143] The processor 410-1 controls the converter 202 so that the converter 202 draws power corresponding to the determined torque strength from the battery 200. Since the trainee's first hip joint rotates counterclockwise, the processor 410-1 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 410-3 and turns off the second switch 220 and the third switch 230 so that the first motor 410-4 rotates clockwise.

[0144] The power drawn by the converter 202 is supplied to the first motor 410-4, which then provides a resistance torque to the first leg, so that the trainee can lower the knee of the first leg by the provided resistance torque to prevent the knee of the first leg from being raised any higher. Therefore, the processor 410-1 can guide the trainee's exercise posture to be similar to the exercise posture of the trainer.

[0145] When "Y_1-X_1" calculated by the processor 410-1 of the trainee wearable device 410 is less than 0, this means that the angle at which the trainee lifts the knee of the first leg is smaller than the reference angle. In this case, the trainee wearable device 410 does not provide torque to the user. As another example, when "Y_1-X_1" is less than 0, the processor 410-1 may control the application of an auxiliary torque to the first leg, thereby guiding the trainee to further lift the knee of the first leg. More specifically, the processor 410-1 may determine the torque intensity by multiplying the magnitude of "Y_1-X_1" by a gain. Here, the gain may be, for example, the third gain described with reference to FIG. 3C or the fourth gain described with reference to FIG. 4C, but is not limited thereto. Depending on the implementation, the processor 410-1 may determine the torque intensity using Table 1 above, or may determine the torque intensity using Table 2 below, which is different from Table 1 above.

[0146] [Table 2] Processor 410-1 can determine the rotation direction of the trainee's first hip joint as the torque direction because "Y_1-X_1" is less than 0 and an auxiliary torque must be provided to the trainee's first leg.

[0147] The processor 410-1 controls the converter 202 so that the converter 202 draws power corresponding to the determined torque intensity from the battery 200. In addition, since the trainee's first hip joint rotates counterclockwise, the processor 410-1 turns on the second switch 220 and the third switch 230 of the first motor driver circuit 410-3 and turns off the first switch 210 and the fourth switch 240 so that the first motor 410-4 rotates counterclockwise.

[0148] The power extracted by the converter 202 is supplied to the first motor 410-4, which then provides an auxiliary torque to the first leg, and the trainee can lift the knee of the first leg further upward with the assistance of the provided auxiliary torque. Therefore, the processor 410-1 can guide the trainee's exercise posture to resemble the exercise posture of the trainer.

[0149] The IMU sensor 410-8 of the trainee wearable device 410 measures acceleration information, angular velocity information, and attitude information with respect to the trainee's movement. As described above, the acceleration information includes acceleration with respect to the trainee's movement in the directions of the x-axis, y-axis, and z-axis, the angular velocity information includes angular velocities with respect to the trainee's movement in the directions of the x-axis, y-axis, and z-axis, and the attitude information includes the trainee's roll angle, pitch angle, and yaw angle.

[0150] The processor 410-1 transmits the first hip joint angle Y_1, acceleration information, angular velocity information, and posture information of the trainee to the trainee electronic device 510 using the communication circuit 410-9.

[0151] The trainee electronic device 510 transmits the first hip joint angle Y_1, acceleration information, angular velocity information, and posture information to the server 530. The server 530 stores the trainee's first hip joint angle Y_1, the trainee's acceleration information, angular velocity information, and posture information.

[0152] In an embodiment, server 530 allows the trainer to receive feedback on the trainee's movements via trainer wearable device 420. More specifically, server 530 transmits the trainee's first hip joint angle Y_1 to trainer electronic device 520, and trainer electronic device 520 transmits the trainee's first hip joint angle Y_1 to trainer wearable device 420.

[0153] Processor 420-1 of trainer wearable device 420 calculates the difference "Y_1-X_1" between the trainer's first hip joint angle X_1 and the trainee's first hip joint angle Y_1.

[0154] When "Y_1-X_1" calculated by processor 420-1 of trainer wearable device 420 is greater than 0, it means that the angle at which the trainee lifted the knee of the first leg is greater than the angle at which the trainer lifted the knee of the first leg. In other words, when "Y_1-X_1" calculated by processor 420-1 of trainer wearable device 420 is greater than 0, it means that the trainee's movement is greater than the trainer's movement. In this case, to provide feedback to the trainer that the trainee's movement is greater, processor 420-1 of trainer wearable device 420 can control motor driver circuit 420-3 or 420-6 of trainer wearable device 420 to rotate motor 420-4 or 420-7 of trainer wearable device 420 clockwise, thereby outputting a resistance torque to the trainer's first leg.

[0155] When "Y_1-X_1" calculated by processor 420-1 of trainer wearable device 420 is smaller than 0, it means that the angle at which the trainee lifted the knee of the first leg is smaller than the angle at which the trainer lifted the knee of the first leg. In other words, when "Y_1-X_1" calculated by processor 420-1 of trainer wearable device 420 is smaller than 0, it means that the trainee's movement is smaller than the trainer's movement. In this case, in order to provide feedback to the trainer that the trainee's movement is small, processor 420-1 of trainer wearable device 420 can control motor driver circuit 420-3 or 420-6 of trainer wearable device 420 to rotate motor 420-4 or 420-7 of trainer wearable device 420 counterclockwise, thereby outputting auxiliary torque to the trainer's first leg.

[0156] In some embodiments, the server 530 may compare the trainee's motion information with the trainer's motion information to calculate an evaluation score for the trainee's exercise. In other words, the server 530 may compare the trainee's motion information with the trainer's motion information to evaluate whether the trainee is mimicking the trainer's movements.

[0157] <Self-training> Server 530 can switch remote training to self-training when a certain amount of time has passed since the start of remote training between the trainee and trainer, and notify trainee electronic device 510 and trainer electronic device 520 that remote training has been switched to self-training. Each of trainee electronic device 510 and trainer electronic device 520 displays on its own display that remote training has been switched to self-training. During self-training, trainer movement information does not need to be transmitted to trainee wearable device 410.

[0158] During self-training, if the trainee's evaluation score is equal to or greater than a certain standard, the server 530 can increase the exercise intensity of the trainee by outputting a greater resistance torque to the trainee. The server 530 transmits a control command to increase the exercise intensity to the trainee electronic device 510, and the trainee electronic device 510 transmits the control command of the server 530 to the trainee wearable device 410. When the processor 410-1 of the trainee wearable device 410 receives the control command of the server 530 from the trainee electronic device 510, it can control the output of a greater resistance torque to the trainee.

[0159] More specifically, the processor 410-1 can acquire the trainee's first hip joint angle Y_1 using the first sensor 410-2. The processor 410-1 can determine the torque intensity by multiplying the magnitude of Y_1 by the third gain using equation (7) described with reference to FIG. 3C. In the above, the torque intensity in remote training is determined by multiplying the magnitude of "Y_1-X_1" by the third gain using equation (6), and the torque intensity in self-training is determined by multiplying the magnitude of Y_1 by the third gain. Therefore, the torque intensity increases in self-training. The processor 410-1 determines the torque direction to be the opposite direction to the rotation direction of the trainee's first hip joint. Depending on the implementation, the processor 410-1 acquires the angular velocity of the first joint and determines the torque intensity by multiplying the magnitude of the angular velocity by the second gain using equation (2). The processor 410-1 determines the torque direction to be the opposite direction to the rotation direction of the trainee's first hip joint.

[0160] The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque intensity. When the trainee's first hip joint rotates counterclockwise, the processor 410-1 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 410-3 and turns off the second switch 220 and the third switch 230 so that the first motor 410-4 rotates clockwise. The power drawn by the converter 202 is supplied to the first motor 410-4, which can provide a resistance torque to the first leg. As a result, a trainee who has successfully completed the trainer's exercises during remote training can exercise with a stronger torque during self-training, thereby improving the exercise effect.

[0161] The server 530 can increase the exercise intensity of the trainee by adjusting the gain higher. More specifically, the server 530 may transmit the increased third gain to the trainee electronic device 510. The trainee electronic device 510 transmits the increased third gain to the trainee wearable device 410. The processor 410-1 determines the torque intensity by multiplying the magnitude of Y_1 by the increased third gain using equation (7) above, thereby outputting a resistance torque of even greater intensity to the trainee. As a result, the trainee wearable device 410 enables the trainee to exercise at an even higher exercise intensity.

[0162] In self-training, if the trainee's evaluation score is below a certain standard, the server 530 may adjust the third gain lower to lower the exercise intensity of the trainee. The server 530 may send a control command to the trainee electronic device 510 to adjust the third gain lower, and the trainee electronic device 510 may send the control command of the server 530 to the trainee wearable device 410.

[0163] When processor 410-1 receives a control command from server 530 from trainee electronic device 510, it can adjust the third gain to a lower value. Processor 410-1 acquires trainee's first hip joint angle Y_1 using first sensor 410-2. Processor 410-1 can determine the torque intensity by multiplying the magnitude of Y_1 by the adjusted-to-low third gain using equation (7) described with reference to FIG. 3C. Processor 410-1 of trainee wearable device 410 can determine the torque direction to be the opposite direction to the rotation direction of the trainee's first hip joint. Depending on the implementation, server 530 transmits a control command to trainee electronic device 510 to adjust the second gain to a lower value, and trainee electronic device 510 transmits the control command from server 530 to trainee wearable device 410. Processor 410-1 can adjust the second gain to a lower value. The processor 410 acquires the angular velocity of the first joint and can determine the strength of the torque by multiplying the magnitude of the angular velocity by the second gain adjusted to a lower value via equation (2). The processor 410-1 determines the torque direction to be the opposite direction to the rotation direction of the trainee's first hip joint.

[0164] The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque intensity. When the trainee's first hip joint rotates counterclockwise, the processor 410-1 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 410-3 and turns off the second switch 220 and the third switch 230 so that the first motor 410-4 rotates clockwise. The power drawn by the converter 202 is supplied to the first motor 410-4, which can provide a weak resistance torque to the first leg. Therefore, a trainee who was unable to smoothly follow the trainer's exercises during remote training can exercise by self-training with a weak resistance torque, thereby performing an exercise optimized for the trainee's physical condition.

[0165] 6A to 7D are diagrams for explaining screens of the trainee electronic device according to the embodiment.

[0166] The trainee electronic devices 510 include a mobile device 610 and a display device 710. The mobile device 610 may include, for example, a smartphone, a tablet terminal, etc., and the display device 710 may include, for example, a smart TV, etc.

[0167] 6A and 6B show the screen of mobile device 610 when trainee electronic device 510 is mobile device 610, and FIGS. 7A and 7B show the screen of display device 710 when trainee electronic device 510 is display device 710.

[0168] Referring to FIG. 6A, a trainee's mobile device 610 includes a display 620 .

[0169] Area 620-1 may display an image of the trainee taken by the camera of mobile device 610.

[0170] The mobile device 610 notifies the trainee that the trainer has started exercising. As an example, the mobile device 610 receives time-synchronized audio data, video data, and a first hip joint angle X_1 from the server 530. In this case, the mobile device 610 outputs a message 620-2 saying "Trainer is starting to exercise" and a remaining time 620-3 on the display 620, as illustrated in FIG. 6A. Here, the remaining time 620-3 indicates the remaining time until the trainer's video data is output. Therefore, the trainee can confirm that the trainer has started exercising through visual information.

[0171] When the remaining time 620-3 has elapsed, the mobile device 610 displays the trainer's video data on the display 620, as illustrated in FIG. 6B. In other words, the mobile device 610 displays the trainer's exercise video on the display 620. The mobile device 610 also outputs audio data via a speaker and transmits the trainer's first hip joint angle X_1 to the trainee wearable device 410.

[0172] The mobile device 610 can display the trainee's exercise footage in area 620-1.

[0173] The mobile device 610 calculates the calories burned by the trainee using the type and duration of the exercise currently being performed by the trainee, and displays the calculated calories on the display 620. Depending on the implementation, the server 530 can calculate the calories burned by the trainee using the type and duration of the exercise currently being performed by the trainee, and transmit the calculated calories to the mobile device 610. The mobile device 610 displays the calories received from the server 530 on the display 620.

[0174] The trainee may wear a smartwatch capable of measuring heart rate, and the smartwatch is connected to the mobile device 610 via a short-range wireless communication link. The smartwatch measures the trainee's heart rate and transmits the measured heart rate to the mobile device 610. The mobile device 610 displays the measured heart rate on the display 520.

[0175] 7A, the display device 710 notifies the trainee that the trainer has started exercising. As an example, the display device 710 receives time-synchronized audio data, video data, and a first hip joint angle X_1 from the server 530. In this case, the display device 710 outputs a message 620-2 saying "Trainer is starting exercise" and a remaining time 620-3 on the display 620, as shown in FIG. 7A. Therefore, the trainee can confirm that the trainer has started exercising through visual information.

[0176] When the remaining time 620-3 has elapsed, the display device 710 displays the trainer's video data as shown in FIG. 7B. In other words, the display device 710 can display the trainer's exercise video. The display device 710 also outputs audio data through a speaker and transmits the first hip joint angle X_1 to the trainee wearable device 410.

[0177] The display device 710 calculates the calories burned by the trainee using the type and duration of the exercise currently being performed by the trainee and displays the calculated calories. Depending on the implementation, the server 530 can calculate the calories burned by the trainee using the type and duration of the exercise currently being performed by the trainee and transmit the calculated calories to the display device 710. The display device 710 displays the calories received from the server 530.

[0178] The trainee may wear a smartwatch capable of measuring heart rate, and the smartwatch may be connected to the display device 710 via a short-range wireless communication link. The smartwatch measures the trainee's heart rate and transmits the measured heart rate to the display device 710. The display device 710 displays the measured heart rate.

[0179] Unlike the example described with reference to FIGS. 7A and 7B, in the remote training system, the display device 710 may perform screen mirroring. For example, the mobile device 610 may be connected to the display device 710 via Wi-Fi Direct or Bluetooth. The mobile device 610 may receive time-synchronized audio data, video data, and a first hip joint angle X_1 from the server 530 and display the audio data. Here, the mobile device 610 outputs its screen to the display device 710 through screen mirroring.

[0180] In an embodiment, as illustrated in Figures 7C and 7D, the display of the trainee electronic device 510 exposes a soft button for the first mode and a soft button for the second mode.

[0181] The first mode indicates a mode in which trainee wearable device 410 provides torque to the trainee so that the trainee mirrors the trainer's movements. In the first mode, the trainee may receive auxiliary torque from trainee wearable device 410, as described above with reference to FIG. 5. As an example, when the trainee selects the first mode, trainee electronic device 510 sends a control command to trainee wearable device 410 to cause trainee wearable device 410 to operate in the first mode. Processor 410-1 of trainee wearable device 410 can operate in the first mode in response to the control command from trainee electronic device 510.

[0182] In the first mode, when the trainee's first hip joint angle Y_1 is smaller than the trainer's first hip joint angle X_1, the processor 410-1 of the trainee wearable device 410 can determine the torque intensity by multiplying the magnitude of "Y_1-X_1" by a gain. The gain may be, for example, the third gain described with reference to FIG. 3C , but is not limited thereto. The processor 410-1 of the trainee wearable device 410 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque intensity. The processor 410-1 of the trainee wearable device 410 also controls the first motor driver circuit 410-3 to rotate the first motor 410-4 in the same direction as the rotation direction of the trainee's first hip joint. Therefore, in the first mode, the trainee wearable device 410 can guide the trainee's exercise posture to resemble the trainer's exercise posture.

[0183] The second mode is a mode in which trainee wearable device 410 notifies the trainee of the timing to impart movements, in order to satisfy cases in which the trainee is unable to perform the trainer's movements 100% due to physical limitations and desires to learn the timing of simple movements. In the second mode, even if the trainee is unable to fully perform the trainer's exercise posture, a weak torque is transmitted and the trainee wearable device 410 can provide the trainee with the movement timing.

[0184] When the trainee selects the second mode, trainee electronic device 510 transmits a control command to trainee wearable device 410 so that trainee wearable device 410 operates in the second mode. Processor 410-1 of trainee wearable device 410 can operate in the second mode in response to the control command from trainee electronic device 510.

[0185] In the second mode, the processor 410-1 of the trainee wearable device 410 can use the trainer's first hip joint angle X_1 to notify the trainee of the timing to move the first foot. As an example, if the trainer's first hip joint angle X_1 increases, the processor 410-1 of the trainee wearable device 410 can guide the trainee to lift the first foot by outputting a weak torque to the trainee's first foot. In other words, if the trainer's first hip joint angle X_1 increases, the processor 410-1 of the trainee wearable device 410 can notify the trainee of the timing to lift the first foot by outputting a weak torque. If the trainer's first hip joint angle X_1 decreases while the trainee has lifted the first foot, the processor 410-1 of the trainee wearable device 410 can guide the trainee to lower the first foot by outputting a weak torque to the trainee's first foot. In other words, if the trainee raises the first leg and the first hip joint angle X_1 of the trainer decreases, the processor 410-1 of the trainee wearable device 410 can notify the trainee of the timing to lower the first leg by outputting a weak torque. In the second mode, the trainee can receive movement timing from the trainee wearable device 410 via a weak torque.

[0186] FIG. 8 is a diagram illustrating another example of a remote training system according to an embodiment.

[0187] 8, the remote training system includes trainee wearable device 410, trainer wearable device 420, trainee electronic device 510, trainer electronic device 520, and server 530. Unlike the example described with reference to FIG. 5, trainee wearable device 410 communicates with server 530 via a mobile communication circuit or a Wi-Fi communication circuit, and trainer wearable device 420 communicates with server 530 via a mobile communication circuit or a Wi-Fi communication circuit.

[0188] Assume that the trainer and the trainee perform the exercise of raising and lowering the knee of the first leg upward as described with reference to Fig. 4C. When the trainer and the trainee raise the knee of the first leg upward, the hip joint of the first leg (i.e., the first hip joint) of each of the trainer and the trainee rotates counterclockwise.

[0189] The trainer electronic device 520 records the trainer exercising, generates audio and video data for the trainer's exercise, and transmits the audio and video data to the server 530 .

[0190] Processor 420-1 of trainer wearable device 420 acquires the trainer's first hip joint angle X_1 using first sensor 420-2 and transmits the trainer's first hip joint angle X_1 to server 530 using a mobile communication circuit or a wireless LAN communication circuit.

[0191] To prevent discrepancies between the audio / video data and the hip joint angle data, which may occur due to a time difference between data sampling in the trainer electronic device 520 and the trainer wearable device 420, the server 530 can time-synchronize the audio data, video data, and the trainer's first hip joint angle X_1. The audio data and video data are generated by the trainer electronic device 520, and the first hip joint angle X_1 is generated by the trainer wearable device 420. The audio data and video data are generated by different entities from the entity that generates the first hip joint angle X_1. Therefore, the server 530 can time-synchronize the trainer's audio, the trainer's movements shown in the video, and the first hip joint angle X_1. For example, the audio data and video data have time values ​​(ta, tb, tc, etc.). Here, ta may be the fastest of the time values ​​(ta, tb, tc, etc.) of the audio data and video data. The first hip joint angle X_1 also has time values ​​(ta, tb, tc, etc.). The server 530 can synchronize the audio data and video data with the first hip joint angle X_1 based on ta.

[0192] The server 530 transmits the audio data and video data to the trainee electronic device 510 and transmits the first hip joint angle X_1 to the trainee wearable device 410.

[0193] The trainee electronic device 510 displays the video data received from the server 530 and outputs the audio data through a speaker.

[0194] Processor 410-1 of trainee wearable device 410 sets the first hip joint angle X_1 of the trainer received from server 530 as the reference angle.

[0195] The processor 410-1 of the trainee wearable device 410 acquires the first hip joint angle Y_1 of the trainee using the first sensor 410-2.

[0196] The processor 410-1 of the trainee wearable device 410 calculates the difference "Y_1-X_1" between the trainee's first hip joint angle Y_1 and the reference angle X_1.

[0197] If the calculated "Y_1-X_1" is greater than 0, the processor 410-1 of the trainee wearable device 410 controls the first motor driver circuit 410-3 to rotate the first motor 410-4 of the trainee wearable device 410 clockwise, thereby outputting a resistance torque to the first foot of the trainee. As a result, the trainee wearable device 410 can guide the trainee to lower the knee of the first foot. Since the matters described with reference to FIG. 5 can be applied to this, a detailed description will be omitted.

[0198] If the calculated "Y_1-X_1" is less than 0, the processor 410-1 of the trainee wearable device 410 does not provide torque to the user. As another example, if the calculated "Y_1-X_1" is less than 0, the processor 410-1 of the trainee wearable device 410 can control the first motor driver circuit 410-3 to rotate the first motor 410-4 of the trainee wearable device 410 counterclockwise, thereby outputting auxiliary torque to the first foot of the trainee. As a result, the trainee wearable device 410 can guide the trainee to further raise the knee of the first foot. In this regard, the matters described with reference to FIG. 5 may be applied, and therefore detailed description thereof will be omitted.

[0199] The matters described with reference to FIGS. 1A to 7B can be applied to the matters described with reference to FIG. 8, and therefore detailed description thereof will be omitted.

[0200] 9A and 9B are diagrams illustrating another example of a remote training system according to an embodiment.

[0201] The remote training system described with reference to Figures 5 to 8 corresponds to a one-to-one remote training system. However, without being limited to this, a one-to-many remote training system including multiple trainee wearable devices 910-1 to 910-n can also be realized, as illustrated in Figures 9A and 9B. Even if each trainee is in a different space from the trainer, the torque (or force) transmitted via their own wearable device allows them to accurately learn the trainer's exercises as intended by the trainer.

[0202] The components of each of the trainee wearable devices 910-1 to 910-n may be the same as the components of the trainee wearable device 410, and therefore detailed description of the components of each of the trainee wearable devices 910-1 to 910-n will be omitted.

[0203] In the example shown in Figure 9A, each of the plurality of trainee wearable devices 910-1 to 910-n is connected to each of the plurality of trainee electronic devices 920-1 to 920-n via a short-range wireless communication link, and each of the plurality of trainee electronic devices 920-1 to 920-n communicates with server 530. The description of the operation of trainee wearable device 410 shown in Figure 5 may be applied to the description of the operation of each of the plurality of trainee wearable devices 910-1 to 910-n shown in Figure 9A, so a detailed description thereof will be omitted. The description of the operation of trainee electronic device 510 shown in Figures 5 and 6 may be applied to the description of the operation of each of the plurality of trainee electronic devices 920-1 to 920-n shown in Figure 9A, so a detailed description thereof will be omitted.

[0204] 9A, server 530 compares each trainee's motion information with the trainer's motion information to calculate an evaluation score for each trainee's exercise, determines a ranking for each trainee based on the calculated evaluation score, and generates ranking information including the determined ranking for each trainee. Server 530 transmits the ranking information to each trainee electronic device 920-1 to 920-n. Each trainee electronic device 920-1 to 920-n displays the ranking information on a display. The remote training system shown in FIG. 9A encourages trainees to develop a competitive spirit by providing ranking information, thereby encouraging trainees to participate more enthusiastically in exercise.

[0205] In the example shown in Fig. 9B, each of the plurality of trainee wearable devices 910-1 to 910-n communicates with server 530. The description of the operation of trainee wearable device 410 shown in Fig. 8 may be applied to the description of the operation of each of the plurality of trainee wearable devices 910-1 to 910-n shown in Fig. 9B, so a detailed description will be omitted. The description of the operation of trainee electronic device 510 shown in Fig. 8 may be applied to the description of the operation of each of the plurality of trainee electronic devices 920-1 to 920-N shown in Fig. 9B, so a detailed description will be omitted.

[0206] 9B, server 530 can generate ranking information including the ranking of each trainee, as described above with reference to FIG. 9A. Server 530 can transmit the ranking information to each of trainee wearable devices 910-1 to 910-n and display the ranking information. The remote training system shown in FIG. 9B encourages trainees to develop a competitive spirit by providing the ranking information, thereby encouraging trainees to participate more enthusiastically in exercise.

[0207] 10A and 10B are diagrams illustrating a streaming-based training system according to an embodiment.

[0208] In the remote training system described above, the trainee wearable device 410 provides the trainee with a force based on the difference between the trainer's real-time movement and the trainee's real-time movement, thereby enabling the trainee to accurately learn an exercise. In other words, in the remote training system described above, the trainee wearable device 410 allows the trainee to accurately learn an exercise by referring to the trainer's real-time movement. In the streaming-based training system described below, the trainee is guided in exercise by the streamed content and the torque (or force) transmitted via the trainee wearable device 410, allowing the trainee to accurately learn the exercise in the content. Furthermore, in the streaming-based training system, the trainee can receive exercise guidance without being restricted by time or place.

[0209] Referring to FIG. 10A, the streaming-based training system includes a trainee wearable device 410, a trainee electronic device 510, and a server 530.

[0210] In FIG. 10A, server 530 corresponds to a cloud server, but is not limited to this.

[0211] Server 530 stores multiple pieces of content. In other words, the content may be stored in the cloud. Each piece of content includes video and audio data for each exercise performed by the trainer. Each piece of content also includes movement information when the trainer performs each exercise. For example, in the example shown in FIG. 10B , content 1 may include video and audio data for the trainer's exercise 1 and may also include movement information when the trainer performs exercise 1 while wearing trainer wearable device 420. The movement information when the trainer performs exercise 1 includes the trainer's joint angles acquired by processor 420-1 of trainer wearable device 420 using first sensor 420-2 and / or second sensor 420-5 while the trainer performs exercise 1. Content 2 may include video and audio data for the trainer's exercise 2 and may also include movement information when the trainer performs exercise 2 while wearing trainer wearable device 420. The movement information when the trainer performs exercise 2 includes the trainer's joint angles obtained by processor 420-1 of trainer wearable device 420 using first sensor 420-2 and / or second sensor 420-5 while the trainer performs exercise 2. Content n may include video and audio data for trainer exercise n, and includes movement information when the trainer performing exercise n while wearing trainer wearable device 420. The movement information when the trainer performs exercise n includes the trainer's joint angles obtained by processor 420-1 of trainer wearable device 420 using first sensor 420-2 and / or second sensor 420-5 while the trainer performs exercise n.

[0212] Returning to FIG. 10A, when the trainee electronic device 510 is connected to the server 530, the trainee electronic device 510 can receive a content list from the server 530 and display it on the trainee electronic device 510.

[0213] The trainee selects content 1000 from the content list displayed on trainee electronic device 510. Content 1000 may be content for the exercise described with reference to Fig. 4C. Content 1000 includes a first hip joint angle X_1 obtained by a trainer wearing trainer wearable device 420 performing the exercise described with reference to Fig. 4C, video data generated by a camera capturing the trainer's exercise, and audio data.

[0214] If the trainee selects content 1000, the trainee electronic device 510 requests the server 530 to stream the content 1000.

[0215] The server 530 streams the content 1000 to the trainee electronic device 510. In other words, the server 530 can transmit the video data, the audio data, and the first hip joint angle X_1 of the trainer to the trainee electronic device 510.

[0216] The trainee electronic device 510 displays the video data and outputs the audio data through a speaker. The trainee electronic device 510 also extracts the first hip joint angle X_1 from the content 1000 and transmits the extracted first hip joint angle X_1 to the trainee wearable device 410.

[0217] The processor 410-1 of the trainee wearable device 410 sets the first hip joint angle X_1 as the reference angle.

[0218] The processor 410-1 of the trainee wearable device 410 acquires the first hip joint angle Y_1 of the trainee using the first sensor 410-2.

[0219] The processor 410-1 of the trainee wearable device 410 calculates the difference "Y_1-X_1" between the trainee's first hip joint angle (Y_1) and the reference angle (X_1).

[0220] If the calculated "Y_1-X_1" is greater than 0, the processor 410-1 of the trainee wearable device 410 controls the first motor driver circuit 410-3 to rotate the first motor 410-4 of the trainee wearable device 410 clockwise, thereby controlling the output of resistance torque to the first foot of the trainee. As a result, the trainee wearable device 410 can guide the trainee to lower the knee of the first foot. In this regard, the matters described with reference to FIG. 5 may be applied, and therefore a detailed description thereof will be omitted.

[0221] The processor 410-1 of the trainee wearable device 410 may not provide torque to the user if the calculated "Y_1-X_1" is less than 0. As another example, if the calculated "Y_1-X_1" is less than 0, the processor 410-1 of the trainee wearable device 410 may control the first motor driver circuit 410-3 to rotate the first motor 410-4 of the trainee wearable device 410 counterclockwise, thereby outputting auxiliary torque to the first foot of the trainee. As a result, the trainee wearable device 410 may guide the trainee to further raise the knee of the first foot. In this regard, the matters described with reference to FIG. 5 may be applied, and therefore detailed description thereof will be omitted.

[0222] In the example shown in Figure 10C, content related to walking is played on a display device 1020. A trainee can walk on a treadmill 1010. If the trainee's walking posture differs from that of the trainer in the content, torque is transmitted via the trainee wearable device 410, allowing the trainee to learn walking posture with the correct posture from the content. The example shown in Figure 10C will be described in detail below.

[0223] The server 530 streams to the display device 1020 content including video data, audio data, the trainer's right hip joint angle X_right, and the trainer's left hip joint angle X_left relating to walking exercise.

[0224] The display device 1020 displays video data related to the walking exercise and outputs audio data via a speaker. The display device 1020 extracts the trainer's right hip joint angle X_right and left hip joint angle X_left from the content received from the server 530, and transmits the extracted right hip joint angle X_right and left hip joint angle X_left to the trainee wearable device 410.

[0225] The processor 410-1 of the trainee wearable device 410 acquires the trainee's right hip joint angle Y_right using the first sensor 410-2, and acquires the trainee's left hip joint angle Y_left using the second sensor 410-5.

[0226] Processor 410-1 of trainee wearable device 410 sets the trainer's right hip joint angle X_right to the reference angle for the trainee's right leg, and sets the trainer's left hip joint angle X_left to the reference angle for the trainee's left leg.

[0227] The processor 410-1 of the trainee wearable device 410 calculates the difference "Y_right-X_right" between the trainee's right hip joint angle Y_right and the reference angle X_right for the right foot.

[0228] If the calculated "Y_right - X_right" is greater than 0, the processor 410-1 of the trainee wearable device 410 determines the torque strength by multiplying the magnitude of "Y_right - X_right" by the third gain using equation (6), and determines the torque direction to be the opposite direction to the rotation direction of the trainee's right hip joint. The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque strength. If the rotation direction of the trainee's right hip joint is clockwise, the processor 410-1 turns on the second switch 220 and the third switch 230 of the first motor driver circuit 410-3 and turns off the first switch 210 and the fourth switch 240 so that the first motor 410-4 rotates counterclockwise. The power drawn by the converter 202 is supplied to the first motor 410-4, allowing the first motor 410-4 to provide a resistance torque to the right leg.

[0229] If the calculated "Y_right-X_right" is less than 0, the processor 410-1 of the trainee wearable device 410 prevents torque from being applied to the right leg. As another example, if the calculated "Y_right-X_right" is less than 0, the processor 410-1 of the trainee wearable device 410 multiplies the magnitude of "Y_right-X_right" by a fourth gain via equation (10) to determine the torque strength, and determines the rotation direction of the trainee's right hip joint as the torque direction. The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque strength. If the rotation direction of the trainee's right hip joint is clockwise, the processor 410-1 turns on the first switch 210 and the fourth switch 240 of the first motor driver circuit 410-3 and turns off the second switch 220 and the third switch 230 so that the first motor 410-4 rotates clockwise. The power drawn by the converter 202 is supplied to the first motor 410-4, so that the first motor 410-4 can provide auxiliary torque to the right leg.

[0230] The processor 410-1 of the trainee wearable device 410 calculates the difference "Y_left-X_left" between the trainee's left hip joint angle Y_left and the reference angle X_left for the left foot.

[0231] If the calculated "Y_left - X_left" is greater than 0, the processor 410-1 of the trainee wearable device 410 determines the torque strength by multiplying the magnitude of "Y_left - X_left" by the third gain using equation (6), and determines the torque direction to be the opposite direction to the rotation direction of the trainee's left hip joint. The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque strength. If the rotation direction of the trainee's left hip joint is counterclockwise, the processor 410-1 turns on the fifth switch 250 and the eighth switch 280 of the second motor driver circuit 410-6 and turns off the sixth switch 260 and the seventh switch 270 so that the second motor 410-7 rotates clockwise. The power drawn by the converter 202 is supplied to the second motor 410-7, allowing the second first motor 410-4 to provide a resistance torque to the left leg.

[0232] If the calculated "Y_left-X_left" is less than 0, the processor 410-1 of the trainee wearable device 410 prevents torque from being applied to the left leg. As another example, if the calculated "Y_left-X_left" is less than 0, the processor 410-1 of the trainee wearable device 410 multiplies the magnitude of "Y_left-X_left" by a fourth gain via equation (10) to determine the torque strength, and determines the rotation direction of the trainee's left hip joint as the torque direction. The processor 410-1 controls the converter 202 to draw power from the battery 200 corresponding to the determined torque strength. If the rotation direction of the trainee's left hip joint is counterclockwise, the processor 410-1 turns on the sixth switch 260 and the seventh switch 270 of the second motor driver circuit 410-6 and turns off the fifth switch 250 and the eighth switch 280 so that the second motor 410-47 rotates counterclockwise. The power drawn by the converter 202 is supplied to the second motor 410-7, so that the second motor 410-7 can provide auxiliary torque to the left leg.

[0233] The matters described with reference to FIGS. 1A to 9B can be applied to the matters described with reference to FIGS. 10A to 10B, and therefore detailed description thereof will be omitted.

[0234] FIG. 11 is a diagram for explaining the motion analysis and evaluation according to the embodiment.

[0235] Referring to FIG. 11, the analysis and evaluation of the trainee's walking motion by the server 530 will be described.

[0236] The processor 410-1 of the trainee wearable device 410 acquires the right hip joint angle Y_right using the first sensor 410-2 and acquires the left hip joint angle Y_left using the second sensor 410-5. In addition, the IMU sensor 410-8 of the trainee wearable device 410 acquires acceleration information, angular velocity information, and posture information of the trainee.

[0237] The communication circuitry 410-9 of the trainee wearable device 410 transmits the right hip joint angle Y_right, the left hip joint angle Y_left, acceleration information, angular velocity information, and posture information to the server 530. Depending on the implementation, the communication circuitry 410-9 of the trainee wearable device 410 transmits the right hip joint angle Y_right, the left hip joint angle Y_left, acceleration information, angular velocity information, and posture information to the trainee electronic device 510, and the trainee electronic device 510 can transmit the right hip joint angle Y_right, the left hip joint angle Y_left, acceleration information, angular velocity information, and posture information to the server 530.

[0238] The server 530 determines the trainee's primary gait characteristics based on one or more of the trainee's right hip joint angle Y_right, left hip joint angle Y_left, acceleration information, angular velocity information, and posture information. The primary gait characteristics include, for example, the number of steps per minute (cadence), step width (the distance between the centers of the heels of both feet), swing time, stance time, stride time, and step time of each foot. Here, swing time indicates the time a foot is off the ground, and stance time indicates the time a foot is in contact with the ground. Furthermore, stride time indicates the interval between the time a heel of one foot leaves the ground and the time the heel of the same foot leaves the ground again, and step time indicates the interval between the time a heel of one foot leaves the ground and the time the heel of the other foot leaves the ground. This will be described in detail with reference to FIG. 13.

[0239] In FIG. 11, graph 1110 shows the trajectory of the left hip joint angle Y_left, and graph 1120 shows the trajectory of the right hip joint angle Y_right.

[0240] The server 530 can calculate the difference between the time t2 of the first negative peak value and the time t1 of the first positive peak value in the graph 1110 as the swing time of the left foot, the difference between the time t5 of the second positive peak value and the time t2 of the first negative peak value as the stance time of the left foot, and the difference between the time t5 of the second positive peak value and the time t1 of the first positive peak value (or the sum of the swing time of the left foot and the stance time of the left foot) as the stride time of the left foot.

[0241] In graph 1120, server 530 can calculate the difference between time t4 of the second negative peak value and time t3 of the second positive peak value as the swing time of the right foot, calculate the difference between time t7 of the third positive peak value and time t4 of the second negative peak value as the stance time of the right foot, and calculate the difference between time t7 of the third positive peak value and time t3 of the second positive peak value (or the sum of the swing time of the right foot and the stance time of the right foot) as the stride time of the right foot.

[0242] The server 530 calculates the step time of the left foot as the difference between the time t6 of the second negative peak value in the graph 1110 and the time t4 of the second negative peak value in the graph 1120. The server 530 calculates the step time of the right foot as the difference between the time t4 of the second negative peak value in the graph 1120 and the time t2 of the first negative peak value in the graph 1110.

[0243] The server 530 determines the maximum value among the positive peak values ​​of the graph 1110 as the maximum flexion angle of the left thigh, and determines the minimum value among the negative peak values ​​of the graph 1110 as the maximum extension angle of the left thigh. The server 530 determines the maximum flexion angle and maximum extension angle of the left thigh as the range of motion of the left hip joint. The server 530 also determines the maximum value among the positive peak values ​​of the graph 1120 as the maximum flexion angle of the right thigh, and determines the minimum value among the negative peak values ​​of the graph 1120 as the maximum extension angle of the right thigh. The server 530 can determine the maximum flexion angle and maximum extension angle of the right thigh as the range of motion of the right hip joint.

[0244] The server 530 can integrate the trainee's acceleration information to calculate the trainee's walking speed and calculate the variance of the walking speed. The server 530 can also multiply the calculated walking speed by the step time of each foot to calculate the step length of each foot and calculate the variance of the step length of each foot. The server 530 can also multiply the calculated walking speed by the stride time of each foot to calculate the stride length of each foot.

[0245] The server 530 can calculate the cadence of the trainee based on the swing time of either foot of the trainee. swing If it's time, 60 / T swing can be calculated as the number of steps taken by the trainee.

[0246] The server 530 determines secondary gait characteristics that are utilized to directly evaluate the trainee's walking ability through the trainee's primary gait characteristics. The secondary gait characteristics may include, for example, gait symmetry, walking age, etc. Gait symmetry indicates the degree to which the trainee's feet are symmetrical during walking.

[0247] The server 530 can determine the symmetry of the trainee's gait based on the stance time and swing time of both feet. As an example, the server 530 can determine the symmetry of the gait using the following equation (12).

[0248]

number

[0249] If the trainee's walking is close to symmetrical walking, the symmetry of walking can be calculated to be close to 0 using equation (12).

[0250] As another example, the server 530 may determine the symmetry of the trainee's walking based on the difference between the ranges of motion of both hip joints. More specifically, the server 530 calculates the difference between the maximum flexion angle of the left thigh and the maximum flexion angle of the right thigh, and calculates the difference between the maximum extension angle of the left thigh and the maximum extension angle of the right thigh. The server 530 may determine that the trainee is walking symmetrically if the difference between the maximum flexion angle of the left thigh and the maximum flexion angle of the right thigh, and the difference between the maximum extension angle of the left thigh and the maximum extension angle of the right thigh, are each calculated to be close to zero.

[0251] The server 530 can determine an appropriate walking exercise for the trainee based on the trainee's secondary walking characteristics and recommend the determined walking exercise to the trainee.

[0252] FIG. 12 is a flowchart illustrating a method of operating a trainee wearable device according to an embodiment.

[0253] 12, in step 1210, the communications circuitry 410-9 of the trainee wearable device 410 receives trainer motion information from the server 530 or the trainee electronic device 510. The trainer motion information may include, for example, the trainer's joint angles.

[0254] As an example, the trainer's movement information is generated by first sensor 420-2 of remotely located trainer wearable device 420 detecting the trainer's movement.

[0255] As another example, trainee electronic device 510 may receive streaming content from server 530. Here, the content may include video data and audio data generated by capturing the trainer's movements in advance, or may include movement information generated by trainer wearable device 420 detecting the trainer's movements. Trainee electronic device 510 may extract the trainer's movement information from the content and transmit the extracted movement information to trainee wearable device 410.

[0256] In step 1220, the processor 410-1 of the trainee wearable device 410 acquires trainee movement information using the first sensor 410-2. The trainee movement information may include, for example, the trainee's joint angles.

[0257] In step 1230, processor 410-1 of trainee wearable device 410 calculates the difference between the received motion information and the acquired motion information. Processor 410-1 of trainee wearable device 410 calculates "acquired motion information - received motion information." In FIG. 12, processor 410-1 of trainee wearable device 410 is described as calculating the difference between the received motion information and the acquired motion information. However, without being limited thereto, as described above, processor 410-1 of trainee wearable device 410 can set the received motion information as reference information and calculate the difference between the set reference information and the acquired motion information.

[0258] In step 1240, processor 410-1 of trainee wearable device 410 determines the torque intensity based on the calculated difference. As an example, if "acquired motion information - received motion information" is greater than a predetermined value (e.g., 0), processor 410-1 of trainee wearable device 410 may check a gain for increasing torque intensity (e.g., the third gain described above) and determine the torque intensity using the confirmed gain and "acquired motion information - received motion information." Also, if "acquired motion information - received motion information" is greater than a predetermined value, processor 410-1 of trainee wearable device 410 may determine the torque direction to be opposite to the trainee's motion direction. If "acquired motion information - received motion information" is less than the predetermined value, processor 410-1 of trainee wearable device 410 may check a gain for increasing torque intensity (e.g., the fourth gain described above) and determine the torque intensity using the confirmed gain and "acquired motion information - received motion information." In addition, the processor 410-1 of the trainee wearable device 410 can determine the torque direction to be in the same direction as the trainee's movement direction if the ``acquired movement information - received movement information'' is smaller than a predetermined value.

[0259] In step 1250, the processor 410-1 of the trainee wearable device 410 controls the motor driver circuit so that torque of the determined torque intensity is output from the first motor 410-4. As an example, the processor 410-1 of the trainee wearable device 410 may control the converter 202 so that the converter 202 draws power corresponding to the determined torque intensity from the battery 200. The processor 410-1 of the trainee wearable device 410 may turn on some switches and turn off the remaining switches of the first motor driver circuit 410-3 so that the motor rotates in the determined torque direction and outputs torque.

[0260] The matters described with reference to FIGS. 1A to 11 can be applied to the matters described with reference to FIG. 12, and therefore detailed description thereof will be omitted.

[0261] The above-described embodiments may be implemented using hardware components, software components, or a combination of hardware and software components. For example, the devices and components described herein may be implemented using one or more general-purpose or special-purpose computers, such as a processor, controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field programmable array (FPA), programmable logic unit (PLU), microprocessor, or other device that executes and responds to instructions. The processing device executes an operating system (OS) and one or more software applications that run on the operating system. The processing device also accesses, stores, manipulates, processes, and generates data in response to the execution of the software. For ease of understanding, a single processing device may be described; however, those skilled in the art will recognize that a processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing device may include multiple processors or one processor and one controller. Other processing configurations, such as parallel processors, are also possible.

[0262] 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.

[0263] The method according to the present invention may be embodied in the form of program instructions that can be executed by various computer means and recorded on a computer-readable recording medium. The recording medium may include program instructions, data files, data structures, and the like, alone or in combination. The recording medium and program instructions may be specially designed and constructed for the purposes of the present invention, or may be well-known and available to those skilled in the art of computer software. Examples of computer-readable recording 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, flash memory, and the like. Examples of program instructions include not only machine language code, such as that generated by a compiler, but also high-level language code that is executed by a computer using an interpreter, for example.

[0264] The hardware devices described above may be configured to operate as one or more software modules to perform the operations described in this invention, and vice versa.

[0265] Although the embodiments have been described above with reference to limited drawings, those skilled in the art may apply various technical modifications and variations based on the above description. For example, the described techniques may be performed in a different order than described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a different manner than described, and may be replaced or substituted with other components or equivalents, while still achieving suitable results.

[0266] Accordingly, other implementations, other embodiments, and equivalents of the claims are intended to be within the scope of the following claims.

Claims

1. A wearable device that outputs torque, the wearable device comprising: A motor; A motor driver circuit; a communication circuit configured to receive first user movement information from a server or an electronic device; a frame connected to the motor and worn on a lower body of a second user to support the lower body; A sensor, a processor configured to acquire movement information of the second user using the sensor, and to operate the wearable device in a first mode in which the wearable device causes the second user to follow the movements of the first user, or to operate the wearable device in a second mode in which the wearable device notifies the second user when to move their feet; In the first mode, the processor is further configured to control the motor driver circuit to output a first torque from the motor that resists movement of the second user when the acquired movement information is greater than the received movement information, and to control the motor driver circuit to output a second torque from the motor that assists movement of the second user when the acquired movement information is less than the received movement information; In the second mode, the processor is further configured to control the motor driver circuit to output a third torque from the motor to notify the second user of the timing to move the foot of the second user. Wearable devices.

2. 2. The wearable device of claim 1, wherein when the acquired motion information is greater than the received motion information, the processor is configured to: calculate a difference between the acquired motion information and the received motion information; determine a torque strength based on a gain and the calculated difference; determine a torque direction opposite to the second user's movement direction; and control the motor driver circuit based on the torque strength and the torque direction.

3. 2. The wearable device of claim 1, wherein when the acquired motion information is smaller than the received motion information, the processor is configured to: calculate a difference between the acquired motion information and the received motion information; determine a torque magnitude using a gain and the calculated difference; determine a torque direction in the same direction as the movement direction of the second user; and control the motor driver circuit based on the torque magnitude and the torque direction.

4. the received movement information includes joint angles of the first user; the acquired movement information includes joint angles of the second user; The wearable device of claim 1 , wherein the first user's movement information is generated by detecting the first user's movement by a wearable device of the first user that is remotely located.

5. The electronic device is receiving content from the server by streaming, the content including video data and audio data generated by capturing in advance the movements of the first user, and movement information generated by detecting the movements of the first user using a wearable device of the first user; extracting the motion information of the first user from the content; The wearable device of claim 1 , wherein the communication circuitry is configured to receive the extracted movement information from the electronic device.

6. The wearable device of claim 1 , wherein the communication circuitry is configured to transmit the movement information of the second user to the electronic device.

7. Further including an IMU (Inertial Measurement Unit) sensor configured to acquire acceleration information, angular velocity information, and attitude information of the second user; The wearable device of claim 1 , wherein the communication circuitry is configured to transmit the acquired acceleration information, angular velocity information, and attitude information to the electronic device.

8. 1. A remote training system, comprising: A server; a first wearable device worn by a first user; a second wearable device worn by a second user; the first wearable device is configured to acquire motion information of the first user and transmit the motion information of the first user to the second wearable device via the server; the second wearable device includes a motor and a motor driver circuit, and is configured to receive the movement information of the first user via the server, acquire movement information of the second user, and operate in a first mode in which the second wearable device makes the second user follow the movement of the first user, or in a second mode in which the second wearable device notifies the second user of the timing to move their feet; In the first mode, the second wearable device is further configured to: control the motor driver circuit to output a first torque from the motor that resists movement of the second user when the acquired movement information of the second user is greater than the received movement information of the first user; and control the motor driver circuit to output a second torque from the motor that assists movement of the second user when the acquired movement information of the second user is less than the received movement information of the first user; In the second mode, the second wearable device is further configured to notify the second user of the timing to move the foot of the second user by outputting a third torque. Remote training system.

9. 9. The remote training system of claim 8, wherein when the acquired motion information is greater than the received motion information, the second wearable device is configured to: calculate a difference between the acquired motion information and the received motion information; determine a torque strength based on a gain and the calculated difference; determine a torque direction opposite to the second user's motion direction; and control the motor driver circuit based on the torque strength and the torque direction.

10. 9. The remote training system of claim 8, wherein when the acquired motion information is smaller than the received motion information, the second wearable device is configured to: calculate a difference between the acquired motion information and the received motion information; determine a torque magnitude using a gain and the calculated difference; determine a torque direction in the same direction as the second user's movement direction; and control the motor driver circuit based on the torque magnitude and the torque direction.

11. the motion information of the first user includes joint angles of the first user; the motion information of the second user includes joint angles of the second user; 9. The remote training system of claim 8, wherein the first wearable device causes movement information of the second user to be transmitted to the second wearable device via the server.

12. the first wearable device is connected to an electronic device of the first user and transmits the first user's movement information to the electronic device of the first user; 10. The remote training system of claim 8, wherein the second wearable device is connected to an electronic device of the second user.

13. The electronic device of the first user transmits to the server video data and audio data generated by capturing the first user's movements, and transmits the first user's movement information to the server; the server time-synchronizes the video data, audio data, and motion information of the first user received from the electronic device of the first user, and transmits the time-synchronized video data, audio data, and motion information of the first user to the electronic device of the second user; 13. The remote training system of claim 12, wherein the electronic device of the second user outputs video and audio data received from the server and transmits movement information of the first user to the first wearable device.

14. 1. A streaming-based training system, comprising: a server configured to stream content including video data, audio data, and movement information of the first user related to the exercise to an electronic device of a second user; a wearable device connected to the electronic device, the wearable device including a motor and a motor driver circuit; The wearable device is configured to receive movement information of the first user from the electronic device, acquire movement information of the second user, and operate in a first mode in which the wearable device makes the second user follow the movement of the first user, or in a second mode in which the wearable device notifies the second user when to move their feet; In the first mode, the wearable device is further configured to: control the motor driver circuit to output a first torque from the motor that resists movement of the second user when the acquired movement information of the second user is greater than the received movement information of the first user; and control the motor driver circuit to output a second torque from the motor that assists movement of the second user when the acquired movement information of the second user is smaller than the received movement information of the first user; In the second mode, the wearable device is further configured to notify the second user of the timing to move the foot of the second user by outputting a third torque. Streaming-based training system.

15. 1. A method of operating a wearable device that outputs torque, the wearable device including a motor and a motor driver circuit, the method comprising: receiving movement information of a first user from a server or an electronic device; acquiring motion information of a second user; operating the wearable device in a first mode in which the wearable device makes the second user follow the movements of the first user, or operating the wearable device in a second mode in which the wearable device notifies the second user when to move their feet; controlling, in the first mode, the motor driver circuit to output from the motor a first torque that resists a movement of the second user when the acquired movement information of the second user is greater than the received movement information of the first user, and controlling the motor driver circuit to output from the motor a second torque that assists a movement of the second user when the acquired movement information of the second user is less than the received movement information of the first user; and notifying the second user of the timing to move the foot of the second user by outputting a third torque in the second mode. How it works.

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