Method and apparatus for providing resistance to a user of a wearable device - Patents.com

Abstract

A method and apparatus are provided for providing a resistive force to a user by measuring an angle of a joint of the user using a sensor in a wearable device, determining a resistance level for the joint based on the angle, determining a coupling ratio of a motor driver circuit of the wearable device corresponding to the resistance level, and controlling a motor via the motor driver circuit coupling ratio.

Description

[Technical field]

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

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

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

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

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

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

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

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

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

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

[0011] When set in the exercise mode, the motor may not require energy to be provided by the wearable device's battery.

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

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

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

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

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

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

[0018] The processor may, when the motor operates as the generator, charge a battery of the wearable device based on the energy generated by the generator.

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

[0020] When set in the exercise mode, the motor may not require energy to be provided by the wearable device's battery.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0044] Methods for providing resistance to a user are described in more detail below with reference to Figures 7-21.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0060] When the user's ankle muscles weaken due to aging or illness, it becomes difficult to walk. For example, when the leg starts to swing, the toe must be lifted, but if the toe cannot be lifted, the swinging foot may hit the ground. That is, if foot drop occurs, there is a risk of falling. To prevent such a risk, the angle of the ankle must be adjusted according to the progression or change of the walking phase. A wearable device may be provided to a user who has difficulty adjusting the angle of the ankle due to weakened ankle muscles. The wearable device is worn near the user's ankle and can output an auxiliary torque based on a value detected in relation to the user's walking. The angle of the user's ankle can be adjusted by the auxiliary torque.

[0061] Although the above embodiment is for assisting the ankle, embodiments for assisting the hip or knee to assist walking are similarly described.

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

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

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

[0065] FIG. 5 shows ankle joint angle trajectories, however the discussion of FIG. 5 can be applied to the discussion of hip joint angles and knee joint angles as well.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0094] The wearable device 700 may be pre-installed with multiple dynamic modes in which the wearable device 100 can be controlled.

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

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

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

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

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

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

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

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

[0103] According to one embodiment, when the user is walking, the motion mode may be applied to the entire walking state, but may be selectively applied only to a specific walking state. For example, the motion mode may be applied only to the swing state among the support state and the swing state according to the user's selection. The user's joint angles may be used to determine the user's current walking state.

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

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

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

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

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

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

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

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

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

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

[0114] The relationship of the force exerted by a muscle to the length of the muscle can be shown to have a normal distribution form. The relationship of the force exerted by a muscle to the speed of muscle elongation can be shown to have a sigmoid form.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0140] Although the motor mode or the assistance mode are described as being operable based on the respective neural networks, the described embodiments are not limited thereto, and for example, the operation of the wearable device 100 may be controlled via a control algorithm other than a neural network.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0165] Although the motor driver circuits 1400, 1800, and 1900 shown in FIGS. 14 to 19 are connected to a DC motor, as a different example, the motor driver circuit 2000 may be connected to a BLDC motor 2005. The BLDC motor 2005 may be connected to three terminals in the motor driver circuit 2000. In general, a BLDC motor generates a larger torque per volume than a DC motor, and does not use mechanical brushes for current commutation used in a DC motor, so that no friction occurs between the brushes and the rotor windings. Therefore, the BLDC motor has better durability than a DC motor because no friction occurs between the brushes and the rotor windings.

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

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

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

[0169] Since the BLDC motor 2005 is connected to three terminals u, v, and w, in order to form an electrical closed loop between the terminals u, v, and w, the Hall (HALL) sensor information of the rotor (angle of the motor rotation shaft) may be determined and two of the switches 2020, 2040, and 2060 may be selectively connected to match the commutation sequence to form the closed loop, but when the BLDC motor 2005 is controlled for the purpose of controlling only the reverse drivability of the BLDC motor 2005 in the motion mode, a closed loop that does not require consideration of the commutation sequence may be formed by connecting all of the switches 2020, 2040, and 2060. Since it is not necessary to consider the commutation sequence to form a closed loop, the time required to calculate the commutation sequence and the risk of malfunction of the BLDC motor 2005 may be reduced.

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

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

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

[0173] By setting the gear ratio differently depending on the purpose of the operation mode of the wearable device 100, the magnitude of the resistance force provided to the user can be adjusted.

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

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

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

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

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

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

[0180] The main body 10 includes a housing 11. Various components are built into the housing 11. Examples of the components built into the housing 11 include a central processing unit (CPU), a printed circuit board, various types of storage devices, and a power supply. The main body 10 includes the above-mentioned control unit 140. The control unit 140 includes a CPU and a printed circuit board.

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

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

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

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

[0185] The main body 10 further includes a waist support section 12 for supporting the waist of the user. The waist support section 12 may have a shape of a curved flat plate so as to support the waist of the user.

[0186] The main body 10 further includes a fixing portion 11a for fixing the housing 11 to a hip portion of a user, and a fixing portion 12a for fixing the waist support portion 12 to a waist of a user. The fixing portions 11a and 12a can be realized as one of a band, a belt, and a strap having elasticity.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0205] The second fixing parts 33R, 33L are provided on the second supports 32R, 32L. The second fixing parts 33R, 33L serve to fix the second supports 32R, 32L to the lower leg of the user. Figs. 11 to 13 show a case where the second supports 32R, 32L are fixed to the outside of the lower leg of the user by the second fixing devices 33R, 33L. When the second support parts 22R, 22L are rotated by driving the second driving devices 31R, 31L, the thigh to which the second support parts 22R, 22L are fixed also rotates in the same direction as the rotation direction of the second support parts 22R, 22L.

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

[0207] The third structure 40R, 40L can assist the movement of the user's ankle joint and related muscles during walking. The third structure 40R, 40L includes third drive devices 41R, 41L, foot supports 42R, 42L, and third fixing devices 43R, 43L.

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

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

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

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

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

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

[0214] The method according to the present invention may be embodied in the form of program instructions to 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 the 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 tapes, optical recording 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 ROMs, RAMs, flash memories, and the like. Examples of program instructions include not only machine code, such as that generated by a compiler, but also high-level language code executed by a computer using an interpreter, and the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations shown in the present invention, and vice versa.

[0215] Although several exemplary embodiments have been described above, it should nevertheless be understood that various technical modifications and variations may be made to the exemplary embodiments. For example, the techniques described may be performed in an order different from that described, and / or the components of the described systems, structures, devices, circuits, etc. may be combined or combined in a manner different from that described, and other components or equivalents may be substituted or substituted to achieve suitable results. Accordingly, other implementations are within the scope of the following claims.

Claims

1. 1. A method for controlling a motor driver circuit of a wearable device, the method comprising: Measuring a first angle of a first joint of a user via a sensor of the wearable device; determining a resistance level for the first joint based on the first angle; determining a coupling ratio based on the resistance level, the coupling ratio being the ratio between a coupling time during which terminals of the motor are electrically connected to have equipotential potential and a non-coupling time during which the terminals of the motor are electrically opened, in a state in which the battery is controlled so that no energy is supplied to the motor; and controlling the motor driver circuit so that the terminals of the motor are electrically connected to have an equipotential during the connection time and the terminals of the motor are electrically opened during the non-connection time based on the connection ratio while the motor is electrically disconnected from the battery. method.

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

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

4. The method of claim 3 , wherein the resistance provided to the user is adjusted such that the resistance increases as the engagement time increases based on the engagement ratio.

5. The method of claim 1 , wherein the motor is configured to operate as a generator in response to an external force by the user in a state in which the terminals of the motor are electrically connected to have an equipotential.

6. The method of claim 5, further comprising the step of charging the battery of the wearable device based on energy generated by the generator when the motor operates as the generator.

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

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

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

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

11. 1. A wearable device configured to control a motor driver circuit of a wearable device, the wearable device comprising: a memory storing a program including instructions for providing a resistance force to a user; a sensor for measuring a first angle of a first joint of the user; A motor driver circuit; a motor electrically connected to the motor driver circuit; A processor for executing the program, the processor comprising: measuring the first angle of the first joint of the user via the sensor; determining a resistance level for the first joint based on the first angle; determining a coupling ratio based on the resistance level, the coupling ratio being a ratio between a coupling time during which terminals of the motor are electrically connected to have an equipotential potential and a non-coupling time during which the terminals of the motor are electrically opened in a state in which energy is controlled not to be supplied from the battery to the motor; while the motor is electrically disconnected from the battery, controlling the motor driver circuit so that the terminals of the motor are electrically connected to have an equipotential during the connection time and the terminals of the motor are electrically opened during the non-connection time based on the connection ratio. Wearable devices.

12. The wearable device of claim 11 , wherein the motor driver circuit includes at least one switch that is controlled based on the coupling ratio.

13. The coupling ratio is represented by PWM (pulse width modulation), The wearable device of claim 11 , wherein the resistance provided to the user is adjusted based on the coupling ratio such that the resistance increases as the coupling time increases.

14. The wearable device of claim 11 , wherein when the terminals of the motor are electrically connected to have the same potential, the motor is configured to operate as a generator in response to an external force applied by the user.

15. The wearable device of claim 14 , wherein the processor charges the battery of the wearable device based on energy generated by the generator when the motor operates as the generator.

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

17. The wearable device of claim 16, wherein when set in the exercise mode, the motor is not provided with energy from the battery of the wearable device.

18. The processor, receiving an instruction from the user to set an operation mode of the wearable device to an auxiliary mode; calculating an assist torque value for the first joint in the assist mode based on the first angle; The wearable device of claim 11 , further comprising: a motor that controls the motor based on the auxiliary torque value to provide an auxiliary force to the user.

19. the motor driver circuit includes an H-bridge circuit including a first pair of switches configured to couple the terminals of the motor to the battery and a second pair of switches configured to couple the terminals of the motor to ground; The step of controlling the motor driver circuit includes: (i) opening the first pair of switches to isolate the motor from the battery, and (ii) increasing the degree of backdrivability by increasing the duty cycle associated with closing the second pair of switches to increase the time that the motor is coupled to ground while isolated from the battery; (i) opening the first pair of switches to isolate the motor from the battery, and (ii) decreasing the degree of backdrivability by decreasing a duty cycle associated with closing the second pair of switches to reduce the time the motor is coupled to ground while isolated from the battery; 2. The method of claim 1, comprising:

20. the motor driver circuit includes an H-bridge circuit including a first pair of switches configured to couple the terminals of the motor to the battery and a second pair of switches configured to couple the terminals of the motor to ground; The processor, (i) opening the first pair of switches to isolate the motor from the battery; and (ii) increasing the duty cycle associated with closing the second pair of switches to increase the time that the motor is coupled to ground while isolated from the battery, thereby increasing the degree of backdrivability.

12. The wearable device of claim 11, further comprising: controlling the motor driver circuit to decrease the degree of back-drivability by (i) decreasing a duty cycle associated with opening the first pair of switches to isolate the motor from the battery; and (ii) decreasing the duty cycle associated with closing the second pair of switches to reduce the time the motor is coupled to ground while isolated from the battery.

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