Method of determining arm posture of user and electronic device for performing method

Abstract

According to one embodiment, a method for determining an arm posture of a user may comprise the operations of: determining a distance from a first portion of the body of the user to a second portion of the lower arm of the user on the basis of length information of a cable generated by a first sensor disposed on the body of the user; determining a first rotation angle of the lower arm in a three-dimensional space on the basis of rotation information generated by a second sensor attached to the second portion; determining a second rotation angle of the upper arm in the three-dimensional space on the basis of the distance from the first portion to the second portion and the first rotation angle of the lower arm; determining a position of the upper arm and a position of the lower arm in the three-dimensional space on the basis of the first rotation angle of the lower arm and the second rotation angle of the upper arm; and determining a posture of the arm on the basis of the position of the upper arm and the position of the lower arm.

Description

Method for determining the posture of a user's arm and an electronic device for performing the method

[0001] Certain embodiments relate to techniques for determining a user's arm posture.

[0002] As we enter an aging society, the number of people complaining of difficulty and pain in walking due to weakened muscles or joint problems caused by aging is increasing, and interest in assistive devices that help the elderly with weakened muscles or patients with muscle and joint problems to exercise more conveniently is growing.

[0003] In one embodiment, an electronic device includes at least one processor and a memory storing instructions, wherein when the instructions are individually and / or collectively executed by the at least one processor, the electronic device may cause at least: to determine a distance from a first part of a user's body to a second part of a lower arm of the user based on length information of a cable generated by a first sensor disposed on at least a part of the user's body, to determine a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part, to determine a second rotation angle of an upper arm of the arm in the three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm, to determine a position of the upper arm and a position of the lower arm in the three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, and to determine a posture of the arm based on the position of the upper arm and the position of the lower arm.

[0004] In one embodiment, a method for determining a posture of a user's arm may include: determining a distance from a first part of the user's body to a second part of a lower arm of the user based on length information of a cable generated by a first sensor disposed on at least a part of the user's body; determining a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part; determining a second rotation angle of an upper arm of the arm in the three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm; determining a position of the upper arm and a position of the lower arm in the three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm; and determining a posture of the arm based on the position of the upper arm and the position of the lower arm.

[0005] According to one embodiment, a wearable device includes a first sensor connected to a cable, at least one processor, and a memory storing instructions, wherein when the instructions are individually and / or collectively executed by the at least one processor, the wearable device causes at least: to determine a distance from a first part of the user's body to a second part of a lower arm of the user based on length information of the cable generated by the first sensor disposed on at least a part of the user's body, to determine a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part, to determine a second rotation angle of the upper arm of the arm in the three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm, to determine a position of the upper arm and a position of the lower arm in the three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, and to determine a position of the arm based on the position of the upper arm and the position of the lower arm. You can decide the posture.

[0006] FIG. 1A illustrates a wearable device worn on a user's body according to one embodiment.

[0007] FIG. 1b illustrates a configuration of a control system of a wearable device according to one embodiment.

[0008] FIG. 1c illustrates a wearable device worn by a user according to one embodiment.

[0009] FIG. 2 is a diagram illustrating a system including a wearable device and an electronic device according to one embodiment.

[0010] FIG. 3 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0011] FIG. 4 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0012] FIG. 5 is a flowchart of a method for determining an arm posture according to one embodiment.

[0013] FIG. 6 is a flowchart of a method for determining a distance from a first part of a user's body to a second part of a user's forearm based on cable length information generated by a first sensor, according to one embodiment.

[0014] FIG. 7 is a flowchart of a method for determining a second rotation angle of an upper arm of an arm in three-dimensional space based on a distance from a first portion to a second portion and a first rotation angle of the lower arm, according to one embodiment.

[0015] FIG. 8a illustrates the positions of arms and cables appearing in a first space generated by projecting a three-dimensional space onto a horizontal plane, according to one embodiment.

[0016] FIG. 8b illustrates the positions of the arms and cables appearing in a second space generated by projecting a three-dimensional space onto a vertical plane, according to one embodiment.

[0017] FIG. 9 is a flowchart of a method for determining a first sub-rotation angle of an upper arm based on a distance from a first portion to a second portion in a first space generated by projecting a three-dimensional space onto a horizontal plane and a first rotation angle of a lower arm, according to one embodiment.

[0018] FIG. 10 is a flowchart of a method for determining a second sub-rotation angle of an upper arm based on a distance from a first portion to a second portion in a second space generated by projecting a three-dimensional space onto a vertical plane and a first rotation angle of the lower arm, according to one embodiment.

[0019] FIG. 11 is a flowchart of a method for receiving rotation information from an external electronic device according to one embodiment.

[0020] Hereinafter, various embodiments are described with reference to the attached drawings. However, this is not intended to limit the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, and / or alternatives of the embodiments.

[0021] However, since various modifications may be made to the embodiments, the scope of the patent application is not limited or restricted by these embodiments. It should be understood that all modifications, equivalents, or alternatives to the embodiments are included within the scope of the patent application.

[0022] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "have" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood to not preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0023] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the embodiments pertain. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0024] In addition, when describing with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted. When describing embodiments, if a detailed description of a related known technology is judged to unnecessarily obscure the gist of the embodiment, the detailed description will be omitted.

[0025] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the embodiments. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by the terms. When a component is described as being "connected," "coupled," or "connected" to another component, it should be understood that the component may be directly connected or connected to the other component, but another component may also be "connected," "coupled," or "connected" between each component.

[0026] Components included in one embodiment and components with common functions will be described using the same names in other embodiments. Unless otherwise stated, the descriptions given in one embodiment may also apply to other embodiments, and detailed descriptions will be omitted to the extent of overlap.

[0027] Referring to FIGS. 1A to 1C, a wearable fitness device (hereinafter, “wearable device”) using a cable can be worn by a user. The user can perform various movements while wearing the wearable device (100). The user can perform strength training while wearing the wearable device (100). For example, the user can perform upper body exercises and / or lower body exercises while wearing the wearable device (100). For example, the user can perform various exercises, such as weight training, boxing, Pilates, or yoga, while wearing the wearable device (100). When the user exercises while wearing the wearable device (100), the user’s image can be displayed on a display. For example, various sensors provided in the wearable device (100) can detect the user’s current posture. The various sensors can transmit the detected posture information to the display. The display can display the user's current appearance based on information received from various sensors. For example, the display can be included in an electronic device connected to the wearable device (100) via wired or wireless means. For example, the electronic device can include a monitor, a television, a mobile terminal, a tablet, and an XR (extended reality) device.

[0028] FIG. 1A illustrates a wearable device worn on a user's body according to one embodiment.

[0029] Referring to FIG. 1a, a wearable device (100) according to one embodiment may include a wearing part (10), a control system (20), a cable (30), a grip part (40), and a wearing part (50).

[0030] The wearable part (10) can be worn on the user's body. For example, the wearable part (10) can be worn on the user's upper body. The wearable part (10) can be in close contact with the user's upper body and support a portion of the user's upper body. The base plate of the wearable part (10) can be worn on the user's back. For example, the base plate can have a flat plate shape. The front of the base plate can face the user's back. The rear of the base plate can face the control system (20) described below.

[0031] According to one embodiment, the control system (20) can adjust the magnitude of the force applied to the user. The control system (20) can apply the force to at least one of one or more wearable parts worn by the user using a cable (30). The cable (30) can be an elastic cable or an inelastic cable. For example, the wearable part (50) can be worn on the user's wrist. The control system (20) can adjust the intensity of the user's exercise by adjusting the magnitude of the force applied to the wearable part (50) through the cable (30). The control system (20) can detect the user's exercise performance and readjust the exercise intensity in real time. For example, the control system (20) can readjust the exercise intensity based on the detected user's heart rate. For example, the control system (20) can readjust the exercise intensity based on the detected movement of the user's joints or muscles, or muscle activity. The user's heart rate and / or joint movements may be detected by one or more body sensors of the control system (20). The control system (20) may receive sensing information from the one or more body sensors. For example, the control system (20) and the one or more body sensors may be interconnected wired or wirelessly.

[0032] According to one embodiment, the control system (20) can determine the posture of the user's arm. For example, the control system (20) can determine the posture of the arm by determining the posture of the user's upper arm and lower arm based on the length of the cable (30) and the rotational information of the user's lower arm. The rotational information of the lower arm can be generated by an inertial measurement unit (IMU) located in the wearable part (50). A method for determining the posture of the user's arm is described in detail below with reference to FIGS. 5 to 11.

[0033] According to one embodiment, one end of the cable (30) may be connected to a grip portion (40). The grip portion (40) may be in a shape that a user can hold in the palm of the hand using fingers so that the user can easily adjust the length of the cable (30), and the shape of the grip portion (40) is not limited to the described embodiment.

[0034] According to one embodiment, the wearable part (50) can allow one end of the cable (30) to be positioned closely to the user's body even when the user is not holding the grip part (40). For example, the wearable part (50) can include an IMU and a pulse sensor. The pulse sensor can sense the user's heart rate.

[0035] In one embodiment of the illustrated wearable device (100), the grip portion (40) and the wearing part (50) are illustrated as having separate shapes, but depending on the embodiment, the grip portion (40) and the wearing part (50) may be manufactured to have one shape as an integrated unit.

[0036] FIG. 1b illustrates a configuration of a control system of a wearable device according to one embodiment.

[0037] Referring to FIG. 1B, a wearable device (100) may be controlled by a control system (20). The control system (20) may include at least one processor (102) including a processing circuit, a memory (104), a communication module (106) including a communication circuit, a sensor module (108), an input module (110) including an input circuit, an audio output module (112) including an output circuit, and a cable drive module (114). In one embodiment, the control system (20) may omit at least one of these components (e.g., an audio output module (112)), or may have one or more other components (e.g., a haptic module) added. Here, each “module” may include a circuit.

[0038] The cable drive module (114) may include a motor capable of generating power (e.g., torque) and / or a motor driver circuit for driving the motor. Here, each drive module may include a motor and / or a circuit.

[0039] Here, each "processor" may include processing circuitry and / or multiple processors. For example, the term "processor," as used herein, including in the claims, may include various processing circuitry including at least one processor, one or more of which are configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, when "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms include, for example, without limitation, one processor may perform some of the recited functions, other processor(s) may perform other parts of the recited functions, and there may also be situations where one processor may perform all of the recited functions. Additionally, the at least one processor may include a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0040] The sensor module (108) may include a sensor circuit including at least one sensor. The sensor module (108) may include one or more sensors that generate movement information of the user or movement information of the wearable device (100). For example, the sensor module (108) may include an encoder that can measure the length of the cable (30) of FIG. 1A. For example, the sensor module (108) may include a pulse sensor that can measure the heart rate of the user. For example, the sensor module (108) may include an IMU that can measure the movement of the user's upper body. The IMU may sense acceleration along the X-axis, Y-axis, and Z-axis and angular velocity along the X-axis, Y-axis, and Z-axis according to the movement of the user. The IMU may be used to measure at least one of forward-backward tilt, left-right tilt, or rotation of the user's body. For example, the sensor module (108) may further include at least one of a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biometric sensor for detecting a user's biometric signal, or a temperature sensor for measuring the ambient temperature.

[0041] The input module (110) can receive commands or data to be used in a component of the wearable device (100) (e.g., a processor (102)) from an external source (e.g., a user) of the wearable device (100). The input module (110) can include an input component circuit. The input module (110) can include, for example, a key (e.g., a button) or a touch screen.

[0042] The audio output module (112) can output audio signals to the outside of the wearable device (100). The audio output module (112) can provide auditory feedback to the user. For example, the audio output module (112) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound, an exercise start notification sound), a music content, or a guide voice to audibly inform specific information (e.g., exercise result information, exercise movement evaluation information).

[0043] In one embodiment, the control system (20) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0044] The cable driving module (114) can generate tension or torque applied to the cable (30) under the control of the processor (102). The cable driving module (114) can generate tension or torque applied to the cable (30) based on a control signal generated by the processor (102).

[0045] At least one processor (102) controls the overall operation of the wearable device (100) and can generate control signals for controlling each component (e.g., communication module (106) and cable drive module (114)).

[0046] At least one processor (102) may control at least one other component (e.g., hardware or software component) of the wearable device (100) connected directly or indirectly to the at least one processor (102), for example, by executing software, and may perform various data processing or calculations. The software may include an application for providing a GUI. According to one embodiment, as at least a part of the data processing or calculation, the processor (102) may store instructions or data received from another component (e.g., a communication module (106)) in the memory (104), process the instructions or data stored in the memory (104), and store the result data after the processing in the memory (104). According to one embodiment, the processor (102) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together therewith. The auxiliary processor may be implemented separately from the main processor or as part of it.

[0047] The memory (104) can store various data used by the processor (102). The data may include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (104) may include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0048] The communication module (106) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the processor (102) and other components of the wearable device (100) or an external electronic device, and the performance of communication through the established communication channel. The communication module (106) may include a communication circuit for performing a communication function. For example, the communication module (106) may receive a control signal from an external electronic device and transmit sensor data acquired by the sensor module (108) to the external electronic device. According to one embodiment, the communication module (106) may include one or more communication processors (not shown) that operate independently from the processor (102) and support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (106) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. Any of these communication modules may communicate with other components of the wearable device (100) and / or external electronic devices via a short-range communication network such as, for example, Bluetooth, WiFi (wireless fidelity), or IrDA (infrared data association), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN).

[0049] In one embodiment, the control system (20) may further include a haptic module (not shown). The haptic module may provide tactile feedback to a user under the control of the processor (102). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that a user may perceive through a tactile or kinesthetic sense. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device.

[0050] FIG. 1c illustrates a wearable device worn by a user according to one embodiment.

[0051] The wearable device (100) can be worn on the user's upper body by the wearable part (100). When the wearable part (10) is worn on the user's upper body, the control system (20) can be positioned on the user's back. The grip part (40) and the wearable part (50) of the wearable device (100) can be worn so as to be positioned on the user's hand and wrist. The cable (30) can have a length that changes according to the movement of the user's arm. For example, when the wearable device (100) operates in daily life mode or game mode, the tension of the cable (30) can be controlled so as not to interfere with the user's arm movement. For example, when the wearable device (100) operates in exercise mode, the tension of the cable (30) can be controlled according to the exercise intensity to provide an external force to the user.

[0052] FIG. 2 is a diagram illustrating a system including a wearable device and an electronic device according to one embodiment.

[0053] Referring to FIG. 2, the system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, the system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (100)). The electronic device (210) may or may not be a part of the wearable device (100).

[0054] In one embodiment, the wearable device (100) may be worn on the user's body and sense the user's movements. For example, the wearable device (100) may be worn on the user's upper body and generate an external force for the movement of the user's arm. For example, the wearable device (100) may be worn on the user's upper body and determine the movement of the user's arm.

[0055] In one embodiment, the wearable device (100) may generate a resistance force to impede the user's body movements to enhance the user's exercise effect in exercise mode, and provide the resistance force to the user through the cable (30). For example, the resistance force may be generated by a motor directly or indirectly connected to the cable (30).

[0056] The wearable device (100) can adjust the strength of the resistance applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the cable drive module (114) of FIG. 1B to generate a resistance corresponding to the exercise intensity selected by the user. The cable drive module (114) may include a motor and / or circuit.

[0057] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with status information about the status of the wearable device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and determine the user's movement based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and is active, the wearable device (100) can acquire sensor data including information on the user's movement using the sensors, and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can determine the user's movement or posture from the sensor data, and evaluate the user's exercise motion based on the determined movement or posture. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a graphical user interface.

[0058] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation of the wearable device (100), the output torque intensity, the volume of audio output from the sound output module (112), and the brightness of the light unit through the program. The program executed in the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0059] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (230) may receive exercise history information on exercise performed by the user from the electronic device (210) and store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0060] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be directly or indirectly connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), or smartglasses (226), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may generate biometric information including the user's heart rate information and rotation information for the worn part, and transmit the measured information to the electronic device (210) and / or the wearable device (100).

[0061] In one embodiment, the user's exercise result information, physical ability information, and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0062] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit and may provide auditory feedback through an audio output module (112). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0063] FIG. 3 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0064] Referring to FIG. 3, the wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication). The electronic device (210) may or may not be a part of the wearable device (100) in other embodiments.

[0065] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0066] In one embodiment, a user may input a command to control the operation of the wearable device (100) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control command (or control signal) corresponding to the operation control command or setting change command input by the user and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may provide the user with result information derived by analyzing the control result and / or sensor data through the GUI screen.

[0067] FIG. 4 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0068] Referring to FIG. 4, the electronic device (210) may include a processor (410), a memory (420), a communication module (430), a display module (440), an audio output module (450), and an input module (460). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output module (450)), or may have one or more other components (e.g., a sensor module, a battery) added.

[0069] The processor (410) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (410) may store commands or data received from another component (e.g., communication module (430)) in the memory (420), process the commands or data stored in the memory (420), and store result data in the memory (420).

[0070] According to one embodiment, the processor (410) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0071] The memory (420) can store various data used by at least one component (e.g., the processor (410) or the communication module (430)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (420) can include at least one instruction executable by the processor (410). The memory (420) can include volatile memory or non-volatile memory.

[0072] The communication module (430) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (430) may include a communication circuit for performing a communication function. The communication module (430) may operate independently from the processor (410) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (430) including the communication circuit may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) that performs wireless communication, or a wired communication module (e.g., a LAN communication module or a power line communication module). The communication module (430) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0073] The display module (440) can visually provide information to an external device (e.g., a user) of the electronic device (210). The display module (440) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (440) may further include a control circuit for controlling display operation. In one embodiment, the display module (440) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0074] The audio output module (450) can output an audio signal to the outside of the electronic device (210). The audio output module (450) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the audio output module (450) can output a guide voice to notify the user of an abnormal wearing or to induce normal wearing.

[0075] The input module (460) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (410)) from an external source (e.g., a user) of the electronic device (210). The input module (460) can include an input component circuit and can receive user input. The input module (460) can include, for example, a key (e.g., a button) or a touch screen.

[0076] FIG. 5 is a flowchart of a method for determining an arm posture according to one embodiment.

[0077] The operations 510 to 550 below may be performed by an electronic device (e.g., the wearable device (100) of FIGS. 1A-1B and / or the electronic device (210) of FIGS. 2, 3, and / or 4). For example, the electronic device may include at least one processor (e.g., the processor (102) of FIG. 1B and / or the processor (410) of FIG. 4), a communication module (e.g., the communication module (106) of FIG. 1B and / or the communication module (430) of FIG. 4), and a memory (e.g., the memory (104) of FIG. 1B or the memory (420) of FIG. 4).

[0078] In operation 510, a processor of an electronic device may determine a distance from a first portion of the user's body to a second portion of the user's forearm based on length information of a cable (e.g., cable (30) of FIG. 1A) generated by a first sensor of a wearable device disposed on at least a portion of the user's body. For example, the first sensor may be an encoder directly or indirectly connected to the cable. For example, the first portion may be a shoulder joint of the user. For example, the second portion may correspond to a wrist joint.

[0079] According to one embodiment, a distance from a first portion of a user's body to a second portion of a user's forearm may be calculated based on an initial length of a cable. One end of the cable may extend from a cable drive module (114) of a wearable device (100), and the cable drive module (114) may be positioned on the user's back. Due to a difference between the position of the cable drive module (114) and the position of the first portion, the initial length of the cable measured by an encoder of the cable may differ from the distance from the first portion of the user's body to the second portion of the user's forearm. A method for determining a distance from the first portion of the user's body to the second portion of the user's forearm based on the initial length of the cable is described in detail below with reference to FIG. 6.

[0080] In operation 520, a processor of an electronic device may determine a first rotational angle of the lower arm in three-dimensional space based on rotational information generated by a second sensor attached to a second portion of the lower arm. For example, the second sensor may be an IMU.

[0081] According to one embodiment, a user wearing a wearable device (100) can assume a calibration posture. The wearable device (100) can guide the user to assume the calibration posture. For example, the calibration posture can be a posture in which the arms are spread out to both sides so as to be parallel to the horizontal plane, and the calibration posture is not limited to the described embodiment. If the user correctly assumes the calibration posture, the rotation information acquired by the second sensor can be acquired as reference rotation information. The processor of the electronic device can determine a first rotation angle of the lower arm based on the reference rotation information and the target rotation information. The target rotation information can be current rotation information generated by the second sensor. For example, the first rotation angle can correspond to a change amount between the reference rotation information and the target rotation information.

[0082] According to one embodiment, a first rotation angle of the lower arm may be determined based on rotation information generated by an IMU disposed in a grip portion (40) or a wearing part (50) of a wearable device (100). The electronic device may receive rotation information from the wearable device (100). When the electronic device is a wearable device (100), the electronic device may receive rotation information from the IMU.

[0083] In operation 530, the processor of the electronic device can determine a second rotation angle of the upper arm of the arm in three-dimensional space based on a distance from a first portion of the body to a second portion of the lower arm of the arm and a first rotation angle of the lower arm.

[0084] The human arm is composed of the upper arm connecting the shoulder joint and the elbow joint, and the lower arm connecting the elbow joint and the wrist joint. Since the upper arm and the lower arm move in a connected state, the rotation angle of the upper arm with respect to the shoulder joint (hereinafter referred to as the second rotation angle) can be calculated using the first rotation angle of the wrist joint located in the lower arm and the distance between the shoulder joint and the wrist joint. Below, a method for determining the second rotation angle of the upper arm is described in detail with reference to FIGS. 7 to 10.

[0085] In operation 540, the processor of the electronic device can determine the position of the upper arm and the position of the lower arm in three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm.

[0086] According to one embodiment, the processor of the electronic device can determine the position of the upper arm and the position of the lower arm using the length of the upper arm, the length of the lower arm, the first rotation angle of the lower arm, and the second rotation angle of the upper arm. For example, the processor of the electronic device can receive the length of the upper arm and the length of the lower arm from the user in advance. For example, the processor of the electronic device can calculate the length of the user's upper arm and the length of the lower arm based on the length of the cable (30) obtained by having the user wearing the wearable device (100) assume a preset posture.

[0087] At operation 550, the processor of the electronic device can determine the posture of the arm based on the position of the upper arm and the position of the lower arm.

[0088] In one embodiment, the determined arm posture may be used to determine whether the user is performing the exercise normally. For example, if a user is required to perform a movement that requires extending their arm forward, the processor of the electronic device may use the determined arm posture to determine whether the user is actually extending their arm.

[0089] FIG. 6 is a flowchart of a method for determining a distance from a first part of a user's body to a second part of a user's forearm based on cable length information generated by a first sensor, according to one embodiment.

[0090] According to one embodiment, the operation 510 described above with reference to FIG. 5 may include operations 610 and 620 below. Operations 610 and 620 may be performed by an electronic device (e.g., the wearable device (100) of FIG. 1B or the electronic device (210) of FIG. 4).

[0091] In operation 610, the processor of the electronic device may determine the initial length of the cable based on length information. For example, the length information may be information indicating how much a rotor (e.g., a shaft of a motor) has rotated. The length of the cable may be adjusted by the rotation of the rotor. For example, when the rotor rotates in a first direction, at least a portion of the cable may be wound around the rotor, and when the rotor rotates in a second direction, at least a portion of the cable may be released from the rotor.

[0092] At operation 620, the processor of the electronic device can determine a distance from a first portion of the user's torso to a second portion of the user's forearm based on the initial length of the cable, the position of the first sensor, and the position of the first portion.

[0093] Since the initial length of the cable is based on the position of the first sensor, the initial length can be corrected by taking into account the difference between the position of the first sensor and the position of the first section. The corrected initial length can correspond to the distance from the first section to the second section.

[0094] According to one embodiment, the processor of the electronic device may further utilize an IMU capable of measuring the movement of the user's upper body to determine the distance from the first portion and the second portion. For example, when the user tilts the upper body forward, the degree to which the position of the first portion moves forward is greater than the degree to which the position of the first sensor moves forward, so that even if the distance from the first portion and the second portion remains the same, the initial length of the cable may become longer. For example, when the user tilts the upper body backward, the degree to which the position of the first portion moves backward is greater than the degree to which the position of the first sensor moves backward, so that even if the distance from the first portion and the second portion remains the same, the initial length of the cable may become shorter. In the above cases, the processor of the electronic device may further utilize the degree of the upper body movement measured by the IMU to correct the initial length.

[0095] FIG. 7 is a flowchart of a method for determining a second rotation angle of an upper arm of an arm in three-dimensional space based on a distance from a first portion to a second portion and a first rotation angle of the lower arm, according to one embodiment.

[0096] According to one embodiment, operation 530 described above with reference to FIG. 5 may include operations 710 to 730 below. Operations 710 to 730 may be performed by an electronic device (e.g., the wearable device (100) of FIGS. 1A-1B and / or the electronic device (210) of FIGS. 2-4).

[0097] In operation 710, the processor of the electronic device can determine a first sub-rotation angle of the upper arm based on a distance from a first portion to a second portion in a first space generated by projecting a three-dimensional space onto a horizontal plane and a first rotation angle of the lower arm. The first space may be a two-dimensional plane.

[0098] According to one embodiment, the x-axis of the three-dimensional space may be an axis passing through the user's two shoulder joints, the y-axis may be an axis passing through the front and back of the user, and the z-axis may be an axis perpendicular to the ground. The first space may be a space in which the values ​​of the z-axis are projected onto an xy plane. For example, the user's right shoulder joint may correspond to a first part of the user's body. For example, the first sub-rotation angle of the upper arm may be an angle of the upper arm with respect to the x-axis appearing in the xy plane. Below, the first space is described in detail with reference to FIG. 8A.

[0099] In operation 720, the processor of the electronic device can determine a second sub-rotation angle of the upper arm based on a distance from the first portion to the second portion in a second space generated by projecting the three-dimensional space onto a vertical plane and a first rotation angle of the lower arm.

[0100] The second space may be a space in which the values ​​of the x-axis are projected onto the yz plane. For example, the second sub-rotation angle of the upper arm may be the angle of the upper arm with respect to the y-axis as shown in the yz plane. The second space is described in detail below with reference to Fig. 8b.

[0101] In operation 730, the processor of the electronic device can determine a second rotation angle of the upper arm based on the first sub-rotation angle and the second sub-rotation angle. Since the first sub-rotation angle is an angle of the upper arm with respect to the x-axis appearing in the xy plane and the second sub-rotation angle is an angle of the upper arm with respect to the y-axis appearing in the yz plane, the second rotation angle of the upper arm in three-dimensional space can be determined based on the first sub-rotation angle and the second sub-rotation angle.

[0102] FIG. 8a illustrates the positions of arms and cables appearing in a first space generated by projecting a three-dimensional space onto a horizontal plane, according to one embodiment.

[0103] According to one embodiment, the first portion (810) of the body may correspond to the user's shoulder joint, the third portion (820) may correspond to the user's elbow joint, and the second portion (830) of the lower arm may correspond to the user's wrist joint. The upper arm may include the first portion (810) and the third portion (820), and the lower arm may include the third portion (820) and the second portion (830).

[0104] The user's arm posture is the length of the forearm in the first space (l l1 ), length of the upper arm (l) u1 ), and the distance (l) to the first part (810) and the second part (830) w1 ) can be modeled through triangles formed by

[0105] According to one embodiment, the length of the lower limb (l) in three-dimensional space l ), length of the upper arm (l) u ), and the distance from the first part to the second part (l w ) and the length of the lower body in the first space (l l1 ), length of the upper arm (l) u1 ), and the distance (l) to the first part (810) and the second part (830) w1 ) may be different for each. However, the length of the lower limb (l) in the first space is not completely determined based on the information currently acquired by the electronic device. l1 ), length of the upper arm (l) u1 ), and distance (l w1 ) cannot be calculated, so the length of the lower jaw (l) l ), length of the upper arm (l) u ), and distance (l w ) is the length of the lower leg (l) l1 ), length of the upper arm (l) u1 ), and distance (l w1 ) can be used as an approximation.

[0106] According to one embodiment, an electronic device (e.g., a wearable device (100) of FIGS. 1A-1B and / or an electronic device (210) of FIGS. 2-4) uses the following [Mathematical Formula 1] to determine a first sub-rotation angle of the upper arm: ) can be determined.

[0107] [Mathematical Formula 1]

[0108]

[0109] In [Equation 1], can be the angle of the lower arm with respect to the x-axis appearing in the xy plane, can be obtained based on the first rotation angle of the lower arm in three-dimensional space.

[0110] In [Equation 1], is the first sub-rotation angle calculated ( ) to improve the accuracy of the upper arm length (l) u ) may be the corrected length. For example, Silver distance (l w1 ) can be determined to be inversely proportional to the value of the product. For example, can be calculated using [Mathematical Formula 2] below.

[0111] [Equation 2]

[0112]

[0113] In [Equation 2], may be the angle of the lower jaw with respect to the y-axis appearing in the yz plane, which will be described with reference to FIG. 8b below, can be obtained based on the first rotation angle of the lower arm in three-dimensional space.

[0114] FIG. 8b illustrates the positions of the arms and cables appearing in a second space generated by projecting a three-dimensional space onto a vertical plane, according to one embodiment.

[0115] The user's arm posture is the length of the forearm in the second space (l l2 ), length of the upper arm (l) u2), and the distance (l) to the first part (810) and the second part (830) w2 ) can be modeled through triangles formed by

[0116] According to one embodiment, the length of the lower limb (l) in three-dimensional space l ), length of the upper arm (l) u ), and the distance to the first and second parts (l w ) and the length of the lower body in the second space (l l2 ), length of the upper arm (l) u2 ), and the distance (l) from the first part (810) to the second part (830) w2 ) may be different for each. However, the length of the lower limb (l) in the second space cannot be perfectly determined with only the information currently acquired by the electronic device. l2 ), length of the upper arm (l) u2 ), and distance (l w2 ) cannot be calculated, so the length of the lower jaw (l) l ), length of the upper arm (l) u ), and distance (l w ) is the length of the lower leg (l) l2 ), length of the upper arm (l) u2 ), and distance (l w2 ) can be used as an approximation.

[0117] According to one embodiment, an electronic device (e.g., a wearable device (100) of FIGS. 1A-1B and / or an electronic device (210) of FIGS. 2-4) uses the following [Mathematical Formula 3] to determine a second sub-rotation angle of the upper arm: ) can be determined.

[0118] [Equation 3]

[0119]

[0120] In [Equation 3], can be the angle of the lower jaw with respect to the y-axis appearing in the yz plane, can be obtained based on the first rotation angle of the lower arm in three-dimensional space.

[0121] In [Equation 3], is the second sub-rotation angle calculated ( ) to improve the accuracy of the upper arm length (l) u ) may be the corrected length. For example, silver and can be determined to be inversely proportional to the difference between the two. For example, can be calculated using [Mathematical Formula 4] below.

[0122] [Equation 4]

[0123]

[0124] In [Equation 3], is the second sub-rotation angle calculated ( ) to improve the accuracy of the length of the lower jaw (l) l2 ) may be the corrected length. For example, silver and can be determined to be inversely proportional to the difference between the two. For example, can be calculated using [Mathematical Formula 5] below.

[0125] [Equation 5]

[0126]

[0127] FIG. 9 is a flowchart of a method for determining a first sub-rotation angle of an upper arm based on a distance from a first portion to a second portion in a first space generated by projecting a three-dimensional space onto a horizontal plane and a first rotation angle of a lower arm, according to one embodiment.

[0128] According to one embodiment, the operation 710 described above with reference to FIG. 7 may include operations 910 and 920 below. Operations 910 and 920 may be performed by an electronic device (e.g., the wearable device (100) of FIGS. 1A-1B and / or the electronic device (210) of FIGS. 2-4).

[0129] In operation 910, the processor of the electronic device may determine a first length correction value for the upper arm for the first sub-rotation angle. For example, the first length correction value may be calculated to decrease as the distance from the first portion to the second portion increases. For example, the first length correction value for the upper arm may be calculated as described above with reference to FIG. 8A. It could be.

[0130] At operation 920, the processor of the electronic device can determine a first sub-rotation angle of the upper arm based on a distance from a first portion of the body to a second portion of the lower arm, a first rotation angle of the lower arm, and a first length correction value.

[0131] FIG. 10 is a flowchart of a method for determining a second sub-rotation angle of an upper arm based on a distance from a first portion to a second portion in a second space generated by projecting a three-dimensional space onto a vertical plane and a first rotation angle of the lower arm, according to one embodiment.

[0132] According to one embodiment, operation 720 described above with reference to FIG. 7 may include operations 1010 and 1020 below. Operations 1010 and 1020 may be performed by an electronic device (e.g., a wearable device (100) of FIGS. 1A-1B and / or an electronic device (210) of FIGS. 2-4).

[0133] In operation 1010, the processor of the electronic device may determine a second length correction value for the upper arm for the second sub-rotation angle. For example, the second length correction value may be calculated so that the difference between the first rotation angle and the first sub-rotation angle in the first space generated by projecting the three-dimensional space onto the horizontal plane increases, thereby decreasing. For example, the second length correction value for the upper arm may be calculated as described above with reference to FIG. 8B. It could be.

[0134] The processor of the electronic device may further determine a length compensation value for the lower arm for the second sub-rotation angle. For example, the length compensation value for the lower arm may be determined as described above with reference to FIG. 8B. It could be.

[0135] In operation 1020, the processor of the electronic device may determine a second sub-rotation angle of the upper arm based on a distance from the first portion to the second portion, a first rotation angle of the lower arm, and a second length compensation value. For example, the processor of the electronic device may further utilize a length compensation value for the lower arm to determine the second sub-rotation angle of the upper arm.

[0136] FIG. 11 is a flowchart of a method for receiving rotation information from an external electronic device according to one embodiment.

[0137] According to one embodiment, before operation 520 described above with reference to FIG. 5 is performed, operation 1110 below may be further performed. Operation 1110 may be performed by an electronic device (e.g., a wearable device (100) of FIGS. 1A-1B and / or an electronic device (210) of FIGS. 2-4).

[0138] In operation 1110, the processor of the electronic device may receive rotation information from an external electronic device worn by the user. For example, the external electronic device may be the smartwatch (224) described above with reference to FIG. 2.

[0139] If the electronic device can receive rotation information from the smartwatch (224), the IMU may not be placed in the grip portion (40) or the wearing part (50) of the wearable device (100).

[0140] According to one embodiment, an electronic device (100; 210) comprises at least one processor (102; 410) and a memory (104; 420) storing instructions, which, when the instructions are individually and / or collectively executed by the at least one processor, cause the electronic device to at least: determine (510) a distance from a first part of a user's body to a second part of a lower arm of the user based on length information of a cable generated by a first sensor disposed on at least a part of the user's body, determine (520) a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part, determine (530) a second rotation angle of the upper arm of the arm in a three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm, determine (540) a position of the upper arm and a position of the lower arm in a three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, and It is possible to determine the posture of the arm (550) based on the position and position of the lower arm.

[0141] As used herein, "based on" includes being based on at least one thing.

[0142] Each embodiment(s) described herein may be used in combination with other embodiment(s) described herein.

[0143] In one embodiment, the instructions, when executed by the processor, may cause the electronic device to at least: determine (610) an initial length of the cable based on the length information, and determine (620) a distance from a first portion of the user's torso to a second portion of the user's forearm based on the initial length, the position of the first sensor, and the position of the first portion.

[0144] According to one embodiment, when the instructions are executed by the processor, the electronic device may be configured to determine a first rotation angle of the lower arm based on at least: reference rotation information and rotation information acquired by the second sensor when the posture of the arm is a calibration posture.

[0145] In one embodiment, the calibration posture may be a predefined posture.

[0146] According to one embodiment, when the instructions are executed by the processor, the electronic device may be configured to at least: determine (710) a first sub-rotation angle of the upper arm based on a distance from a first portion to a second portion in a first space generated by projecting the three-dimensional space onto a horizontal plane and a first rotation angle of the lower arm; determine (720) a second sub-rotation angle of the upper arm based on a distance from the first portion to a second portion in a second space generated by projecting the three-dimensional space onto a vertical plane and the first rotation angle of the lower arm; and determine (730) a second rotation angle of the upper arm based on the first sub-rotation angle and the second sub-rotation angle.

[0147] According to one embodiment, the instructions, when executed by the processor, may cause the electronic device to at least: determine (910) a first length correction value for the upper arm for a first sub-rotation angle, and determine (920) a first sub-rotation angle of the upper arm based on a distance from the first portion to the second portion, the first rotation angle of the lower arm, and the first length correction value.

[0148] According to one embodiment, the first length correction value may be calculated to become smaller as the distance from the first portion to the second portion increases.

[0149] According to one embodiment, the instructions, when executed by the processor, may cause the electronic device to at least: determine (1010) a second length correction value for the upper arm for a second sub-rotation angle, and determine (1020) a second sub-rotation angle of the upper arm based on a distance from the first portion to the second portion, the first rotation angle of the lower arm, and the second length correction value.

[0150] According to one embodiment, the second length correction value may be calculated to decrease as the difference between the first rotation angle and the first sub-rotation angle in the first space generated by projecting the three-dimensional space onto the horizontal plane increases.

[0151] According to one embodiment, the first part of the body may correspond to the user's shoulder joint, the second part of the lower arm may correspond to the user's wrist joint, and the second rotation angle of the upper arm may represent a rotation angle of the upper arm with respect to the shoulder joint.

[0152] According to one embodiment, the electronic device may further include a first sensor and a second sensor.

[0153] According to one embodiment, when the instructions are executed by the processor, the electronic device may at least: receive rotation information from an external electronic device (224) worn by the user via a communication module (106; 430) of the electronic device.

[0154] According to one embodiment, a method for determining a posture of a user's arm may include an operation (510) of determining a distance from a first part of the user's body to a second part of the user's lower arm based on length information of a cable generated by a first sensor disposed on at least a part of the user's body, an operation (520) of determining a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part, an operation (530) of determining a second rotation angle of the upper arm in the three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm, an operation (540) of determining a position of the upper arm and a position of the lower arm in the three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, and an operation (550) of determining a posture of the arm based on the position of the upper arm and the position of the lower arm.

[0155] According to one embodiment, a wearable device (100) includes a first sensor directly or indirectly connected to a cable (30), at least one processor (102; 410), and a memory (104; 420) storing instructions, wherein when the instructions are individually and / or collectively executed by the at least one processor, the wearable device causes at least: to determine (510) a distance from a first part of a user's body to a second part of a lower arm of the user based on length information of a cable generated by a first sensor disposed on at least a part of a user's body, to determine (520) a first rotation angle of the lower arm in a three-dimensional space based on rotation information generated by a second sensor attached to the second part, to determine (530) a second rotation angle of the upper arm in a three-dimensional space based on the distance from the first part to the second part and the first rotation angle of the lower arm, and to determine a position of the upper arm in a three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm. And the position of the lower arm can be determined (540), and the posture of the arm can be determined (550) based on the position of the upper arm and the position of the lower arm.

[0156] In one embodiment, when the instructions are executed by the processor, the wearable device may at least: determine (610) an initial length of the cable based on the length information; and determine (620) a distance from a first portion of the user's body to a second portion of the user's forearm based on the initial length, the position of the first sensor, and the position of the first portion.

[0157] According to one embodiment, when the instructions are executed by the processor, the wearable device may be configured to: determine a first rotation angle of the forearm based on reference rotation information and rotation information acquired by a second sensor when the posture of the arm is a calibration posture.

[0158] According to one embodiment, when the instructions are executed by the processor, the wearable device may be configured to at least: determine (710) a first sub-rotation angle of the upper arm based on a distance from a first portion to a second portion in a first space generated by projecting the three-dimensional space onto a horizontal plane and a first rotation angle of the lower arm; determine (720) a second sub-rotation angle of the upper arm based on a distance from the first portion to a second portion in a second space generated by projecting the three-dimensional space onto a vertical plane and the first rotation angle of the lower arm; and determine (730) a second rotation angle of the upper arm based on the first sub-rotation angle and the second sub-rotation angle.

[0159] According to one embodiment, when the instructions are executed by the processor, the wearable device may cause at least: to determine (910) a first length correction value for the upper arm for a first sub-rotation angle, and to determine (920) a first sub-rotation angle of the upper arm based on a distance from the first portion to the second portion, the first rotation angle of the lower arm, and the first length correction value.

[0160] According to one embodiment, the first length correction value may be calculated to become smaller as the distance from the first portion to the second portion increases.

[0161] According to one embodiment, the wearable device may further include a second sensor.

[0162] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0163] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0164] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0165] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0166] Although the embodiments have been described with reference to limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the embodiments. For example, suitable results can be achieved even if the described techniques are performed in a different order than the described method, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than the described method, or are replaced or substituted with other components or equivalents. While the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are intended to be illustrative rather than limiting. Those skilled in the art will appreciate that various changes in form and detail can be made without departing from the true spirit and full scope of the present disclosure, including the appended claims and their equivalents. It will also be appreciated that any embodiment(s) described in the present disclosure can be used in conjunction with any other embodiment(s) described in the present disclosure.

[0167] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. Electronic device (100; 210), At least one processor (102; 410) comprising a processing circuit, and Memory for storing commands (104; 420) Including, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: Determining (510) a distance from a first part of the user's body to a second part of the user's forearm based on cable length information generated by a first sensor proximate at least a part of the user's body, A first rotation angle of the lower arm in three-dimensional space is determined (520) based on rotation information generated by a second sensor attached close to the second portion, A second rotation angle of the upper arm of the arm in the three-dimensional space is determined (530) based on the distance from the first part to the second part and the first rotation angle of the lower arm, Based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, the position of the upper arm and the position of the lower arm in the three-dimensional space are determined (540). Determining the posture of the arm based on the position of the upper arm and the position of the lower arm (550) To do, Electronic devices.

2. In paragraph 1, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: Based on the above length information, the initial length of the cable is determined (610), Determining a distance from a first part of the user's body to a second part of the user's forearm based on the initial length, the position of the first sensor, and the position of the first part (620). To do, Electronic devices.

3. In paragraph 1, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: If the posture of the above arm is a calibration posture, the first rotation angle of the lower arm is determined based on the reference rotation information obtained by the second sensor and the rotation information. To do, Electronic devices.

4. In paragraph 3, The above calibration posture is a pre-designated posture. Electronic devices.

5. In paragraph 1, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: The first sub-rotation angle of the upper arm is determined based on the distance from the first portion to the second portion in the first space generated by projecting the three-dimensional space onto the horizontal plane and the first rotation angle of the lower arm (710). The second sub-rotation angle of the upper arm is determined based on the distance from the first portion to the second portion in the second space generated by projecting the three-dimensional space onto a vertical plane and the first rotation angle of the lower arm (720). The second rotation angle of the upper arm is determined based on the first sub-rotation angle and the second sub-rotation angle (730). To do, Electronic devices.

6. In paragraph 5, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: Determine (910) a first length correction value for the upper arm for the first sub-rotation angle; A first sub-rotation angle of the upper arm is determined based on the distance from the first portion to the second portion, the first rotation angle of the lower arm, and the first length correction value (920). To do, Electronic devices.

7. In paragraph 6, The above first length correction value is calculated so that it becomes smaller as the distance from the first part to the second part becomes longer. Electronic devices.

8. In paragraph 5, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: Determine a second length correction value for the upper arm for the second sub-rotation angle (1010), A second sub-rotation angle of the upper arm is determined based on the distance from the first portion to the second portion, the first rotation angle of the lower arm, and the second length correction value (1020). To do, Electronic devices.

9. In paragraph 8, The second length correction value is calculated so that the difference between the first rotation angle and the first sub-rotation angle in the first space generated by projecting the three-dimensional space onto the horizontal plane increases and becomes smaller. Electronic devices.

10. In paragraph 1, The first part of the above body corresponds to the shoulder joint of the user, The second part of the above lower arm corresponds to the wrist joint of the user, The second rotation angle of the upper arm represents the rotation angle of the upper arm about the shoulder joint. Electronic devices.

11. In paragraph 1, the first sensor; and The second sensor above Including more, Electronic devices.

12. In paragraph 1, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: The rotation information is received from an external electronic device (224) worn by the user through a communication module (106; 430) of the electronic device including a communication circuit. To do, Electronic devices.

13. A method for determining the posture of an arm of a user of a wearable device, An operation (510) of determining a distance from a first part of the user's body to a second part of the user's forearm based on cable length information generated by a first sensor placed on at least a part of the user's body; An operation (520) of determining a first rotation angle of the lower arm in three-dimensional space based on rotation information generated by a second sensor attached to the second portion; An operation (530) of determining a second rotation angle of the upper arm of the arm in the three-dimensional space based on the distance from the first portion to the second portion and the first rotation angle of the lower arm; An operation (540) of determining the position of the upper arm and the position of the lower arm in the three-dimensional space based on the first rotation angle of the lower arm and the second rotation angle of the upper arm; and An action (550) of determining the posture of the arm based on the position of the upper arm and the position of the lower arm Including, How to determine arm posture.

14. Wearable device (100) A first sensor connected to a cable (30); At least one processor (102; 410) comprising a processing circuit, and Memory for storing commands (104; 420) Including, When said instructions are individually and / or collectively executed by said at least one processor, said wearable device causes at least: Determine (510) a distance from a first part of the user's body to a second part of the user's forearm based on the length information of the cable generated by the first sensor placed on at least a part of the user's body, The first rotation angle of the lower arm in three-dimensional space is determined (520) based on the rotation information generated by the second sensor attached to the second part, A second rotation angle of the upper arm of the arm in the three-dimensional space is determined (530) based on the distance from the first part to the second part and the first rotation angle of the lower arm, Based on the first rotation angle of the lower arm and the second rotation angle of the upper arm, the position of the upper arm and the position of the lower arm in the three-dimensional space are determined (540). Determining the posture of the arm based on the position of the upper arm and the position of the lower arm (550) To do, Wearable devices.

15. In paragraph 14, When said instructions are individually and / or collectively executed by said at least one processor, said electronic device causes at least: Based on the above length information, the initial length of the cable is determined (610), Determining a distance from a first part of the user's body to a second part of the user's forearm based on the initial length, the position of the first sensor, and the position of the first part (620). To do, Wearable devices.

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