Wearable device and its control method

Abstract

A wearable device is disclosed. [Solution] One embodiment includes a motor, a motor driver circuit, a memory that stores resistance force generation setting information indicating the difference between a reference angle and each joint angle and the corresponding relationship of each duty ratio, a sensor, and a processor that acquires a user's joint angle using the sensor, calculates the difference between the reference angle and the acquired joint angle, confirms a duty ratio corresponding to the calculated difference according to the resistance force generation setting information, provides a control signal having the confirmed duty ratio to the motor driver circuit, and controls the control state of the motor driver circuit to convert between a first control state and a second control state.

Description

[Technical Field]

[0001] The following embodiments relate to wearable devices. [Background technology]

[0002] Recently, as the aging society becomes more serious, the number of people suffering from joint problems and complaining of the resulting pain and inconvenience is increasing, leading to growing interest in walking assistance devices that can facilitate walking for elderly people and patients with joint problems. In addition, exercise assistance devices to strengthen the body's muscles are being developed. [Overview of the Initiative] [Means for solving the problem]

[0003] A wearable device relating to one aspect includes a motor, a motor driver circuit, a memory that stores resistance force generation setting information indicating the relationship between the difference between a reference angle and a joint angle and each duty cycle, a sensor, and a processor that uses the sensor to acquire the user's joint angle, calculates the difference between the reference angle and the acquired joint angle, confirms the duty cycle corresponding to the calculated difference according to the resistance force generation setting information, provides a control signal having the confirmed duty cycle to the motor driver circuit, and controls the motor driver circuit so that its control state is converted between a first control state and a second control state.

[0004] In the first control state, the terminals of the motor are at the same potential, and in the second control state, the terminals are electrically open.

[0005] If the difference increases, the processor can increase the confirmed duty cycle according to the resistance force generation setting information.

[0006] The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch. The processor turns off the first and second switches, applies the control signal to the third and fourth switches. The motor is not electrically connected to the battery in the wearable device when the first and second switches are turned off, and can output a resistance force by repeatedly turning on and off the third and fourth switches according to the confirmed duty ratio.

[0007] When the calculated difference is less than a set value, the processor can turn off the switches in the motor driver circuit so that the control state is in the second control state.

[0008] The processor checks whether the rotation direction of the user's joint matches a predetermined direction. When the rotation direction matches the predetermined direction, the processor controls the conversion of the control state between the first control state and the second control state. When the rotation direction does not match the predetermined direction, the processor can turn off the switches in the motor driver circuit so that the control state is in the second control state.

[0009] The processor can change the reference angle based on user input.

[0010] The motor outputs a resistance force when the control state is converted between the first control state and the second control state, and the output resistance force can be amplified through a first gear attached to the rotation shaft of the motor and a second gear connected to the first gear.

[0011] Another embodiment of the wearable device includes a battery, a motor, a motor driver circuit, a memory for storing resistance force generation setting information indicating the difference between a reference angle and a joint angle and the corresponding relationship between each duty cycle, a sensor, and a processor that controls the motor driver circuit in a first resistance mode so that the motor is powered by the battery and outputs a first resistance force, and in a second resistance mode so that the electrical connection between the motor and the battery is interrupted and the motor outputs a second resistance force without power from the battery.

[0012] In the second resistance mode, the processor uses the sensor to acquire the user's joint angle, calculates the difference between the reference angle and the acquired joint angle, confirms the duty cycle corresponding to the calculated difference according to the resistance force generation setting information, and provides the motor driver circuit with a control signal having the confirmed duty cycle to control the motor driver circuit so that its control state changes between the first control state and the second control state.

[0013] The processor can increase the confirmed duty cycle in accordance with the resistance force generation setting information if the difference increases.

[0014] The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch. In the second resistance mode, the processor turns off the first and second switches and applies control signals of the confirmed duty cycle to the third and fourth switches. The motor can then output resistance by having the third and fourth switches repeatedly turn on and off according to the confirmed duty cycle.

[0015] In the second resistance mode, if the calculated difference is less than a set value, the processor can turn off the switch in the motor driver circuit so that the control state is in the second control state.

[0016] The processor checks whether the rotation direction of the user's joint matches a predetermined direction, and if the rotation direction matches the predetermined direction, it controls the control state to change between the first control state and the second control state, and if the rotation direction does not match the predetermined direction, it can turn off a switch in the motor driver circuit so that the control state is in the second control state.

[0017] The motor outputs a second resistive force by converting the control state between a first control state and a second control state, and the output second resistive force can be amplified via a first gear attached to the rotating shaft of the motor and a second gear connected to the first gear.

[0018] The processor can control the motor driver circuit so that, as the difference increases while the maximum resistance strength in the second resistance mode is output to the user, the motor is powered by the battery and outputs a resistance strength greater than the maximum resistance strength.

[0019] A control method for a wearable device according to one embodiment includes the steps of: acquiring the user's joint angle using a sensor; calculating the difference between a reference angle and the acquired joint angle; confirming the duty cycle corresponding to the calculated difference according to resistance force generation setting information that shows the correspondence between the difference between the reference angle and each joint angle and each duty cycle; and providing a control signal having the confirmed duty cycle to a motor driver circuit and controlling the motor driver circuit so that its control state changes between a first control state and a second control state. [Brief explanation of the drawing]

[0020] [Figure 1A] This is a diagram illustrating a wearable device according to one embodiment. [Figure 1B] This is a diagram illustrating a wearable device according to one embodiment. [Figure 1C]This is a diagram illustrating a wearable device according to one embodiment. [Figure 1D] This is a diagram illustrating a wearable device according to one embodiment. [Figure 2] This is a diagram illustrating a wearable device according to one embodiment. [Figure 3] This is a diagram illustrating the first resistance mode of a wearable device according to one embodiment. [Figure 4] This is a diagram illustrating the first resistance mode of a wearable device according to one embodiment. [Figure 5] This is a diagram illustrating the first resistance mode of a wearable device according to one embodiment. [Figure 6] This is a diagram illustrating a second resistance mode of a wearable device according to one embodiment. [Figure 7] This is a diagram illustrating a second resistance mode of a wearable device according to one embodiment. [Figure 8A] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 8B] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 8C] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 9A] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 9B] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 9C] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 10A] This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 10B]This figure illustrates an example of operation in the second resistance mode of a wearable device according to one embodiment. [Figure 11A] This figure illustrates how a wearable device according to one embodiment provides support force to the user. [Figure 11B] This figure illustrates how a wearable device according to one embodiment provides support force to the user. [Figure 12A] This figure illustrates the adjustment of resistance strength in the second resistance mode of a wearable device according to one embodiment. [Figure 12B] This figure illustrates the adjustment of resistance strength in the second resistance mode of a wearable device according to one embodiment. [Figure 13] This figure illustrates the change of the reference angle in the second resistance mode of a wearable device according to one embodiment. [Figure 14A] This figure illustrates how to change the set value in the second resistance mode of a wearable device according to one embodiment. [Figure 14B] This figure illustrates how to change the set value in the second resistance mode of a wearable device according to one embodiment. [Figure 14C] This figure illustrates how to change the set value in the second resistance mode of a wearable device according to one embodiment. [Figure 15] This figure illustrates how a wearable device according to one embodiment outputs a resistive force using battery power while operating in a second resistance mode. [Figure 16] This is a diagram illustrating how a wearable device according to one embodiment amplifies resistance through a gear. [Figure 17A] This is a diagram illustrating a wearable device according to another embodiment. [Figure 17B] This is a diagram illustrating a wearable device according to another embodiment. [Modes for carrying out the invention]

[0021] Embodiments will be described in detail below with reference to the attached drawings. However, the specific structural or functional descriptions disclosed herein are merely illustrative for the purpose of illustrating the embodiments, and the embodiments can be carried out in various different forms, and the present invention is not limited to the embodiments described herein. All modifications, equivalents, or substitutions to the embodiments should be understood to be included within the scope of the rights.

[0022] The terms used in the embodiments are for illustrative purposes only and should not be construed as limiting. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “includes” or “having” indicate the presence of features, figures, steps, actions, components, parts, or combinations thereof described in the specification, and should not be understood as preemptively excluding the possibility of the presence or addition of one or more other features, figures, steps, actions, components, parts, or combinations thereof.

[0023] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by a person of ordinary skill in the art to which this embodiment belongs. Commonly used, predefined terms should be interpreted as having the meaning consistent with their meaning in the context of the relevant art, and not as ideal or overly formal unless expressly defined herein.

[0024] Furthermore, when explaining with reference to the attached drawings, the same components will be assigned the same reference numerals regardless of the reference numerals used in the drawings, and redundant explanations will be omitted. In the description of embodiments, if a specific explanation of related prior art is deemed to unnecessarily obscure the gist of the embodiment, such detailed explanation will be omitted.

[0025] Furthermore, in describing the components of an embodiment, terms such as First, Second, A, B, (a), (b), etc., may be used. These terms are used to distinguish a component from other components, and the terms do not limit the nature, order, or sequence of the component in question. When it is stated that one component is “connected,” “joined,” or “connected” to another component, it can be understood that the component is directly connected to or linked to the other components, but that other components can be “connected,” “joined,” or “connected” between each component.

[0026] Components that have functions common to components included in any of the embodiments will be described using the same name in the other embodiments. Unless otherwise stated, the descriptions in one embodiment will also apply to the other embodiments, and specific descriptions will be omitted to the extent that they overlap.

[0027] Figures 1A and 2 are diagrams illustrating a wearable device according to one embodiment.

[0028] The wearable device 100 is worn on the user's body (e.g., legs, arms, waist, etc.) and can provide resistance to the user's movements (or exercise). Resistance is a force that hinders or resists the user's movements and is in the opposite direction to the user's movement. In other words, resistance may be expressed as exercise load. Depending on the implementation, the wearable device 100 can provide assistance to the user's movements. Assistance is a force that assists the user's movements and is in the same direction as the user's movement.

[0029] Referring to Figure 1A, a wearable device 100 according to one embodiment includes a sensor 110, a processor 120, a motor driver circuit 130, a motor 140, a battery 150, a memory 160, and an input interface 170. Although Figure 1A shows one sensor 110, one motor driver circuit 130, and one motor 140, this is merely illustrative, and a further example of a wearable device 100-1, as shown in Figure 1B, may include multiple sensors 110 and 110-1, multiple motor driver circuits 130 and 130-1, and multiple motors 140 and 140-1. Depending on the implementation, the wearable device 100 may also include multiple processors. The number of motor driver circuits, motors, or processors may vary depending on the body part on which the wearable device 100 is worn. Figure 1C shows an example of the wearable device 100-1 being worn on the hip. In Figure 1C, motors 140 and 140-1 are positioned near the right and left hip joints, respectively. This is so that the wearable device 100-1 can provide resistance to flexion and extension of each hip joint when the user walks. Here, flexion refers to forward rotation of the hip joint, and extension refers to backward rotation of the hip joint. Not limited to the example shown in Figure 1C, motors 140 and 140-1 may also be positioned to transmit resistance to adduction and abduction of each hip joint. Here, abduction refers to movement away from the body when the user moves to the side, and adduction refers to movement towards the body. As will be described later via Figure 8B, when the user lies down and lifts the first leg to the side, the hip joint of the first leg abducts, and when the first foot is lifted down, the hip joint of the first leg adductions. Motor 140 may also be positioned to transmit resistance to adduction and abduction of the right hip joint, respectively.

[0030] The descriptions of the sensor 110, motor driver circuit 130, and motor 140 described later may also apply to the sensor 110-1, motor driver circuit 130-1, and motor 140-1 shown in Figure 1B.

[0031] Returning to Figure 1A, the sensor 110 includes an encoder. The encoder can detect rotational information such as the rotational speed and rotational position of the shaft. The encoder includes, for example, an absolute encoder. The absolute encoder transmits bit values ​​corresponding to each rotational position of the shaft to the processor 120, and the processor 120 can calculate the rotation angle of the shaft based on the transmitted bit values. For example, if the shaft is in the first rotational position, the absolute encoder can transmit a first bit value corresponding to the first rotational position to the processor 120, and if the shaft has rotated to the second rotational position, it can transmit a second bit value corresponding to the second rotational position to the processor 120. The processor 120 can 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 absolute encoder can calculate the rotation angle of the shaft by subtracting the second rotational position from the first rotational position of the shaft and transmit the calculated rotation angle to the processor 120.

[0032] The encoder is not limited to the absolute encoder mentioned above; various other encoders such as incremental encoders and magnetic encoders can be used.

[0033] The type of sensor 110 is not limited to encoders; the wearable device 100 may further include acceleration sensors, gyroscopes, or IMU (Inertial Measurement Unit) sensors, etc.

[0034] When the user moves, the encoder shaft rotates due to the user's movement; therefore, the rotation angle of the encoder shaft corresponds to the user's joint angle. In the wearable device 100, the rotation angle of the encoder shaft may be used as the user's joint angle. For the sake of explanation, the rotation angle of the encoder shaft will be expressed as if it were the user's joint angle below.

[0035] The processor 120 controls the overall operation of the wearable device 100.

[0036] The processor 120 can control the motor driver circuit 130 based on the operating mode of the wearable device 100. The operating modes of the wearable device 100 include a first resistance mode in which the motor 140 is powered by the battery 150 and outputs a resistive force, and a second resistance mode in which the motor 140 is not powered by the battery 150 and outputs a resistive force.

[0037] In the first resistance mode, the processor 120 can output a stronger resistance than in the second resistance mode by controlling the motor driver circuit 130 so that the motor 140 is powered by the battery 150.

[0038] As will be explained in detail with reference to Figure 7, in the second resistance mode, the processor 120 can control the motor driver circuit 130 with a control signal having a duty cycle. The control signal may be a PWM (pulse width modulation) signal in which high and low values ​​are repeated. The duty cycle is defined as the period of the PWM signal being T, and the time during which a high value is held within one period being t. H When this is the case, t H / T. Depending on the duty cycle of the PWM signal supplied to the motor driver circuit 130, the control state of the motor driver circuit 130 can be converted between a first control state and a second control state. In the first control state, the terminals of the motor 140 (e.g., the positive (+) terminal and the negative (-) terminal) are in an equipotential state. Here, an equipotential state means that the potential (or voltage) of the + terminal and the - terminal of the motor 140 are the same. In the second control state, the terminals of the motor 140 are electrically open. In the second resistance mode, if the user moves, the motor 140 rotates due to the user's movement, and the rotation of the motor 140 generates an electromotive force in the motor 140. However, in the second resistance mode, the motor 140 may generate rotational resistance to counteract the electromotive force. Such rotational resistance may be provided to the user as a resistive force. In other words, in the second resistance mode, the motor 140 may generate a resistive force provided to the user by rotational resistance. In the second resistance mode, the motor 140 can output resistance even without power supply from the battery 150.

[0039] The motor driver circuit 130 controls the operation of the motor 140 under the control of the processor 120. For example, the motor driver circuit 130 can form an electrical path to supply power from the battery 150 to the motor 140 under the control of the processor 120. The motor driver circuit 130 can also disconnect the electrical connection between the battery 150 and the motor 140 under the control of the processor 120. An example of the motor driver circuit 130 is shown in Figure 2. The motor driver circuit 130 shown in Figure 2 is an H-bridge circuit and includes a plurality of switches 210 to 240. If 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 120, power can be supplied from the battery 150 to the motor 140. If the first switch 210 and the second switch 220 are turned off under the control of the processor 120, the electrical connection between the battery 150 and the motor 140 is disconnected.

[0040] The battery 150 supplies power to components of the wearable device 100, such as the sensor 110 and the processor 120. The thick arrows shown in Figures 1A and 1B indicate that the battery 150 supplies power to the components of the wearable device 100, 100-1. There is a circuit (e.g., a PMIC (Power Management Integrated Circuit)) that converts the power from the battery 150 to match the operating voltage of the components of the wearable device 100 and provides it to the components of the wearable device 100. In addition, depending on the operating mode of the wearable device 100, the battery 150 may or may not supply power to the motor 140. In other words, the battery 150 may supply power to the motor 140 in the first resistance mode, but may not supply power to the motor 140 in the second resistance mode. Therefore, power consumption of the battery 150 is reduced in the second resistance mode, which can increase the usage time of the wearable device 100.

[0041] The processor 120 can acquire the user's joint angles using the sensor 120 while the user is moving while wearing the wearable device 100 or 100-1 in second resistance mode. The processor 120 can increase the duty cycle if the difference between the reference angle and the acquired joint angle increases while the difference between the reference angle and the joint angle is greater than or equal to a set value. The processor 120 can provide a control signal of the increased duty cycle to the motor driver circuit 130 and control the operation of the switches included in the motor driver circuit 130. If the user's movement becomes larger and the difference between the reference angle and the joint angle increases, the motor 140 can output a stronger resistance force to match the larger movement. This will be described later with reference to Figures 8A to 10B.

[0042] Depending on the implementation, the wearable device 100 or 100-1 can provide support force to the user. The processor 120 may increase the duty cycle when the difference between the reference angle and the joint angle increases in the negative direction while the difference between the reference angle and the joint angle is below a set value. The processor 120 can control the motor driver circuit 130 with a control signal of the increased duty cycle. As the user's movement increases, the difference between the reference angle and the joint angle increases in the negative direction, so the motor 140 can output an even stronger support force to match the increased movement. This will be described later with reference to Figures 11A to 11B.

[0043] Memory 160 can store software and data necessary for the operation of the wearable device 100 or 100-1. Memory 160 includes, but is not limited to, non-volatile memory, volatile memory, and flash memory. As will be described later, memory 160 can store resistance force generation setting information that shows the correspondence between the difference between the reference angle and the joint angle and each duty cycle.

[0044] The input interface 170 can receive input from the user to control the wearable device 100 or 100-1. For example, the input interface 170 includes, but is not limited to, physical buttons, keypads, jog wheels, microphones, etc.

[0045] Although not shown in Figures 1A to 1C, the wearable device 100 or 100-1 further includes a display and communication circuits.

[0046] The display can show status information of the wearable device 100 or 100-1. For example, the display can show information regarding the charge level of the battery 150 and the resistance mode in which the wearable device 100 or 100-1 is operating. The display can also show information for controlling the operation of the wearable device 100 or 100-1. For example, the display may show a UI (User Interface) for receiving user input to select either a first resistance mode or a second resistance mode. The processor 120 enables the wearable device 100 to operate in the first resistance mode if the user selects the first resistance mode on the UI, and enables the wearable device 100 to operate in the second resistance mode if the user selects the second resistance mode on the UI.

[0047] Communication circuits include various types of communication circuits such as near-field communication circuits, wireless LAN communication circuits, and mobile communication circuits. Near-field communication circuits may communicate with nearby electronic devices (e.g., mobile phones, smartwatches, tablet PCs, etc.) using near-field communication methods (e.g., NFC (Near Field Communication), Bluetooth, Zigbee, etc.). Wireless LAN communication circuits can connect to a network and communicate with a server using wireless LAN communication methods (e.g., Wi-Fi, etc.). Mobile communication circuits may connect to a mobile communication network and communicate with a server using mobile communication methods (e.g., 3G, 4G, 5G, etc.).

[0048] As shown in Figure 1D, the wearable device 100 can communicate with the electronic device 180. The electronic device 180 may be the user's electronic device of the wearable device 100. Alternatively, the user may exercise with a trainer while wearing the wearable device 100. In this case, the electronic device 180 corresponds to the trainer's electronic device.

[0049] The wearable device 100 can communicate with the electronic device 180 using a short-range wireless communication method. Depending on the implementation, the wearable device 100 and the electronic device 180 may communicate via a server using a wireless LAN communication method or a mobile communication method.

[0050] The electronic device 180 displays a UI on the display 180-1 for controlling the operation of the wearable device 100. The UI includes, for example, a first soft key for the wearable device 100 to operate in a first resistance mode, a second soft key for the wearable device 100 to operate in a second resistance mode, a third soft key for changing setting values, and so on.

[0051] The user (or trainer) inputs control commands to control the operation of the wearable device 100 via the UI on the display 180-1 of the electronic device 180, and the electronic device 180 can transmit the corresponding control commands to the wearable device 100. The wearable device 100 operates according to the received control commands and can transmit the control results to the electronic device 180. The electronic device 180 can display a control completion message on its display 180-1.

[0052] For example, the user (or trainer) can input a control command for the wearable device 100 to operate in the first resistance mode by selecting the first soft key described above, and the electronic device 180 can transmit the control command to the wearable device 100. The wearable device 100 can operate in the first resistance mode in response to the received control command and transmit a control result indicating that it is operating in the first resistance mode to the electronic device 180. The electronic device 180 displays a message on the display 180-1 indicating that the wearable device 100 is operating in the first resistance mode.

[0053] Figures 3 to 5 are diagrams illustrating the first resistance mode of a wearable device according to one embodiment.

[0054] The wearable device 100 can operate in a first resistance mode. For example, the wearable device 100 can operate in a first resistance mode by the user selecting the operating mode of the wearable device 100 as the first resistance mode via the input interface 170 of the wearable device 100 or the UI on the display of the wearable device 100. In a different example, the wearable device 100 can operate in a first resistance mode upon receiving a control command from the electronic device 180 to operate in a first resistance mode. Depending on the implementation, the first resistance mode may also be the basic resistance mode of the wearable device 100.

[0055] Referring to Figure 3, in the first resistance mode, the processor 120 controls the motor driver circuit 130 so that the motor 140 is powered by the battery 150. As an example, in the example shown in Figure 4, the processor 120 may apply an on signal 1 to the first switch 210 and an on signal 4 to the fourth switch 240. Although the output of separate on signals 1 and 4 by the processor 120 has been described, this is only illustrative. In a different example, the processor 120 may output an on signal, which may be branched by a separate circuit, and each branched on signal may be applied to the first switch 210 and the fourth switch 240, respectively. The first switch 210 and the fourth switch 240 are turned on by the control signals output by the processor 120. Since no on signal is applied to the second switch 220 and the third switch 230, the second switch 220 and the third switch 230 are turned off. Depending on the implementation, the processor 120 can turn off the second switch 220 and the third switch 230 by applying an off signal to the second switch 220 and the third switch 230. The motor 140 can output resistance by rotating in the forward direction when powered by the battery 150. Here, the forward direction indicates that the motor 140 rotates clockwise.

[0056] Motor 140 can rotate not only in the forward direction but also in the reverse direction to output resistance. The reverse direction indicates that motor 140 rotates counterclockwise. In the example shown in Figure 5, processor 120 applies on signal 2 to the second switch 220 and on signal 3 to the third switch 230. Although it has been explained that processor 120 outputs separate on signals 2 and 3, this is only illustrative. In a different example, processor 120 may output an on signal, which is then branched by a separate circuit, and each branched on signal is applied to the second switch 220 and the third switch 230, respectively. The second switch 220 and the third switch 230 are turned on under the control of processor 120. Since no on signal is applied to the first switch 210 and the fourth switch 240, the first switch 210 and the fourth switch 240 are turned off. Depending on the implementation, the processor 120 can turn off the first switch 210 and the fourth switch 240 by applying an off signal to the first switch 210 and the fourth switch 240. The motor 140 can output resistance by rotating in the reverse direction when powered by the battery 150.

[0057] In the first resistance mode, the motor 140 receives power from the battery 150 and outputs a resistive force, which is larger in size compared to the second resistance mode.

[0058] Figures 6 and 7 illustrate a second resistance mode of a wearable device according to one embodiment.

[0059] The wearable device 100 can operate in a second resistance mode. For example, the wearable device 100 can operate in a second resistance mode by the user selecting the second resistance mode as the operating mode of the wearable device 100 via the input interface 170 of the wearable device 100 or the UI on the display of the wearable device 100. In a different example, the wearable device 100 may receive a control command from the electronic device 180 to operate in a second resistance mode and operate in a second resistance mode in response to the received control command. In a further example, the processor 120 may switch from the first resistance mode to the second resistance mode to minimize the power usage of the battery 150 if the charge level of the battery 150 is below a certain threshold. Depending on the implementation, the second resistance mode may be the basic mode of the wearable device 100.

[0060] Referring to Figure 6, in the second resistance mode, the processor 120 can be controlled so that the control state of the motor driver circuit 130 is converted between the first control state and the second control state. The second resistance mode will be explained in detail with reference to Figure 7.

[0061] Referring to Figure 7, the processor 120 turns off the first switch 210 and the second switch 220, disconnecting the electrical connection between the battery 150 and the motor 140. In second resistance mode, the first switch 210 and the second switch 220 remain in the turned-off state.

[0062] The processor 120 applies control signal 1 to the third switch 230 and control signal 2 to the fourth switch 240 so that the control state of the motor driver circuit 130 is converted between a first control state and a second control state. Control signals 1 and 2 are in PWM form, with High and Low values ​​repeating, and may have a duty cycle. As described above, the duty cycle is such that one period is T, and the time during which a High value is held within one period is t. H If that is the case, t H / T. Although we have described the processor 120 outputting separate control signals 1 and 2, this is merely illustrative. In a different example, the processor 120 may output a single control signal, which may be branched by a separate circuit, and each branched control signal may be applied to the third switch 230 and the fourth switch 240, respectively.

[0063] When control signals 1 and 2 are high, the + and - terminals of motor 140 are connected to each other and are at the same potential. In other words, in the first control state, the + and - terminals of motor 140 are electrically connected to each other and have the same potential (or voltage).

[0064] In the first control state, the motor 140 can form a closed loop with ground without any electrical connection to the battery 150; therefore, the first control state can also be expressed as a closed-loop state of the motor 140 without any electrical connection to the battery 150.

[0065] In the first control state, when the user moves, the motor 140 located near the user's joint rotates due to the movement of the joint, and this rotation generates an electromotive force (or potential difference) in the motor 140. In the first control state, the terminals of the motor 140 are in an equipotential state, and rotational resistance may be generated in the motor 140 that attempts to reduce the generated electromotive force. Such rotational resistance can be provided to the user as a resistive force.

[0066] When control signals 1 and 2 are Low, the + and - terminals of motor 140 are electrically open. In the second control state, there is no electrical connection to motor 140, so the second control state may be expressed separately as an open-loop state of motor 140.

[0067] In the second control state, if the user moves, the motor 140 rotates due to the user's movement. In the second control state, the + and - terminals of the motor 140 are electrically open, so no electromotive force is generated in the motor 140, and no resistance force is output.

[0068] Since control signals 1 and 2 alternate between High and Low values, the control state of the motor driver circuit 130 alternates between an increased first control state and a second control state.

[0069] The processor 120 can adjust the magnitude of the resistance by controlling the duty cycles of control signals 1 and 2, respectively. If the time during which a High value is held increases in each cycle of control signals 1 and 2, the motor 140 will operate more frequently in the first control state according to the second control state in each cycle of control signals 1 and 2, and the strength of the resistance output to the user will increase.

[0070] In second resistance mode, the wearable device 100 outputs resistance without supplying power from the battery 150 to the motor 140, thereby reducing the power consumption of the battery 150 and potentially improving the usage time of the wearable device 100. Furthermore, while the motor 140 may malfunction if power from the battery 150 is supplied to it, in second resistance mode, the motor 140 is not supplied with power from the battery 150, thus eliminating the possibility of motor 140 malfunction and further improving the safety of the wearable device 100.

[0071] Figures 8A to 11B illustrate an example of operation in the second resistance mode of a wearable device according to one embodiment.

[0072] As an example shown in Figure 8A, assume that the user wears the wearable device 100-1, described with reference to Figure 1B, on their lower limb and performs repeated abduction (lifting the first leg laterally) and adduction (lifting it downward). The motor 140 may be configured to output resistance force for both abduction and adduction. The exercise in Figure 8A is designed to obtain the effect of muscle exercise by having the wearable device 100-1 output a greater resistance force the higher the user lifts the first foot beyond a reference angle. To generate resistance force suitable for the purpose of the exercise, resistance force generation setting information (e.g., the relational expression corresponding to the graph shown in Figure 8B or Table 1 below) is stored in the memory 160 of the wearable device 100-1. Alternatively, the wearable device 100-1 can receive resistance force generation setting information from an external source (e.g., a server or electronic device 180-1) via a communication module and store it in the memory 160.

[0073] [Table 1] The relational expressions corresponding to the graphs shown in Table 1 and Figure 8B are merely examples for explaining the resistance force generation setting information for the motion shown in Figure 8A, and the resistance force generation setting information for the motion shown in Figure 8A is not limited to the relational expressions corresponding to the graphs shown in Table 1 and Figure 8B.

[0074] The user's pre-motion motor driver circuit 130 is in the second control state.

[0075] When a user moves, the processor 120 can obtain the user's first hip joint angle -a1 using the sensor 110. For example, the sensor 110 is an encoder that can transmit a first bit value corresponding to the first position of the axis before the user moves to the processor 120. When the user moves, the encoder axis rotates, and the sensor 110 can transmit a second bit value corresponding to the second position changed by the rotation of the axis to the processor 120. The processor 120 can obtain the difference between the angle corresponding to the second bit value and the angle corresponding to the first bit value as the first hip joint angle -a1. Depending on the implementation, the sensor 110 may calculate the difference between the angle corresponding to the second position and the angle corresponding to the first position and transmit the calculated difference to the processor 120. The processor 120 obtains the first hip joint angle -a1 by receiving the difference between the angle corresponding to the second position and the angle corresponding to the first position from the sensor 110. In the example shown in Figure 8A, when the user lifts the first leg, the first hip joint angle is a negative number. This is merely an illustrative example, and the first hip joint angle when the user lifts the first foot may be a positive number.

[0076] -a1 is for notation of the first hip joint angle.

[0077] The processor 120 can calculate the difference "-b1+a1" between the reference angle -b1 and the first hip joint angle -a1.

[0078] The processor 120 can maintain the second control state of the motor 140 if "-b1+a1" is less than the set value "0" according to the resistance force generation setting information.

[0079] If "-b1+a1" exceeds the set value "0" by 1°, the processor 120 checks the duty cycle of 0.7 corresponding to 1° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.7 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and through such repetition, the motor 140 can output resistance force.

[0080] If the user further lifts the first leg and "-b1+a1" increases, the processor 120 can increase (or change) the duty cycle according to the resistance force generation setting information, and apply the increased (or changed) duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output a greater resistance force by maintaining the first control state for a longer period within one cycle.

[0081] For example, if "-b1+a1" is 10°, the processor 120 checks a duty cycle of 0.8 corresponding to 10° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.8 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.8, and through such repetition, the motor 140 can output resistance force. When the duty cycle is 0.8, the motor driver circuit 130 can maintain the first control state for a longer period within one cycle than when the duty cycle is 0.7. Therefore, when the duty cycle is 0.8, the motor 140 can output resistance force of greater strength than when the duty cycle is 0.7.

[0082] "-b1+a1" is θ 運動1If the above conditions are met, the processor 120 applies control signals 1 and 2, respectively, with the maximum duty cycle (e.g., 0.99), to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second state according to the maximum duty cycle, allowing the motor 140 to output maximum resistance force.

[0083] When a resistive force is output to the user's first leg, and the user lowers the first leg, "-b1+a1" decreases. In this case, the processor 120 can reduce the duty cycle according to the resistive force generation setting information and apply the reduced duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. As the duty cycle decreases the more the user lowers the first leg, the motor 140 can output a resistive force of low intensity.

[0084] If "-b1+a1" is less than the set value "0", the processor 120 does not need to apply any signals to the third switch 230 and the fourth switch 240 so that they are turned off. As a result, the motor driver circuit 130 is in the second control state and no resistance is output by the motor 140.

[0085] Unlike the embodiments described with reference to Figures 8A and 8B, the user's first hip joint angle a1 may be a positive number.

[0086] The user's pre-motion motor driver circuit 130 is in the second control state.

[0087] The processor 120 can calculate the difference "b1-a1" between the reference angle b1 and the first hip joint angle a1.

[0088] The processor 120 can maintain the second control state of the motor driver circuit 130 if "b1-a1" exceeds the set value "0" according to the resistance force generation setting information stored in the memory 160 (for example, the relationship formula corresponding to the graph shown in Figure 8C or Table 2 below).

[0089] [Table 2] The relational expressions corresponding to the graphs shown in Table 2 and Figure 8C are merely examples for explaining the resistance force generation setting information for the motion shown in Figure 8A, and the resistance force generation setting information is not limited to the relational expressions corresponding to the graphs shown in Table 2 and Figure 8C.

[0090] If "b1-a1" is less than the set value "0" and is -1°, the processor 120 checks the duty cycle of 0.7 corresponding to -1° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.7 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, so that the motor 140 can output resistance force.

[0091] If the user further lifts the first leg and "b1-a1" increases in the negative direction, the processor 120 can increase the duty cycle according to the resistance force generation setting information and apply the increased duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively.

[0092] "b1-a1" is -θ 運動1 The processor 120 can apply control signals 1 and 2, respectively, with the maximum duty cycle (e.g., 0.99) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second state according to the maximum duty cycle, so that the motor 140 can output maximum resistance force.

[0093] If "b1-a1" exceeds the set value "0", the processor 120 does not need to apply any signals to the third switch 230 and the fourth switch 240 so that they are turned off. As a result, the motor driver circuit 130 is in the second control state, and no resistance is output from the motor 140.

[0094] In this embodiment, the processor 120 can output a resistance force based on the first hip joint angle -a1. More specifically, the memory 160 can store resistance force generation setting information (for example, Table 3 below or the relational expression corresponding to Table 3 below) for generating a resistance force in accordance with the first hip joint angle -a1 which has expanded beyond a certain angle.

[0095] [Table 3] If the user lifts the first foot but the first hip joint angle -a1 is greater than -5° (for example, if the first hip joint angle -a1 is -3°), the processor 120 does not need to apply any signals to the third switch 230 and the fourth switch 240 of the motor driver circuit 130 so as not to generate resistance according to the resistance generation setting information.

[0096] If the first hip joint angle -a1 is -5°, the processor 120 checks a duty cycle of 0.7 corresponding to -5° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.7 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, so that the motor 140 can output resistance force.

[0097] The processor 120 increases the duty cycle according to the resistance force generation setting information as the first hip joint angle -a1 increases in the negative direction, and can apply the increased duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. As a result, the more the user lifts the first foot, the greater the duty cycle increases, allowing the motor 140 to output an even stronger resistance force.

[0098] Processor 120 determines that the first hip joint angle -a1 is -θ 運動1_1 Under the following conditions, control signals 1 and 2 with the maximum duty cycle (e.g., 0.99) can be applied to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second state according to the maximum duty cycle, allowing the motor 140 to output maximum resistance force.

[0099] When a resistance force is output to the user's first leg, and the user lowers their first leg, the first hip joint angle -a1 narrows. In this case, the processor 120 can reduce the duty cycle according to the resistance force generation setting information and apply the reduced duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. As the user lowers their first leg, the duty cycle decreases, allowing the motor 140 to output a resistance force of even lower intensity.

[0100] The first hip joint angle a1 may be a positive number. Memory 160 can store resistance force generation setting information (for example, Table 4 below or the relational expression corresponding to Table 4 below) for generating resistance force when the first hip joint angle a1 is wider than a certain angle.

[0101] [Table 4] The processor 120 does not need to apply any signals to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, so as not to generate resistance according to the resistance generation setting information if the user lifts the first foot but the first hip joint angle a1 is less than 5°.

[0102] If the first hip joint angle a1 is 5°, the processor 120 can apply control signals 1 and 2, each with a duty cycle of 0.7, to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively, according to the resistance force generation setting information.

[0103] The processor 120 increases the duty cycle according to the resistance force generation setting information as the first hip joint angle a1 increases, and can apply the increased duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. As a result, the more the user lifts the first leg, the greater the duty cycle becomes, allowing the motor 140 to output an even stronger resistance force.

[0104] The processor 120 determines that the first hip joint angle a1 is θ 運動1_1 If the above conditions are met, control signals 1 and 2 with the maximum duty cycle (e.g., 0.99) can be applied to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly switches between the first control state and the second state according to the maximum duty cycle, allowing the motor 140 to output a resistance force of maximum strength.

[0105] When a resistance force is output to the user's first leg, and the user lowers their first leg, the first hip joint angle a1 decreases. In this case, the processor 120 can reduce the duty cycle according to the resistance force generation setting information and apply control signals 1 and 2 of the reduced duty cycle to the third switch 230 and the fourth switch 240, respectively. As the user lowers their first leg, the duty cycle decreases, allowing the motor 140 to output a resistance force of even lower intensity.

[0106] As an example shown in Figure 9A, assume that the user walks while wearing the wearable device 100-1 described with reference to Figure 1B. Motors 140 and 140-1 may be positioned near each hip joint, as described with reference to Figure 1C. The wearable device 100-1 can guide the user to walk correctly by outputting a resistance force when the user's stride exceeds a certain range. To generate a resistance force in the right leg, resistance force generation setting information (e.g., the relational expression corresponding to the graph shown in Figure 9B, or Tables 5-6 below) may be stored in memory 160. Similarly, to generate a resistance force in the left leg, resistance force generation setting information (e.g., the relational expression corresponding to the graph shown in Figure 9C, or Tables 7-8 below) may be stored in memory 160.

[0107] [Table 5]

[0108] [Table 6]

[0109] [Table 7]

[0110] [Table 8] The relational expressions corresponding to the graphs shown in Tables 5 to 8 and Figures 9B and 9C are merely examples for explaining the resistance force generation setting information for the motion shown in Figure 9A, and the resistance force generation setting information for the motion shown in Figure 9A is not limited to the relational expressions corresponding to the graphs shown in Tables 5 to 8 and Figures 9B and 9C.

[0111] In the same way as the method for the wearable device 100-1 to output resistance force to the right leg, in order to output resistance force to the left leg, the method for the wearable device 100-1 to output resistance force to the right leg will be described below.

[0112] The motor driver circuit 130 located near the right hip joint of the user before walking is in the second control state.

[0113] The processor 120 can obtain the hip joint angle -X of the right leg using the sensor 110. right As an example shown in FIG. 9A, the hip joint angle when the user's leg is positioned in front of the reference line may be a negative number, and the hip joint angle when the user's leg is positioned behind the reference line may be a positive number.

[0114] -X right is for the notation of the right hip joint angle when the user's right leg is positioned in front of the reference line.

[0115] The processor 120 can calculate "-Y + X" between the negative reference angle -Y and the hip joint angle -X of the right leg. right "-Y + X" right can be calculated.

[0116] If "-Y + X" is less than the positive set value d according to the resistance generation setting information, the processor 120 can maintain the second control state of the motor 140. Depending on the implementation, the set value d may be 0. right

[0117] The processor 120, "-Y + X" right ​If the value is 5°, the duty cycle of 0.7 corresponding to 5° is checked according to the resistance force generation setting information, and control signals 1 and 2 with a duty cycle of 0.7 can be applied to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output resistance force.

[0118] The user further lifts their right leg through walking, "-Y+X right If the value increases, the processor 120 increases (or changes) the duty cycle according to the resistance force generation setting information, and can apply the increased (or changed) duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor driver circuit 130 can maintain the first control state for a longer period within one cycle, thereby outputting an even stronger resistance force.

[0119] For example, "-Y+X right When the value increases to 15°, the processor 120 checks the duty cycle of 0.75 corresponding to 15° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.75 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.75, and the motor 140 can output an even stronger resistance force. When the duty cycle is 0.75, the motor driver circuit 130 maintains the first control state for a longer period within one cycle than when the duty cycle is 0.7. Therefore, when the duty cycle is 0.75, the motor 140 can output an even stronger resistance force than when the duty cycle is 0.7.

[0120] "-Y+X right " is θ 運動2If the above conditions are met, the processor 120 can apply control signals 1 and 2, respectively, with the maximum duty cycle (e.g., 0.99) to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the maximum duty cycle, so that the motor 140 can output the maximum resistance force.

[0121] In a situation where resistance is being applied to the right leg, the user's right hip joint angle is -X. right It narrows due to walking, "-Y+X right The value becomes smaller. In this case, the processor 120 can reduce the duty cycle according to the resistance force generation setting information and apply the control signals 1 and 2 of the reduced duty cycle to the third switch 230 and the fourth switch 240, respectively. Right hip joint angle -X right As the gap narrows, the duty cycle decreases, allowing motor 140 to output a resistance force of low intensity.

[0122] Processor 120 is "-Y+X right If the value is less than the positive set value d, no signal is applied to the third switch 230 and the fourth switch 240 so that they are turned off. As a result, the motor driver circuit 130 maintains the second control state and no resistance is output by the motor 140.

[0123] During walking, the right leg may be positioned behind the baseline.

[0124] Processor 120 uses a positive reference angle Y and the hip joint angle +X of the right leg. right The difference between "YX" right " is less than or equal to the negative setting value -d, and "YX rightIf the value is -5°, the duty cycle of 0.7 corresponding to -5° is checked according to the resistance force generation setting information, and control signals 1 and 2 with a duty cycle of 0.7 can be applied to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output resistance force.

[0125] "YX right When the value increases in the negative direction to -15°, the processor 120 checks the duty cycle of 0.75 corresponding to -15° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.75 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.75, and the motor 140 can output resistance force.

[0126] "YX right " is -θ 運動2 When the following conditions are met, the processor 120 can apply control signals 1 and 2, respectively, with the maximum duty cycle (e.g., 0.99), to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second state according to the maximum duty cycle, so that the motor 140 can output a resistance force of maximum strength.

[0127] Similar to how motor 140 outputs resistance to the right leg, motor 140-1 can output resistance to the left leg. Motor 140-1 uses a negative reference angle -Y and a left hip joint angle -X. left The difference between -Y and X left If " is greater than or equal to 0 and less than d, it does not output resistance force, and instead outputs "-Y+X left As "-Y+X" increases from d, the duty cycle increases, and a greater resistance force is output to the left leg. left " is θ 運動2When the above conditions are met, motor 140-1 outputs maximum resistance force to the left leg. Similarly, motor 140-1 outputs positive reference angle Y and left hip joint angle +X left The difference between "YX" left If " is 0 or less and -d or greater, it does not output resistance force, and "YX left As "YX" decreases from -d, the duty cycle increases, and a greater resistance force is output to the left leg. left " is -θ 運動2 Motor 140-1 outputs maximum resistance to the left leg when the following conditions are met:

[0128] As an example explained with reference to Figures 9A to 9C, the wearable device 100-1 can output resistance to the user if the difference between the reference angle and the hip joint angle of the right leg is outside the range of -d to d, and can also output resistance to the user if the difference between the reference angle and the hip joint angle of the left leg is outside the range of -d to d. Therefore, the wearable device 100-1 can guide the user to walk so that both hip joint angles rotate within a certain range. Furthermore, the wearable device 100-1 can guide the user to walk so that the stride length of the user's right leg and the stride length of the user's left leg are substantially the same.

[0129] In this embodiment, the processor 120 can output resistance force based on the right hip joint angle and the left hip joint angle. More specifically, the memory 160 can store resistance force generation setting information (for example, Tables 9 to 10 below or the relational expressions corresponding to Tables 9 to 10 below) for generating resistance force based on a right hip joint angle that has widened beyond a certain angle, and can store resistance force generation setting information (for example, Tables 11 to 12 below or the relational expressions corresponding to Tables 11 to 12 below) for generating resistance force based on a left hip joint angle that has widened beyond a certain angle.

[0130] [Table 9]

[0131] [Table 10]

[0132] [Table 11]

[0133] [Table 12] Before walking begins, the motor driver circuit 130 is in the second control state.

[0134] When the user rotates their right leg forward while walking, the right hip joint angle is -X. right The range expands. Processor 120 adjusts the right hip joint angle -X according to the resistance force generation setting information. right If it is greater than -15° (for example, right hip joint angle -X right If the temperature is -10°, the second control state of the motor driver circuit 130 can be maintained.

[0135] Processor 120, right hip joint angle -X right If the temperature is -15°, a duty cycle of 0.7 corresponding to -15° can be confirmed according to the resistance force generation setting information, and control signals 1 and 2 with a duty cycle of 0.7 can be applied to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output resistance force.

[0136] Processor 120, right hip joint angle -X right As the negative value increases, the duty cycle is increased according to the resistance force generation setting information, and the control signals 1 and 2 of the increased duty cycle can be applied to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output an even stronger resistance force.

[0137] Processor 120, right hip joint angle -X right -θ 運動2_1 Under the following conditions, control signals 1 and 2 with the maximum duty cycle (e.g., 0.99) can be applied to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly switches between the first control state and the second control state according to the maximum duty cycle, allowing the motor 140 to output maximum resistance force.

[0138] In a situation where resistance is being applied to the right leg, the user's right hip joint angle is -X. right The space narrows with walking. In this case, the processor 120 can reduce the duty cycle according to the resistance force generation setting information and apply the control signals 1 and 2 of the reduced duty cycle to the third switch 230 and the fourth switch 240, respectively. Right hip joint angle -X right As the gap narrows, the duty cycle decreases, allowing motor 140 to output a resistance force of less intensity.

[0139] Processor 120, right hip joint angle -X right If it is greater than -15° (for example, right hip joint angle -X right If the temperature is -5°, no signal is applied to the third switch 230 and the fourth switch 240 so that they are turned off. As a result, the motor driver circuit 130 is in the second control state and no resistance is output by the motor 140.

[0140] During walking, the right leg may be positioned behind the baseline.

[0141] Processor 120 measures the hip joint angle X of the right leg. rightIf the value is 15°, the duty cycle of 0.7 corresponding to 15° is confirmed according to the resistance force generation setting information, and control signals 1 and 2 with a duty cycle of 0.7 can be applied to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output resistance force.

[0142] Processor 120 is the right hip joint angle X right As the resistance increases, the duty cycle is increased according to the resistance generation setting information, and the control signals 1 and 2 of the increased duty cycle can be applied to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output an even stronger resistance.

[0143] Processor 120 is the right hip joint angle X right θ 運動2_1 When the above conditions are met, control signals 1 and 2 with the maximum duty cycle (e.g., 0.99) can be applied to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly switches between the first control state and the second state according to the maximum duty cycle, allowing the motor 140 to output a resistance force of maximum strength.

[0144] Similar to how motor 140 outputs resistance to the right leg, motor 140-1 can output resistance to the left leg. Motor 140-1 outputs resistance to the left hip joint angle -X left If the value is less than 0 and greater than -15°, no resistance force is output, and the left hip joint angle is -X left As the angle increases from -15° in the negative direction, the duty cycle increases, and a greater resistance force is generated in the left leg. Left hip joint angle -X left -θ 運動2_1 Motor 140-1 outputs maximum resistance force to the left leg when the following conditions are met: Motor 140-1 outputs maximum resistance force to the left hip joint angle X leftIf the value is greater than 0 and less than 15°, no resistance force is output, and the left hip joint angle X left As the angle increases from 15°, the duty cycle increases, and a greater resistance force is output to the left leg. Left hip joint angle X left θ 運動2_1 When the above conditions are met, motor 140-1 outputs maximum resistance to the left leg.

[0145] As an example shown in Figure 10A, assume that the user performs an exercise of lifting the first arm while wearing the wearable device 100 described with reference to Figure 1A. Such an exercise is designed to obtain the effect of muscle exercise by having the wearable device 100 output a greater resistance force as the user lifts the first arm. When the user lifts and then lowers the first arm, the wearable device 100 does not output a resistance force. In other words, the wearable device 100 outputs a resistance force when the preset rotation direction matches the rotation direction of the first shoulder joint angle, and does not output a resistance force when the preset rotation direction matches the rotation direction of the first shoulder joint angle. Resistance force generation setting information for generating resistance force (for example, the relational expression corresponding to the graph shown in Figure 10B, or Table 13 below) may be stored in the memory of the wearable device 100.

[0146] [Table 13] Before the user starts exercising, the motor driver circuit 130 of the wearable device 100 is in a second control state.

[0147] When the user moves, the processor 120 uses the sensor 110 to obtain the first shoulder joint angle -c. In the example shown in Figure 10, the first shoulder joint angle when the user lifts the first arm is a negative number.

[0148] -c is for notation of the first shoulder joint angle.

[0149] The processor 120 can calculate the difference "-e+c" between the reference angle -e and the first shoulder joint angle -c.

[0150] If "-e+c" increases, the processor 120 can estimate or determine that the rotation direction of the first shoulder joint is counterclockwise. If the preset rotation direction is counterclockwise, the processor 120 can confirm that the rotation direction of the first shoulder joint matches the preset direction.

[0151] If the rotation direction of the first shoulder joint matches a preset direction and "-e+c" is 1°, the processor 120 checks a duty cycle of 0.7 corresponding to 1° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.7 to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output resistance force.

[0152] If the user further raises the first arm and "-e+c" increases, the processor 120 can increase the duty cycle according to the resistance force generation setting information and apply the increased duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor driver circuit 130 can maintain the first control state for a longer period within one cycle and output a greater resistance force.

[0153] For example, when "-e+c" becomes 45°, the processor 120 checks the duty cycle of 0.85 corresponding to 45° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.85 to the third switch 230 and the fourth switch 240 of the motor driver circuit 130, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.85, and the motor 140 can output resistance force. When the duty cycle is 0.85, the motor driver circuit 130 can maintain the first control state for a longer period within one cycle than when the duty cycle is 0.7. Therefore, when the duty cycle is 0.85, the motor 140 can output resistance force of a greater strength than when the duty cycle is 0.7.

[0154] When the user lowers the first arm, "-e+c" decreases. In this case, the processor 120 confirms that the rotation direction of the first shoulder joint does not coincide with the preset counterclockwise direction, and does not need to apply any signals to the third switch 230 and the fourth switch 240 so that they are turned off. Therefore, when the user lowers the first arm, the motor 140 does not output any resistance force.

[0155] In this embodiment, the processor 120 outputs a resistance force based on the first shoulder joint angle -c. More specifically, the memory 160 can store resistance force generation setting information (for example, Table 14 below, or the relational expression corresponding to Table 14 below) for generating resistance force according to the first shoulder joint angle -c when the rotation direction of the first shoulder joint matches a preset rotation direction and the first shoulder joint angle -c is greater than or equal to a certain angle.

[0156] [Table 14] The processor 120 determines that when the user raises the first arm and the first shoulder joint angle -c increases in the negative direction, the rotation direction of the first shoulder joint coincides with a preset counterclockwise direction. Here, if the first shoulder joint angle -c is -10°, the processor 120 checks a duty cycle of 0.7 corresponding to -10° according to the resistance force generation setting information, and can apply control signals 1 and 2 with a duty cycle of 0.7 to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output a resistance force.

[0157] If the user further raises the first arm, increasing the first shoulder joint angle -c in the negative direction, the processor 120 can increase the duty cycle according to the resistance force generation setting information and apply the increased duty cycle control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output a resistance force of even greater strength.

[0158] When the user lowers the first arm, the first shoulder joint angle -c narrows. In this case, the processor 120 confirms that the rotation direction of the first shoulder joint does not coincide with the preset counterclockwise direction, and does not need to apply any signals to the third switch 230 and the fourth switch 240 so that they are turned off. Therefore, the motor 140 does not output resistance when the user lowers the first arm.

[0159] Figures 11A and 11B illustrate how a wearable device according to one embodiment provides support force to the user.

[0160] Referring to Figure 11A, we assume that the user is working on their first arm while wearing the wearable device 100-1, as described with reference to Figure 1B. The lower the angle of the first arm is, the greater the support force output by the wearable device 100-1 to assist the user in their work. Support force generation setting information for generating the support force (for example, the relational expression corresponding to the graph shown in Figure 11B, or Table 15 below) may be stored in the memory of the wearable device 100-1.

[0161] [Table 15] The processor 120 can acquire the first shoulder joint angle -a2 using the sensor 110.

[0162] The processor 120 can calculate the difference "-b2+a2" between the reference angle -b2 and the first shoulder joint angle -a2.

[0163] When the user lowers the first arm to a reference angle of -b2 or less, the first shoulder joint angle -a2 narrows. If "-b2+a2" is less than or equal to the set value "0", the processor 120 can provide work assistance.

[0164] More specifically, if "-b2+a2" is -1°, the processor 120 checks the duty cycle to 0.7 according to the support force generation setting information and can apply control signals 1 and 2 for a duty cycle of 0.7 to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output support force. If the user's first arm is lowered further and "-b2+a2" becomes larger in the negative direction, the processor 120 increases the duty cycle according to the support force generation setting information and can apply control signals 1 and 2 for the increased duty cycle to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output an even greater support force.

[0165] In this embodiment, the processor 120 can output a support force based on the first shoulder joint angle -a2. More specifically, the memory 160 can store support force generation setting information (for example, Table 16 below, or the relational expression corresponding to Table 16 below) for generating a support force in accordance with the first shoulder joint angle -a2 which has expanded beyond a certain angle.

[0166] [Table 16] When a user lowers their first arm while working with their first arm, the first shoulder joint angle -a2 narrows. The processor 120 can provide work assistance if the first shoulder joint angle -a2 narrows to less than -85°. More specifically, if the first shoulder joint angle -a2 is -85°, the processor 120 checks the duty cycle to 0.7 according to the support force generation setting information and can apply control signals 1 and 2 for a duty cycle of 0.7 to the third switch 230 and the fourth switch 240, respectively. The control state of the motor driver circuit 130 repeatedly converts between the first control state and the second control state according to the duty cycle of 0.7, and the motor 140 can output support force. When the user lowers their first arm further and the first shoulder joint angle -a2 narrows, the processor 120 increases the duty cycle according to the support force generation setting information and can apply control signals 1 and 2 for the increased duty cycle to the third switch 230 and the fourth switch 240, respectively. By increasing the duty cycle, the motor 140 can output an even greater load-bearing force.

[0167] Figures 12A and 12B illustrate the adjustment of the resistance strength in the second resistance mode of a wearable device according to one embodiment.

[0168] The user can request the wearable devices 100, 100-1, as described with reference to Figures 1A and 1B, to adjust the resistance strength via the input interface 170 to output a higher or lower resistance strength. For example, the user might say, "Increase (or decrease) the strength by one level," and the microphones of the wearable devices 100, 100-1 can receive the user's voice. In a different example, the display of the wearable devices 100, 100-1 may show resistance strength values ​​at various levels, and the user can select one of the displayed resistance strength values.

[0169] In Figure 12A, if the processor 120 receives user input to increase the resistance strength by one level, it can increase the slope of the first graph 1210 and generate the second graph 1211. The processor 120 can control the motor driver circuit 130 via the second graph 1211. When the difference between the reference angle and the first joint angle is the same, the second graph 1211 can output a resistance strength that is greater than that of the first graph 1210.

[0170] When the resistive force is output to match the second graph 1211, if there is user input to increase the strength of the resistive force by more than one level, the processor 120 can increase the slope of the second graph 1211 to generate the third graph 1212, and control the motor driver circuit 130 so that the resistive force is output to match the third graph 1212. When the difference between the reference angle and the first joint angle is the same, the third graph 1212 can output a resistive force of even greater strength than the second graph 1211.

[0171] When the resistance force is output to match the third graph 1212, the processor 120 can increase the slope of the third graph 1212 to generate the fourth graph 1213 if there is user input to maximize the strength of the resistance force, and can control the motor driver circuit 130 so that the resistance force is output to match the fourth graph 1213. In the fourth graph 1213, when the difference between the reference angle and the first joint angle corresponds to the set value "0", the maximum strength resistance force can be output.

[0172] In one embodiment, the processor 120 may increase the strength of the resistance force by changing to a nonlinear graph when there is user input to increase the strength of the resistance force.

[0173] As shown in Figure 12B, if the processor 120 receives user input to increase the resistance strength by one step while the resistance force is output to match the first graph 1210, it can control the motor driver circuit 130 so that the first graph 1210 is changed to the first nonlinear graph 1220 and the resistance force is output to match the first nonlinear graph 1220. When the difference between the reference angle and the first joint angle is the same, the first nonlinear graph 1220 can output a resistance force of even greater strength than the first graph 1210.

[0174] When the resistive force is output to match the first nonlinear graph 1220, the processor 120 can control the motor driver circuit 130 so that, if there is user input to further increase the strength of the resistive force, the first nonlinear graph 1220 is changed to the second nonlinear graph 1221 and the resistive force is output to match the second nonlinear graph 1221. When the difference between the reference angle and the first joint angle is the same, a stronger resistive force can be output in the second nonlinear graph 1221 than in the first nonlinear graph 1220.

[0175] In a situation where the resistance force is output to match the second nonlinear graph 1221, the processor 120 can control the motor driver circuit 130 so that, if there is user input to maximize the strength of the resistance force, the second nonlinear graph 1221 is changed to the fourth graph 1213 and the resistance force is output to match the fourth graph 1213.

[0176] As explained with reference to Figures 12A to 12B, the processor 120 can change the graphs shown in Figures 8B, 8C, 9B, 9C, 10B, and 11B, respectively. More specifically, if the user inputs that the user increases the resistance strength in the exercise shown in Figure 8A, the processor 120 can change the graph shown in Figure 8B or Figure 8C, as explained with reference to Figure 12A or Figure 12B. If the user inputs that the user increases the resistance strength in the exercise shown in Figure 9A, the processor 120 can change the graphs in Figures 9B and 9C, as explained with reference to Figure 12A or Figure 12B. If the user inputs that the user increases the resistance strength in the exercise shown in Figure 10A, the processor 120 can change the graph shown in Figure 10B, as explained with reference to Figure 12A or Figure 12B. If the user inputs that the load-bearing strength should be increased in the operation shown in Figure 11B, the processor 120 can modify the graph shown in Figure 11B, similar to what was described with reference to Figure 12A or Figure 12B.

[0177] Figure 13 is a diagram illustrating the change of the reference angle in the second resistance mode of a wearable device according to one embodiment.

[0178] In Figure 13, assume that the user performs the exercise described with reference to Figure 8A. The user can input a narrower reference angle into the input interface 170 so that resistance is output when the user lifts their leg at an even smaller angle. Alternatively, the user can input a wider reference angle into the input interface 170 so that resistance is output when the user lifts their leg at an even higher angle. The processor 120 can change the reference angle to the reference angle input by the user.

[0179] For example, the reference angle before the change may be -15°. In this case, when the hip joint angle of the leg is -16°, the processor 120 applies control signals 1 and 2 with a duty cycle of 0.7, respectively, as shown in Table 1 above, to the third switch 230 and the fourth switch 240 of the motor driver circuit 130. The motor 140 can output a resistance force of a strength corresponding to a duty cycle of 0.7. In other words, when the reference angle is -15° and the user lifts the leg to 16°, the user is provided with a resistance force of a strength corresponding to a duty cycle of 0.7.

[0180] The user inputs a narrowed reference angle of -5° via the input interface 170, and the processor 120 can change the reference angle from -15° to -5°. When the hip joint angle of the leg is -6°, the processor 120 applies control signals 1 and 2, respectively, with a duty cycle of 0.7 as shown in Table 1 above, to the third switch 230 and the fourth switch 240 of the motor driver circuit 130. The motor 140 can output a resistance force of a strength corresponding to a duty cycle of 0.7. In other words, when the reference angle is narrowed to -5° and the user lifts their leg 6°, the user is provided with a resistance force of a strength corresponding to a duty cycle of 0.7. That is, resistance force may be provided when the user lifts their leg less than when the reference angle is -15°.

[0181] The user inputs a widened reference angle of -20° via the input interface 170, and the processor 120 can change the reference angle from -15° to -20°. When the hip joint angle of the leg is -21°, the processor 120 applies control signals 1 and 2, respectively, with a duty cycle of 0.7 as shown in Table 1 above, to the third switch 230 and the fourth switch 240 of the motor driver circuit 130. When the user lifts the leg 21°, a resistance force of strength corresponding to a duty cycle of 0.7 is provided. That is, resistance force may be provided when the user lifts the leg further than when the reference angle is -15°.

[0182] By changing the reference angle, the processor 120 allows the user to vary the range of motion angles over which resistance is provided.

[0183] As described with reference to Figure 13, the processor 120 can change the reference angle as described with reference to Figures 9A to 11B.

[0184] Figures 14A to 14D are diagrams illustrating the change of the set value in the second resistance mode of a wearable device according to one embodiment.

[0185] Referring to Figure 14A, the display 1401 of the wearable device 100, 100-1 may display a UI for changing setting values. Such a UI may include a soft key 1401-1 for increasing the setting value and a soft key 1401-2 for decreasing the setting value. In Figure 14A, the processor 120 increases the setting value when the user presses the soft key 1401-1 and decreases the setting value when the user presses the soft key 1401-2.

[0186] Referring to Figure 14B, the display 1401 of the wearable devices 100 and 100-1 may display various settings in a table format. The user can move the screen using the scroll bar 1403. The user can select one of the settings displayed on the display 1401.

[0187] Referring to Figure 14C, the electronic device 180-1 can expose a UI for changing settings on the display 180-1. Such a UI may include, but is not limited to, soft keys 1401-1 and 1401-2 as described with reference to Figure 14A, or a table as described with reference to Figure 14B.

[0188] A user can select a specific setting value via a UI exposed on display 180-1, and the electronic device 180-1 can send a control command for changing the setting value to wearable devices 100, 100-1. Here, the control command for changing the setting value may include the setting value selected by the user.

[0189] When wearable devices 100 and 100-1 receive a control command for changing a setting value from electronic device 180-1, they can change the setting value to the setting value selected by the user according to the received control command and transmit the control result of the completion of the setting value change to electronic device 180-1.

[0190] When the electronic device 180-1 receives control results from the wearable devices 100 and 100-1, it can display a message on the display 180-1 indicating that the setting value change has been completed.

[0191] The user is not limited to Figures 14A to 14C, and can change or enter new settings via the input interface 170.

[0192] The processor 120 can change from the first graph 1410 to the second graph 1420 by changing the setting value from 0 to 4 if there is user input (or control command) to change the setting value from 0 to 4. The processor 120 can control the motor driver circuit 130 so that resistance force is output by the second graph 1420 when the difference between the reference angle and the first joint angle is 4° or more. When the setting value is 4 rather than 0, the user cannot receive resistance force unless they move the first joint further.

[0193] The processor 120 can change from the first graph 1410 to the third graph 1430 by changing the set value from 0 to -4 if there is user input (or control command) to change the set value from 0 to -4. The processor 120 can control the motor driver circuit 130 so that resistance force is output by the third graph 1430 when the difference between the reference angle and the joint angle is -4° or more. When the set value is -4 rather than 0, the user can receive resistance force without moving the first joint as much.

[0194] By changing the settings of the processor 120, the user can vary the range of motion angles over which resistance is provided.

[0195] Figure 15 illustrates how a wearable device according to one embodiment outputs a resistive force using battery power while operating in a second resistive mode.

[0196] In the second resistance mode, the control state of the motor driver circuit 130 can repeatedly switch between the first control state and the second control state. Here, the motor 140 outputs resistance without power being supplied from the battery 150.

[0197] In this embodiment, the processor 120 can control the motor driver circuit 130 so that the motor 140 temporarily receives power from the battery 150 in a second resistance mode and outputs a resistive force.

[0198] As an example, the difference between the reference angle and the joint angle is a constant angle (for example, θ in the graph shown in Figure 8B). 運動1If the difference between the reference angle and the joint angle continues to increase, the processor 120 may temporarily apply an ON signal to the first switch 210 and the fourth switch 240, respectively, as shown in Figure 15, instead of applying control signals 1 and 2 to the third switch 230 and the fourth switch 240, respectively, so that the user can perform exercises of higher intensity. The motor 140 is temporarily powered by the battery 150 and can output a resistance force of even greater intensity than the maximum intensity of the second resistance mode.

[0199] When an ON signal is applied to both the first switch 210 and the fourth switch 240, the processor 120 can reapply control signals 1 and 2 to both the third switch 230 and the fourth switch 240, respectively, if the difference between the reference angle and the joint angle decreases. As a result, the motor 140 can output resistance without being powered by the battery 150.

[0200] The wearable device 100 temporarily uses battery power to output resistance in second resistance mode, enabling the user to perform more powerful exercises in second resistance mode.

[0201] Figure 16 is a diagram illustrating how resistance is amplified via gears in a wearable device according to one embodiment.

[0202] Referring to Figure 16, the first gear 1610 is attached to the rotating shaft of the motor 140, and the second gear 1620 is connected to the first gear 1610.

[0203] The number of teeth on the second gear 1620 is greater than the number of teeth on the first gear 1610, and the resistive force output from the motor 140 in second resistance mode may be amplified by the first gear 1610 and the second gear 1620, and the amplified resistive force may be provided to the user. Without being limited thereto, the resistive force output from the motor 140 in first resistance mode may be amplified by the first gear 1610 and the second gear 1620.

[0204] Figures 17A and 17B illustrate a wearable device according to another embodiment.

[0205] Referring to Figure 17A, the wearable device 1700 includes a sensor 110, a processor 120, a motor driver circuit 130, a motor 140, a memory 160, an input interface 170, and a battery 1710. Referring to Figure 17B, the wearable device 1700-1 includes multiple sensors 110 and 110-1, a processor 120, multiple motor driver circuits 130 and 130-1, motors 140 and 140-1, a memory 160, an input interface 170, and a battery 1710.

[0206] Since the wearable device 100 shown in Figure 1A can operate in both the second resistance mode and the first resistance mode, the motor 140 of the wearable device 100 shown in Figure 1A requires battery power. The battery 150 of the wearable device 100 shown in Figure 1A is a high-voltage (e.g., 48.1V) battery.

[0207] The wearable device 1700 shown in Figure 17A is a device for the second resistance mode only. Since the motor 140 in the wearable device 1700 does not require battery power, the battery 1710 corresponds to a low-voltage (e.g., 3.7V) battery.

[0208] In Figure 17A, the thick arrows indicate the power supply from battery 1710.

[0209] The battery 1710 can supply power to components of the wearable device 1700, such as the sensor 110 and the processor 120. However, the battery 1710 does not supply power to the motor 140 of the wearable device 1700. The battery 1710 may be smaller than the battery 150 of the wearable device 100 shown in Figure 1A, and the wearable device 1700 will be even lighter.

[0210] Since the wearable device 100-1 shown in Figure 1B can operate not only in the second resistance mode but also in the first resistance mode, the motors 140 and 140-1 of the wearable device 100-1 shown in Figure 1B require battery power.

[0211] The wearable device 1700-1 shown in Figure 17B is a device for the second resistance mode only. The motors 140 and 140-1 within the wearable device 1700-1 do not require battery power.

[0212] In Figure 17B, the thick arrows indicate the power supply from battery 1710.

[0213] The battery 1710 of the wearable device 1700-1 can supply power to the components of the wearable device 1700-1. However, in Figure 17B, the battery 1710 does not supply power to the motors 140 and 140-1 of the wearable device 1700-1, respectively. The battery 1710 of the wearable device 1700-1 may be smaller than the battery 150 of the wearable device 100 shown in Figure 1B, and the wearable device 1700-1 will be even lighter.

[0214] Since the matters described with reference to Figures 1 to 16 can also be applied to the matters described via Figures 17A to 17B, a detailed explanation is omitted.

[0215] The methods according to the embodiments are embodied in the form of program instructions that are implemented via various computer means and recorded on a computer-readable recording medium. The recording medium includes program instructions, data files, data structures, etc., individually or in combination. The recording medium and program instructions may be specifically designed and configured for the purposes of the present invention, or they may be known and usable by those skilled in the art who have technology in the field 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 floppy disks, and hardware devices specifically configured to store and execute program instructions, such as ROMs, RAMs, and flash memory. Examples of program instructions include not only machine code such as that generated by a compiler, but also high-level language code that is executed by a computer using an interpreter or 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.

[0216] Software includes computer programs, code, instructions, or a combination of one or more of these, which can configure a processing unit to operate as desired, or instruct the processing unit independently or in combination. 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, for interpretation by a processing unit or for providing instructions or data to a processing unit. Software can be distributed across a network of computer systems and stored and executed in a distributed manner. Software and data can be stored on a recording medium readable by one or more computers.

[0217] As described above, although embodiments have been illustrated with limited drawings, a person with ordinary skill in the art can apply various technical modifications and variations based on the above description. For example, the described technique may be performed in a different order than described, and / or the described system, structure, apparatus, circuit, and other components may be combined or assembled in a different manner than described, or replaced or substituted by other components or equivalents, and still achieve the desired results.

[0218] Therefore, other embodiments, other embodiments, and claims equivalent to those described below also fall within the scope of the claims.

Claims

1. It is a wearable device, Motor and, Motor driver circuit and A memory that stores resistance force generation setting information showing the difference between the reference angle and each joint angle and the corresponding relationship of each duty cycle, Sensors and, Using the aforementioned sensor, the user's joint angles are acquired. The difference between the reference angle and the acquired joint angle is calculated, and the duty cycle corresponding to the calculated difference is confirmed according to the resistance force generation setting information. A processor that provides the motor driver circuit with a control signal having the confirmed duty cycle such that the control state of the motor driver circuit repeatedly converts between a first control state and a second control state according to the confirmed duty cycle, Includes, In the first control state, the motor terminals are at the same potential, and in the second control state, the terminals are electrically open. The aforementioned processor, Determine whether the direction of rotation of the user's joints coincides with the determined direction. If the direction of rotation of the user's joints coincides with the determined direction, the control state is configured to repeatedly switch between the first control state and the second control state according to the confirmed duty cycle so that resistance is provided to the user. A wearable device that, if the direction of rotation of the user's joint does not coincide with the determined direction, causes the control state to be in the second control state.

2. The wearable device according to claim 1, wherein the processor increases the confirmed duty cycle in accordance with the resistance force generation setting information if the difference increases.

3. The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch. The processor turns off the first and second switches and applies the control signals to the third and fourth switches. The wearable device according to claim 1, wherein the motor is not electrically connected to the battery in the wearable device when the first and second switches are turned off, and the third and fourth switches output a resistive force by repeatedly turning on and off according to the confirmed duty cycle.

4. The wearable device according to claim 1, wherein the processor turns off a switch in the motor driver circuit so that the control state is in the second control state if the calculated difference is less than a set value.

5. The wearable device according to claim 1, wherein the processor turns off a switch in the motor driver circuit so that the control state is in the second control state if the rotation direction does not coincide with the determined direction.

6. The wearable device according to claim 1, wherein the processor changes the reference angle based on user input.

7. The wearable device according to claim 3, wherein the output resistance force is amplified via a first gear attached to the rotating shaft of the motor and a second gear connected to the first gear.

8. It is a wearable device, Battery and Motor and, Motor driver circuit and A memory that stores resistance force generation setting information showing the difference between the reference angle and each joint angle and the corresponding relationship of each duty cycle, Sensors and, A processor controls the motor driver circuit in a first resistance mode so that the motor is powered by the battery and outputs a first resistance force, and in a second resistance mode so that the electrical connection between the motor and the battery is interrupted and the motor outputs a second resistance force without power from the battery. Includes, In the second resistance mode, the processor The user's joint angle is acquired using the sensor, the difference between the reference angle and the acquired joint angle is calculated, the duty cycle corresponding to the calculated difference is confirmed according to the resistance force generation setting information, and a control signal having the confirmed duty cycle is provided to the motor driver circuit so that the control state of the motor driver circuit repeatedly converts between a first control state and a second control state according to the confirmed duty cycle. In the first control state, the terminals of the motor are at the same potential, and in the second control state, the terminals are electrically open. The aforementioned processor, Determine whether the direction of rotation of the user's joints coincides with the determined direction. If the direction of rotation of the user's joints coincides with the determined direction, the control state is repeatedly converted between the first control state and the second control state according to the confirmed duty cycle so that the second resistance force is provided to the user. A wearable device that, if the direction of rotation of the user's joint does not coincide with the determined direction, causes the control state to be in the second control state.

9. The wearable device according to claim 8, wherein the processor increases the confirmed duty cycle in accordance with the resistance force generation setting information if the difference increases.

10. The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch. In the second resistance mode, the processor turns off the first and second switches and applies the confirmed duty cycle control signals to the third and fourth switches. The wearable device according to claim 8, wherein the motor outputs a resistive force by the third and fourth switches repeatedly turning on and off according to the confirmed duty cycle.

11. The wearable device according to claim 8, wherein in the second resistance mode, the processor turns off a switch in the motor driver circuit so that the control state is in the second control state if the calculated difference is less than a set value.

12. The wearable device according to claim 8, wherein the processor turns off a switch in the motor driver circuit so that the control state is in the second control state if the rotation direction does not coincide with the determined direction.

13. The wearable device according to claim 8, wherein the second resistance force is amplified via a first gear attached to the rotating shaft of the motor and a second gear connected to the first gear.

14. The wearable device according to claim 8, wherein the processor controls the motor driver circuit so that when the difference increases while the maximum resistance strength in the second resistance mode is output to the user, the motor is powered from the battery and outputs a resistance strength greater than the maximum resistance strength.

15. A method for controlling a wearable device, A step of acquiring the user's joint angles using sensors, A step of calculating the difference between the reference angle and the acquired joint angle, The steps include providing the motor driver circuit with a control signal having the duty cycle such that the control state of the motor driver circuit repeatedly converts between a first control state and a second control state according to the duty cycle corresponding to the calculated difference, Includes, In the first control state, the motor terminals are at the same potential, and in the second control state, the terminals are electrically open. If the direction of rotation of the user's joints coincides with the determined direction, the control state repeatedly converts between the first control state and the second control state according to the duty cycle so that resistance is provided to the user. A control method for a wearable device, wherein if the direction of rotation of the user's joint does not coincide with the determined direction, the control state is in the second control state.

16. It is a wearable device, Motor and, Motor driver circuit and A memory that stores resistance force generation setting information showing the difference between the reference angle and each joint angle and the corresponding relationship of each duty cycle, Sensors and, Using the aforementioned sensor, the user's joint angles are acquired. The difference between the reference angle and the acquired joint angle is calculated, and the duty cycle corresponding to the calculated difference is obtained from the memory using the resistance force generation setting information. A processor that provides a control signal having the acquired duty cycle to the motor driver circuit such that the control state of the motor driver circuit repeatedly converts between a first control state and a second control state according to the acquired duty cycle, Includes, In the first control state, the terminals of the motor are at the same potential, and in the second control state, the terminals are electrically open. The aforementioned processor, Determine whether the direction of rotation of the user's joints coincides with the determined direction. If the direction of rotation of the user's joints coincides with the determined direction, the control state is repeatedly converted between the first control state and the second control state according to the acquired duty cycle so that resistance is provided to the user. A wearable device that, if the direction of rotation of the user's joint does not coincide with the determined direction, causes the control state to be in the second control state.

17. The motor driver circuit includes a first switch, a second switch, a third switch, and a fourth switch. The processor turns off the first and second switches and applies the control signals to the third and fourth switches. The wearable device according to claim 16, wherein the motor is not electrically connected to the battery in the wearable device when the first and second switches are turned off, and the third and fourth switches output a resistive force by repeatedly turning on and off according to the confirmed duty cycle.

18. The wearable device according to claim 16, wherein the processor turns off a switch in the motor driver circuit so that the control state is in the second control state if the calculated difference is less than a set value.

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