Wearable device and operating method thereof

Abstract

This wearable device worn on the body of a user may comprise: a driving module for generating torque; an angle sensor, which senses movement of the joints of the user so as to acquire at least one angular acceleration value; and a processor(s) for controlling the driving module such that the driving module generates the torque, receiving the acquired at least one angular acceleration value from the angle sensor, determining, on the basis of the received at least one angular acceleration value, whether degradation of the driving module has occurred at a predetermined level or higher, and controlling that a notification of the degradation of the driving module is provided to the user if it is determined that the degradation has occurred at the predetermined level or higher.

Description

Wearable device and method of operation thereof

[0001] The embodiment relates to a wearable device and / or a method of operating the same.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who are unable to walk independently due to various diseases or accidents to perform walking exercises for rehabilitation and / or to assist with movement. Recently, with the deepening aging of the society, the number of people who have difficulty walking normally due to leg joint problems or who complain of discomfort when walking has increased, and interest in walking assistance devices has also increased. Walking assistance devices can be worn on the user's body to assist the user's exercise and / or walking, such as by providing desired or necessary muscle strength and guiding the user to walk in a normal gait pattern.

[0003] According to one embodiment, a wearable device worn on a user's body may include a driving module that generates a torque, an angle sensor that senses movement of a joint of the user to obtain at least one angular acceleration value, and at least one processor including a processing circuit. The at least one processor may control the driving module to generate the torque. The at least one processor may receive the at least one angular acceleration value obtained from the angle sensor. The at least one processor may determine whether deterioration of the driving module has occurred to a predetermined level or higher based on the received at least one angular acceleration value. When the at least one processor determines that the deterioration has occurred to the predetermined level or higher, the at least one processor may control a notification regarding the deterioration to be provided to the user.

[0004] According to one embodiment, a wearable device worn on a user's body may include a driving module that generates a torque, an angle sensor that senses movement of a joint of the user to obtain angular acceleration values, and at least one processor including a processing circuit. The processor(s) may control the driving module to generate the torque. The processor(s) may receive the obtained angular acceleration values ​​from the angle sensor. The processor(s) may determine a feature value based on at least one of the received angular acceleration values. The processor(s) may determine an increase rate of the determined feature value compared to a reference angular acceleration value. The processor(s) may determine whether deterioration of the driving module has occurred above a certain level based on the determined increase rate. If the processor(s) determines that the deterioration has occurred above the certain level, the processor(s) may control a notification regarding the deterioration to be provided to the user.

[0005] According to one embodiment, a method for operating a wearable device worn on a user's body may include an operation of generating a torque and transmitting the generated torque to the user's leg, an operation of sensing a movement of a joint of the user to obtain at least one angular acceleration value, an operation of determining whether a deterioration of a driving module of the wearable device has occurred to a certain level or higher based on the obtained at least one angular acceleration value, and an operation of providing a notification regarding the deterioration if the deterioration has occurred to the certain level or higher.

[0006] The above-described aspects and other aspects, features, and advantages of specific embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0007] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0008] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0009] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0010] FIG. 2b illustrates a left side view of a wearable device according to one embodiment.

[0011] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0012] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0013] FIGS. 5 to 7 are drawings illustrating examples of a method of operating a wearable device according to one embodiment.

[0014] FIG. 8 is a drawing illustrating another example of a method of operating a wearable device according to one embodiment.

[0015] FIG. 9 is a drawing illustrating another example of the operation of a wearable device according to one embodiment.

[0016] FIGS. 10 and 11 are drawings illustrating other examples of the operation of a wearable device according to one embodiment.

[0017] FIG. 12 is a drawing illustrating another example of the operation of a wearable device according to one embodiment.

[0018] FIG. 13 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

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

[0020] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0021] When a component is referred to as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least one third component(s) may be "connected," "coupled," or "joined" between the first component and the second component.

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

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

[0024] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0025] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0026] Referring to FIG. 1A, a wearable device (120) may be a device worn on a user's (101) body to assist walking, exercise, and / or work of the user (101). In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user (101) may be a human or an animal, but is not limited thereto. The wearable device (120) may be worn on the user's (101) body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force of assistance force and / or resistance force to the body movement of the user (101). Assistance force refers to a force applied in the same direction as the body movement direction of the user (101), and resistance force refers to a force applied in the opposite direction to the body movement direction of the user (101). The term "resistance" may also be referred to as "exercise load".

[0027] When the wearable device (120) performs a walking assistance function to assist the walking of the user (101), the wearable device (120) can assist the walking of the user (101) by providing assistive force to the body of the user (101) to assist part or all of the legs of the user (101). The wearable device (120) can assist the force required for the walking of the user (101) to enable independent walking or long-term walking, thereby expanding the walking ability of the user (101). The wearable device (120) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0028] When the wearable device (120) performs an exercise function to enhance the exercise effect of the user (101), the wearable device (120) may provide resistance to the body of the user (101) by interfering with the body movement of the user (101) or providing resistance to the body movement of the user (101). When the wearable device (120) is, for example, a hip-type wearable device, the wearable device (120) may provide exercise load to the body movement of the user (101) while being worn on the leg, thereby further enhancing the exercise effect of the user (101). The user (101) may perform a walking motion while wearing the wearable device (120) for exercise, and in this case, the wearable device (120) may provide resistance to the leg movement in the walking motion of the user (101).

[0029] In various embodiments, for convenience of explanation, a hip-type wearable device (120) worn on the waist and legs is described as an example. However, as described above, the wearable device (120) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly thighs), and the shape and configuration of the wearable device (120) may vary depending on the body part on which it is worn.

[0030] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0031] Referring to FIG. 1B, an electronic device (110) can communicate with a wearable device (120) and remotely control the wearable device (120). The electronic device (110) may be of various forms. The electronic device (110) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0032] In one embodiment, the electronic device (110) and / or the wearable device (120) may be connected to another wearable device (130). For example, the wearable device (120), the electronic device (110), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may be, for example, wireless earphones (131), a smart watch (132), or smart glasses (133), but is not limited to the aforementioned devices. The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0033] In one embodiment, the smart watch (132) can control the wearable device (120). When the smart watch (132) is connected to the electronic device (110) via a wireless communication link, and the electronic device (110) is connected to the wearable device (120) via a wireless communication link, the smart watch (132) can control the wearable device (120) via the electronic device (110). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (120) and control the wearable device (120).

[0034] In one embodiment, the electronic device (110) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (120) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (120).

[0035] In one embodiment, the electronic device (110) may communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0036] In one embodiment, the electronic device (110) may receive user (101) profile information from the user (101). The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (110) may transmit the user's (101) profile information to the server (140).

[0037] In one embodiment, the electronic device (110) and / or the wearable device (120) may request the user to perform one or more target movements to determine (or check) the user's motor ability. The one or more target movements may include, for example, knee lifts, leg stretches, etc. The knee lifts may be a motion in which the user (101) starts from a standing upright position with both feet in contact with the ground, raises the knees as much as possible without bending the waist, and then returns to the standing position. The leg stretches may be a motion in which the user (101) starts from a standing upright position with hands on a wall, raises the legs as much as possible without bending the waist, and then returns to the standing position.

[0038] In one embodiment, a wearable device (120) may obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (110). The electronic device (110) may transmit the obtained movement information to a server (140).

[0039] In one embodiment, the server (140) may determine the target exercise amount of each user (101) for each exercise type (e.g., strength training, balance training, aerobic exercise) through profile information and movement information received from the electronic device (110). The server (140) may transmit the target exercise amount of each exercise type to the electronic device (110).

[0040] In one embodiment, the server (140) may include a database storing information about a plurality of exercise programs that can be provided to a user through a wearable device (120). For example, the server (140) may manage a user account for a user of an electronic device (110) or a wearable device (120). The server (140) may store and manage exercise programs performed by the user and the results of the exercise programs, etc., in association with the user account.

[0041] In one embodiment, the electronic device (110) and / or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, muscle strength enhancement, physical fitness enhancement, cardiopulmonary endurance enhancement, core stability enhancement, flexibility enhancement, and symmetry enhancement.

[0042] In one embodiment, the electronic device (110) and / or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may be composed of one or more exercise modes. For example, each exercise mode may be for a physical movement to achieve a specific exercise goal. For example, running may be an exercise mode for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise mode for improving the user's core stability. Depending on the user's exercise goal, the combination of multiple exercise modes constituting each exercise program may vary. Even for the same exercise goal, the electronic device (110) may provide the user with various exercise programs based on combinations of multiple exercise modes.

[0043] In one embodiment, a plurality of exercise modes may be stored in a database in an electronic device (110) or a server (140). The electronic device (110) or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user by considering the user's exercise purpose or exercise performance status. For example, the electronic device (110) or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, even when the user exercises daily under the same exercise goal, the user may be recommended a new exercise program, and by performing the new exercise program, the user may feel like performing a different exercise than before.

[0044] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0045] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0046] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a base body (10), a base frame (20), a driving module (30), a thigh fastening part (40a, 40b), a main belt (50), and a leg driving frame (70a, 70b).

[0047] According to one embodiment, the base body (10) may be positioned on the user's lumbar region (waist region) while the user wears the wearable device (200). The base body (10) may be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The base body (10) may be hung over the user's buttocks (hip region) to prevent and / or reduce the wearable device (200) from being pulled downward by gravity while the user wears the wearable device (200). The base body (10) may distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The base body (10) may be directly or indirectly connected to the base frame (20). Base frame connection elements (not shown) that may be directly or indirectly connected to the base frame (20) may be formed at both ends of the base body (10).

[0048] According to one embodiment, the base body (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., a processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to a state of the wearable device (200) (e.g., booting state, sensing state, etc.) may be provided (or output) to a user through the lighting unit (60).

[0049] According to one embodiment, the base frame (20) may extend from both ends of the base body (10). The user's lower back may be accommodated on the inside of the base frame (20). The base frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be directly or indirectly connected to an end of the base frame (20). A drive module (30) may be mounted on the base frame (20). The base frame (20) may include a connector (not shown) for mounting the drive module (30).

[0050] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0051] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring the user's left hip joint angle. The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring the user's right hip joint angle.

[0052] According to one embodiment, the first drive module (30a) may include a first actuator and a first reducer, and the second drive module (30b) may include a second actuator and a second reducer. An output terminal of the first actuator may be directly or indirectly connected to an input terminal of the first reducer, and an output terminal of the second actuator may be directly or indirectly connected to an input terminal of the second reducer.

[0053] According to one embodiment, a processor (e.g., a processor (310) to be described later) may be configured to generate a torque value (e.g., a torque value to be described later). ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the first actuator can generate torque, and the generated torque can be reduced by the first reducer. The torque reduced by the first reducer can rotate the first leg drive frame (70a). The torque reduced by the first reducer can be provided to the user's left leg through the first leg drive frame (70a), for example. The processor (e.g., the processor (310) to be described later) can generate a torque value (e.g., the torque value to be described later) ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the second actuator can generate torque, and the generated torque can be reduced by the second reducer. The torque reduced by the second reducer can rotate the second leg drive frame (70b). The torque reduced by the second reducer can be provided to the user's right leg, for example, through the second leg drive frame (70b).

[0054] Each "processor" herein may include a processing circuit and / or multiple processors. For example, the term "processor," as used herein, including in the claims, may include various processing circuits, including at least one processor, one or more of which may be 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 may include, for example, without limitation, a situation where one processor performs some of the functions and other processor(s) perform the remainder of the functions, and also a situation where a single processor may perform all of the 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.

[0055] According to one embodiment, the leg drive frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The leg drive frame (70a, 70b) may include a first leg drive frame (70a) for supporting the user's left leg and a second leg drive frame (70b) for supporting the user's right leg.

[0056] According to one embodiment, the leg drive frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 30b) (e.g., torque reduced by the reducer) to the user's thigh. One end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the drive module (30a, 30b) and can rotate, and the other end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the thigh fastening portion (40a, 40b), so that the leg drive frame (70a, 70b) can support the user's thigh while transmitting the torque generated by the drive module (30a, 30b) to the user's thigh. For example, the leg drive frame (70a, 70b) can push or pull the user's thigh. The leg drive frame (70a, 70b) can extend along the length direction of the user's thigh. The leg drive frame (70a, 70b) can be bent to wrap around at least a portion of the user's thigh.

[0057] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the leg drive frame (70a, 70b) and can secure the leg drive frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first leg drive frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second leg drive frame (70b) to the user's right thigh.

[0058] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg drive frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0059] According to one embodiment, the first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing and / or reducing the user's thigh from being dislodged from the leg drive frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0060] In one embodiment, the first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0061] According to one embodiment, the main belt (50) may be directly or indirectly connected to the base frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be directly or indirectly connected to both ends of the base frame (20), respectively. The main belt (50) can be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction that the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) can be directly or indirectly interconnected while the user is wearing the wearable device (200). The main belt (50) can distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0062] Referring to FIG. 2b, the base body (10) can be mounted on the back of the user's lower back and can support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first driving module (30a) can be placed on the user's left lower back. The base frame (20) can extend from an end of the base body (10) and be inclined in a direction toward the first driving module (30a). The first main belt (50a) mounted on the base frame (20) can be in a state of wrapping around the user's left abdomen.

[0063] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0064] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a power management integrated circuit (PMIC) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (380, 380-1) (e.g., the first and second actuators described with reference to FIG. 2A), and a communication module (390) including a communication circuit. Each angle sensor may or may not be a part of the driving module.

[0065] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0066] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (120) and the wearable device (200) (e.g., the wearable device (200) of FIG. 2a and FIG. 2b).

[0067] According to one embodiment, at least one of the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and at least one of the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0068] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0069] According to one embodiment, the angle sensor (320) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a first joint of the user (e.g., a left hip joint, etc.). The angle sensor (320) can transmit a measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the first joint) to the processor (310). For example, the angle sensor (320) can measure the angular acceleration of the angle of the left hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320) can measure the angle or angular velocity of the angle of the left hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate an angular acceleration value of the left hip joint angle using the angular value or angular velocity value received from the angle sensor (320).

[0070] According to one embodiment, the angle sensor (320-1) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a second joint of the user (e.g., a right hip joint). The angle sensor (320-1) can transmit a measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the second joint) to the processor (310). For example, the angle sensor (320-1) can measure the angular acceleration of the angle of the right hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320-1) can measure the angle or angular velocity of the angle of the right hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate the angular acceleration value of the right hip joint angle through the angular value or angular velocity value received from the angle sensor (320-1).

[0071] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0072] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0073] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be directly or indirectly connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0074] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), angle sensors (320, 320-1), memory (350), IMU (360), motors (380, 380-1), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0075] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module, a vibration output module, or a display module, which will be described later. For example, the processor (310) can transmit the state information of the battery (330) to the electronic device (110) through a communication module (390) including a communication circuit, and the electronic device (110) can display the state information of the battery (330) on a display.

[0076] According to one embodiment, the IMU (360) can acquire or measure acceleration information (or posture information) of the user. For example, the IMU (360) can measure or acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration and rotation angle (e.g., roll, pitch, yaw) according to the user's walking motion. The IMU (360) can transmit the acquired acceleration information (e.g., measured three-axis acceleration and rotation angle) to the processor (310).

[0077] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0078] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0079] According to one embodiment, the processor (310) can determine a torque value for generating torque of each of the motors (380, 380-1) and control the motor driver circuits (370, 370-1) based on the determined torque value. For example, the processor (310) can use mathematical expressions A state factor that indicates the state of the user's movement according to can be decided. can represent the angle value of the first joint (e.g. left hip joint), can represent the angle value of the second joint (e.g., right hip joint). The processor (310) uses the mathematical formula Torque value according to can be determined. Gain κ may be a parameter indicating the magnitude and direction of the torque to be generated by each of the motors (380, 380-1). The larger the value of gain κ, the stronger the torque can be output. If gain κ is negative, torque (or resistance torque) acting as a resistance force to the user may be output, and if gain κ is positive, torque (or assistance torque) acting as an assistance force to the user may be output. Delay △t may be a parameter related to the output timing of the torque. The value of gain κ and the value of delay △t may be preset and may be adjustable by the user, the wearable device (300), or the electronic device (110) paired with the wearable device (300). The processor (310) may be configured to perform mathematical expressions Torque value for generating torque from motor (380-1) according to can decide, Torque value for generating torque from the motor (380) according to can be decided.

[0080] As used herein, “based on” may include based at least on.

[0081] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) based on a torque value received from the processor (310), and by this control, each of the motors (380, 380-1) can generate torque.

[0082] According to one embodiment, the communication module (390) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the wearable device (300, 300-1) and an external electronic device, and the performance of communication through the established communication channel. The communication module (390) may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (390) 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) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0083] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0084] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, a speaker. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0085] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, a vibration motor. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0086] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the base body (10) of FIGS. 2a and 2b.

[0087] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0088] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., an electronic device (110)) (e.g., a smartphone or a smartwatch). For example, the electronic device (410) can be a user terminal of a user using the wearable device (120) or a dedicated controller device for the wearable device (120). According to one embodiment, the wearable device (120) and the electronic device (410) can be directly or indirectly connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0089] According to one embodiment, the electronic device (410) may execute an application for checking the status of the wearable device (120) or controlling or operating the wearable device (120). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (120) or determining the operation mode of the wearable device (120) may be displayed on the display (412) of the electronic device (410). The UI may be, for example, a graphical user interface (GUI).

[0090] According to one embodiment, a user may input a command to control the operation of the wearable device (120) through a GUI screen on a display (412) of the electronic device (410) (e.g., a command to instruct the wearable device (120) to operate in an assist mode that generates assistive force or a command to instruct the wearable device (120) to operate in a resistance mode that generates resistive force) or change a setting of the wearable device (120). The electronic device (410) 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 (120). The wearable device (120) can operate according to the received control command, and can transmit the control result according to the control command and / or the sensor data measured by the sensor of the wearable device (120) (e.g., the angle sensor (320, 320-1) and / or the IMU (360)) to the electronic device (410). The electronic device (410) can analyze the control result and / or the sensor data and provide the result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) to the user through a GUI screen.

[0091] FIGS. 5 to 7 are drawings illustrating examples of the operation of a wearable device according to one embodiment.

[0092] Referring to FIG. 5, in operation 510, the wearable device (120) may determine a reference angular acceleration value (or initial angular acceleration value). According to one embodiment, the processor (310) of the wearable device (120) may receive at least one angular acceleration value of a user's joint (e.g., hip joint) from an angular sensor (e.g., angular sensor (320) and / or angular sensor (320-1)) during an initial time period in which the user initially uses the wearable device (120). The processor (310) may determine the reference angular acceleration value based on the received at least one angular acceleration value.

[0093] For example, in the example illustrated in FIG. 6, the processor (310) may receive angular acceleration values ​​of the user's hip joint from the angle sensor during an initial time interval, and determine a maximum value, a minimum value, or an average value from the received angular acceleration values. The initial time interval may be a time interval from a first initial time point to a second initial time point. The first initial time point may, for example, represent a time point when the user initially wears the wearable device (120) and starts exercising, and the second initial time point may represent a time point after a certain period of time (e.g., 2 minutes) has elapsed from the first initial time point. The certain period of time is not limited to the 2 minutes exemplified above.

[0094] The processor (310) can determine the reference angular acceleration value (or initial angular acceleration value) through the determined maximum, minimum, or average value. For example, the processor (310) can determine that the maximum value among the angular acceleration values ​​received from the angle sensor during the initial time interval is 92 rad / s. 2 If , the maximum value (e.g. 92rad / s) 2 ) can be determined as a reference angular acceleration value (or initial angular acceleration value) (hereinafter referred to as "first reference angular acceleration value"). For another example, the processor (310) may determine that the minimum value among the angular acceleration values ​​received from the angle sensor during the initial time interval is 74 rad / s. 2 If , the minimum value (e.g. 74 rad / s)2 ) can be determined as a reference angular acceleration value (or initial angular acceleration value) (hereinafter referred to as "second reference angular acceleration value"). For another example, the processor (310) may determine that the average value of the angular acceleration values ​​received from the angle sensor during the initial time interval is 80 rad / s. 2 If , the average value (e.g. 80rad / s) 2 ) can be determined as the reference angular acceleration value (or initial angular acceleration value) (hereinafter referred to as “third reference angular acceleration value”).

[0095] Wearable device (120) Torque value according to can determine the torque value so that the drive module (30) can generate torque (e.g., auxiliary torque or resistance torque). The drive module (30) can be controlled based on the torque. The drive module (30) can generate torque and provide it to the user, and the user can perform exercise. While the user performs the exercise, the wearable device (120) can continuously obtain the angular acceleration value of the joint (hereinafter referred to as “measured angular acceleration value”) by measuring (or sensing) the angular acceleration of the joint through an angle sensor (e.g., angle sensor (320) and / or angle sensor (320-1)). Each drive module used in the present specification may include a motor and / or a circuit.

[0096] In operation 520, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred to a certain level or more based on the characteristic value and the reference angular acceleration value determined from the measured angular acceleration values. According to one embodiment, the wearable device (120) (e.g., the processor (310)) may determine whether the determined characteristic value has increased by a certain ratio (e.g., 15%) compared to the reference angular acceleration value (e.g., the first reference angular acceleration value, the second reference angular acceleration value, or the third reference angular acceleration value). If the processor (310) determines that the determined characteristic value has increased by a certain ratio (e.g., 15%) or more compared to the reference angular acceleration value, the processor (310) may determine that the deterioration of the driving module (30) has occurred to a certain level or more. If the processor (310) determines that the determined characteristic value has increased by less than a certain percentage (e.g., 15%) compared to the reference angular acceleration value, it may determine that the deterioration of the drive module (30) has not occurred above a certain level. The determined characteristic value may represent, for example, a maximum value, a minimum value, or an average value of the measured angular acceleration values, but is not limited thereto. The deterioration of the drive module (30) may include, for example, wear of the reducer of the drive module (30) and / or wear of the shaft of the reducer.

[0097] In the example illustrated in FIG. 7, the processor (310) may receive (or acquire) measured angular acceleration values ​​of a user's joint (e.g., a hip joint) from an angle sensor during a first time interval. The first time interval may correspond to a portion of the time during which the user wears the wearable device (120) and performs exercise after an initial time interval. The first time interval may be, for example, 2 minutes, but is not limited thereto. The processor (310) may determine a feature value (e.g., a maximum value, a minimum value, or an average value) from the measured angular acceleration values ​​received (or acquired) during the first time interval. The processor (310) may determine whether the feature value (e.g., a maximum value, a minimum value, or an average value) in the first time interval has increased by a certain ratio (e.g., 15%) compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value). The certain ratio is not limited to the 15% in the above example. If the processor (310) determines that the characteristic value in the first time interval has increased by a certain percentage (e.g., 15%) or more compared to the reference angular acceleration value, it can determine that the deterioration of the driving module (30) has occurred to a certain level or more. If the processor (310) determines that the characteristic value in the first time interval has increased by less than a certain percentage (e.g., 15%) compared to the reference angular acceleration value, it can determine that the deterioration of the driving module (30) has not occurred to a certain level or more.

[0098] For example, the processor (310) determines that the maximum value of the measured angular acceleration values ​​in the first time interval is 110 rad / s. 2 In the case of 110 rad / s, the maximum value of the measured angular acceleration values ​​in the first time interval 2 is the first reference angular acceleration value (e.g. 92 rad / s) 2) can be determined to have increased by more than a certain percentage (e.g., 15%) compared to the first time interval. In this case, the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or more. The processor (310) determines that the maximum value of the measured angular acceleration values ​​in the first time interval is 100 rad / s. 2 In the case of 100 rad / s, the maximum value of the measured angular acceleration values ​​in the first time interval 2 is the first reference angular acceleration value (e.g. 92 rad / s) 2 ) can be determined to have increased without exceeding a certain percentage (e.g., 15%). In this case, the processor (310) can be determined to have deteriorated the drive module (30) below a certain level.

[0099] For another example, the processor (310) determines that the minimum value of the measured angular acceleration values ​​in the first time interval is 90 rad / s. 2 In the case of 90 rad / s, the minimum value of the measured angular acceleration values ​​in the first time interval 2 is the second reference angular acceleration value (e.g. 74 rad / s) 2 ) can be determined to have increased by more than a certain percentage (e.g., 15%) compared to the first time interval. In this case, the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or more. The processor (310) determines that the minimum value of the measured angular acceleration values ​​in the first time interval is 83 rad / s. 2 In this case, the minimum value of the measured angular acceleration values ​​in the first time interval is 83 rad / s. 2 is the second reference angular acceleration value (e.g. 74 rad / s) 2 ) can be determined to have increased without exceeding a certain percentage (e.g., 15%). In this case, the processor (310) can be determined to have deteriorated the drive module (30) below a certain level.

[0100] For another example, the processor (310) may determine that the average value of the measured angular acceleration values ​​in the first time interval is 95 rad / s. 2In this case, the average value of the measured angular acceleration values ​​in the first time interval is 95 rad / s. 2 is the third reference angular acceleration value (e.g. 80 rad / s) 2 ) can be determined to have increased by more than a certain percentage (e.g., 15%) compared to the first time interval. In this case, the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or more. The processor (310) determines that the average value of the measured angular acceleration values ​​in the first time interval is 90 rad / s. 2 In the case of 90 rad / s, the average value of the measured angular acceleration values ​​in the first time interval 2 is the third reference angular acceleration value (e.g. 80 rad / s) 2 ) can be determined to have increased without exceeding a certain percentage (e.g., 15%). In this case, the processor (310) can be determined to have deteriorated the drive module (30) below a certain level.

[0101] If the deterioration of the driving module (30) occurs to a certain level or higher (operation 520 - Yes), the wearable device (120) may provide a notification in operation 530. The notification may correspond to a notification regarding the deterioration of the driving module (30). The notification may include, for example, at least one of a motor replacement notification or a notification indicating a visit to a service center. The notification may be at least one of a visual notification, an auditory notification, or a tactile notification. According to one embodiment, the wearable device (120) may provide the notification to the user through at least one of an audio output module (e.g., a speaker) of the wearable device (120), an electronic device (110), or another wearable device (130) (e.g., wireless earphones (131), a smart watch (132)).

[0102] If the wearable device (120) is used for a long time, the drive module (30) may deteriorate (e.g., wear of the reducer and / or wear of the shaft of the reducer), and if the deterioration of the drive module (30) continues, a stuck phenomenon may occur in which, for example, the rotation of the motor (380, 380-1) stops. Due to the deterioration of the drive module (30), the rotation axis may become misaligned, and as a result, the user may feel a load based on the misalignment of the rotation axis when moving his or her joints. To overcome this load, the user may apply a force (or torque) (hereinafter referred to as “human torque”) to the wearable device (120).

[0103] By human torque, torque value An output torque (e.g., a torque generated by the driving module (30) and a human torque combined) (or high torque) having a size greater than a certain ratio of the torque generated by the driving module (30) may be generated. For example, a torque value When this is 10Nm, the torque value of the output torque is, for example, the torque value It can be 11.5 Nm, which is more than a certain percentage (e.g., 15%). Such output torque (or high torque) can damage the components of the wearable device (120). According to one embodiment, the characteristic value can increase by a certain percentage (e.g., 15%) or more compared to the reference angular acceleration value due to human torque. In this case, the wearable device (120) can determine that the deterioration of the driving module (30) has occurred to a certain level or more and can provide the user with a notification regarding the deterioration of the driving module (30). Accordingly, the ease of maintenance and management of the wearable device (120) can be improved.

[0104] FIG. 8 is a flowchart illustrating another example of the operation of a wearable device according to one embodiment.

[0105] Referring to FIG. 8, in operation 810, the wearable device (120) may determine a reference angular acceleration value (or an initial angular acceleration value). According to one embodiment, the processor (310) may determine the reference angular acceleration value (or an initial angular acceleration value) (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) based on at least one of the angular acceleration values ​​received from the angular sensor (e.g., the angular sensor (320) and / or the angular sensor (320-1)) during an initial time interval (e.g., the initial time interval of FIG. 6). The description of operation 510 may be applied to the description of operation 810. The wearable device (120) may obtain measured angular acceleration values ​​by measuring (or sensing) the angular acceleration of a joint through the angular sensor (e.g., the angular sensor (320) and / or the angular sensor (320-1)).

[0106] In operation 820, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred above a first level based on a characteristic value (e.g., a maximum value, a minimum value, or an average value) determined from the measured angular acceleration values ​​and a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value). The first level may indicate a level of deterioration that requires a full inspection of the wearable device (120) at a service center, for example. According to one embodiment, the processor (310) may determine a characteristic value (e.g., a maximum value, a minimum value, or an average value) from the angular acceleration values ​​received from the angular sensor during a first time interval (e.g., the first time interval of FIG. 7). The processor (310) can determine whether the increase rate of the characteristic value (e.g., maximum value, minimum value, or average value) in the first time interval compared to the reference angular acceleration value (e.g., first reference angular acceleration value, second reference angular acceleration value, or third reference angular acceleration value) is greater than or equal to a first ratio (e.g., 15%). The first ratio is not limited to the 15% in the above example. If the increase rate of the characteristic value in the first time interval compared to the reference angular acceleration value is greater than or equal to the first ratio (e.g., 15%), the processor (310) can determine that the deterioration of the driving module (30) has occurred to a first level or greater.

[0107] For example, the maximum value of the measured angular acceleration values ​​in the first time interval is 110 rad / s 2 In this case, the processor (310) determines the first reference angular acceleration value (e.g., 92 rad / s) 2 ) Maximum value in the first time interval 110 rad / s 2 The increase rate (e.g., about 20%) may be determined to exceed the first rate (e.g., 15%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred above the first level.

[0108] For another example, the minimum value of the measured angular acceleration values ​​in the first time interval is 90 rad / s. 2In this case, the processor (310) calculates the second reference angular acceleration value (e.g., 74 rad / s). 2 ) Minimum value in the first time interval 90 rad / s 2 The increase rate (e.g., about 22%) may be determined to exceed the first rate (e.g., 15%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred above the first level.

[0109] For another example, the average value of the measured angular acceleration values ​​in the first time interval is 95 rad / s 2 In this case, the processor (310) calculates the third reference angular acceleration value (e.g., 80 rad / s) 2 ) Average value in the first time interval 95 rad / s 2 The increase rate (e.g., about 19%) may be determined to exceed the first rate (e.g., 15%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred above the first level.

[0110] If the wearable device (120) determines that the deterioration of the driving module (30) has occurred to a first level or higher, the wearable device (120) may provide a first notification in operation 830. The first notification may include, for example, a notification indicating that the wearable device (120) should be inspected at a service center. According to one embodiment, the wearable device (120) may provide the first notification to the user through at least one of an audio output module (e.g., a speaker) of the wearable device (120), an electronic device (110), or another wearable device (130) (e.g., wireless earphones (131), a smart watch (132)).

[0111] According to an embodiment, if the wearable device (120) determines that the deterioration of the drive module (30) has occurred above the first level, the torque value The size of the output torque (e.g., the torque generated by the driving module (30) and the human torque, etc.) can be reduced by making the size of the processor (310) smaller. For example, the processor (310) can be configured to use mathematical expressions The gain κ can be reduced. Accordingly, the size of the output torque can be reduced.

[0112] If the wearable device (120) determines that the deterioration of the driving module (30) has occurred below the first level, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred above the second level in operation 840. The second level may be a level of deterioration lower than the first level, and may represent, for example, a level of deterioration that requires inspection (or repair) of the driving module (30). According to one embodiment, the processor (310) may determine whether an increase rate of a feature value (e.g., a maximum value, a minimum value, or an average value) in a first time interval compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) is equal to or greater than a second ratio (e.g., 7%). The second ratio is not limited to the 7% in the above example. The processor (310) can determine that the deterioration of the driving module (30) has occurred to a second level or higher when the rate of increase of the characteristic value in the first time interval compared to the reference angular acceleration value is greater than or equal to the second rate.

[0113] For example, the maximum value of the measured angular acceleration values ​​in the first time interval is 100 rad / s 2 In this case, the processor (310) determines the first reference angular acceleration value (e.g., 92 rad / s) 2 ) The maximum value of the measured angular acceleration values ​​in the first time interval is 100 rad / s. 2The increase rate (e.g., about 8.7%) may be determined to not exceed the first rate (e.g., 15%). In this case, the processor (310) may determine whether the deterioration of the drive module (30) has occurred above the second level. The processor (310) may determine whether the maximum value of the measured angular acceleration values ​​in the first time interval is 100 rad / s. 2 The increase rate (e.g., about 8.7%) may be determined to exceed the second rate (e.g., 7%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred to the second level or higher.

[0114] For another example, the minimum value of the measured angular acceleration values ​​in the first time interval is 83 rad / s. 2 In this case, the processor (310) calculates the second reference angular acceleration value (e.g., 74 rad / s). 2 ) Minimum value of measured angular acceleration values ​​in the first time interval compared to 83 rad / s 2 The increase rate (e.g., about 13%) may be determined to not exceed the first rate (e.g., 15%). In this case, the processor (310) may determine whether the deterioration of the drive module (30) has occurred above the second level. The processor (310) may determine whether the minimum value of the measured angular acceleration values ​​in the first time interval is 83 rad / s. 2 The increase rate (e.g., about 13%) may be determined to exceed the second rate (e.g., 7%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred to the second level or higher.

[0115] For another example, the average value of the measured angular acceleration values ​​in the first time interval is 90 rad / s 2 In this case, the processor (310) calculates the third reference angular acceleration value (e.g., 80 rad / s) 2 ) The average value of the measured angular acceleration values ​​in the first time interval is 90 rad / s. 2The increase rate (e.g., about 13%) may be determined to not exceed the first rate (e.g., 15%). In this case, the processor (310) may determine whether the deterioration of the drive module (30) has occurred above the second level. The processor (310) may determine whether the average value of the measured angular acceleration values ​​in the first time interval is 90 rad / s. 2 The increase rate (e.g., about 13%) may be determined to exceed the second rate (e.g., 7%). In this case, the processor (310) may determine that the deterioration of the drive module (30) has occurred to the second level or higher.

[0116] If the wearable device (120) determines that the deterioration of the driving module (30) has occurred to a second level or higher, the wearable device (120) may provide a second notification in operation 850. The second notification may include, for example, a notification that a motor inspection is required. According to one embodiment, the wearable device (120) may provide the second notification to the user through at least one of an audio output module (e.g., a speaker) of the wearable device (120), an electronic device (110), or another wearable device (130) (e.g., wireless earphones (131), a smart watch (132)).

[0117] FIG. 9 is a drawing illustrating another example of the operation of a wearable device according to one embodiment.

[0118] Referring to FIG. 9, in operation 910, the wearable device (120) may determine a reference angular acceleration value (or an initial angular acceleration value). According to one embodiment, the processor (310) may determine the reference angular acceleration value (or an initial angular acceleration value) (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) based on at least one of the angular acceleration values ​​received from the angular sensor (320) during an initial time interval (e.g., the initial time interval of FIG. 6). The description of operation 510 may be applied to the description of operation 910.

[0119] A wearable device (120) (e.g., processor (310)) can accumulate the number of steps taken by a user exercising.

[0120] In operation 920, the wearable device (120) may determine that the user's cumulative step count has reached a first step count (e.g., 1.8 million steps). The first step count is not limited to 1.8 million steps. When the user's cumulative step count has reached the first step count (e.g., 1.8 million), the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred above a certain level (e.g., a deterioration level requiring inspection of the driving module (30) at the first step count) based on a characteristic value (e.g., a maximum value, a minimum value, or an average value) and a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) determined from measured angular acceleration values ​​acquired during a certain time period (e.g., 2 minutes) (hereinafter, referred to as a "second time period").

[0121] For example, when the accumulated number of steps reaches the first number of steps (e.g., 1.8 million), the processor (310) can determine a characteristic value (e.g., a maximum value, a minimum value, or an average value) from the measured angular acceleration values ​​in the second time interval. The processor (310) can determine whether the increase rate of the characteristic value (e.g., a maximum value, a minimum value, or an average value) in the second time interval compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) is equal to or greater than a ratio (e.g., 5%) set (or determined) corresponding to the first number of steps. When the increase rate of the characteristic value in the second time interval compared to the reference angular acceleration value is less than a ratio (e.g., 5%) set corresponding to the first number of steps, the processor (310) can determine that the deterioration of the driving module (30) has occurred below a certain level (or that inspection of the driving module (30) is not necessary). If the increase rate of the characteristic value in the second time interval compared to the reference angular acceleration value is greater than or equal to a rate set corresponding to the first step number (e.g., 5%), the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or higher (or that the driving module (30) requires inspection), and can provide a notification to the user that the driving module (30) requires inspection.

[0122] In operation 930, the wearable device (120) may determine that the user's cumulative step count has reached a second step count (e.g., 3.7 million steps). The second step count is not limited to 3.7 million steps. When the user's cumulative step count has reached the second step count, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred above a certain level (e.g., a deterioration level requiring inspection of the driving module (30) at the second step count) based on a characteristic value (e.g., a maximum value, a minimum value, or an average value) and a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) determined from measured angular acceleration values ​​acquired during a certain time period (e.g., 2 minutes) (hereinafter, referred to as a "third time period").

[0123] For example, the processor (310) can determine a characteristic value (e.g., a maximum value, a minimum value, or an average value) from the measured angular acceleration values ​​in the third time interval. The processor (310) can determine whether an increase rate of the characteristic value (e.g., a maximum value, a minimum value, or an average value) in the third time interval compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) is equal to or greater than a ratio (e.g., 7%) set (or determined) corresponding to the second step number. If the increase rate of the characteristic value in the third time interval compared to the reference angular acceleration value is less than a ratio (e.g., 7%) set corresponding to the second step number, the processor (310) can determine that the deterioration of the driving module (30) has occurred below a certain level (or that inspection of the driving module (30) is not necessary). If the increase rate of the characteristic value in the third time interval compared to the reference angular acceleration value is greater than or equal to a ratio (e.g., 7%), the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or greater (or that the driving module (30) requires inspection), and can provide a notification to the user that the driving module (30) requires inspection.

[0124] In operation 940, the wearable device (120) may determine that the user's cumulative step count has reached a third step count (e.g., 5.5 million steps). The third step count is not limited to 5.5 million steps. When the user's cumulative step count has reached the third step count, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred to a certain level or higher (e.g., a deterioration level requiring inspection of the driving module (30) at the third step count) based on a characteristic value (e.g., a maximum value, a minimum value, or an average value) and a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) determined from measured angular acceleration values ​​acquired during a certain time period (e.g., 2 minutes) (hereinafter, referred to as a "fourth time period").

[0125] For example, the processor (310) can determine a characteristic value (e.g., a maximum value, a minimum value, or an average value) from the measured angular acceleration values ​​in the fourth time interval. The processor (310) can determine whether an increase rate of the characteristic value (e.g., a maximum value, a minimum value, or an average value) in the fourth time interval compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) is equal to or greater than a rate (e.g., 10%) set corresponding to a third step number. If the increase rate of the characteristic value in the fourth time interval compared to the reference angular acceleration value is less than a rate (e.g., 10%) set corresponding to a third step number, the processor (310) can determine that the deterioration of the driving module (30) has occurred below a certain level (or that inspection of the driving module (30) is not necessary). If the increase rate of the characteristic value in the fourth time interval compared to the reference angular acceleration value is greater than or equal to a rate set corresponding to the third step number (e.g., 10%), the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or greater (or that the driving module (30) requires inspection), and can provide a notification to the user that the driving module (30) requires inspection.

[0126] In operation 950, the wearable device (120) may determine that the user's cumulative step count has reached a fourth step count (e.g., 7.4 million steps). The fourth step count is not limited to 7.4 million steps. When the user's cumulative step count has reached the fourth step count, the wearable device (120) may determine whether the deterioration of the driving module (30) has occurred above a certain level (e.g., a deterioration level requiring a full inspection of the wearable device (120) at the fourth step count) based on a characteristic value (e.g., a maximum value, a minimum value, or an average value) and a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) determined from measured angular acceleration values ​​acquired during a certain time period (e.g., 2 minutes) (hereinafter, referred to as a "fifth time period").

[0127] For example, when the accumulated step number reaches the fourth step number, the processor (310) can determine a characteristic value (e.g., a maximum value, a minimum value, or an average value) from the measured angular acceleration values ​​in the fifth time interval. The processor (310) can determine whether an increase rate of the characteristic value (e.g., a maximum value, a minimum value, or an average value) in the fifth time interval compared to a reference angular acceleration value (e.g., a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) is equal to or greater than a rate (e.g., 15%) set to correspond to the fourth step number. When the increase rate of the characteristic value in the fifth time interval compared to the reference angular acceleration value is less than a rate (e.g., 15%) set to correspond to the fourth step number, the processor (310) can determine that the deterioration of the driving module (30) has occurred below a certain level (or that inspection of the driving module (30) is not necessary). The processor (310) may determine that the deterioration of the driving module (30) has occurred to a certain level or higher (or that the driving module (30) requires inspection) when the increase rate of the characteristic value in the fifth time interval compared to the reference angular acceleration value is equal to or greater than a rate set corresponding to the fourth step number (e.g., 15%). Since the wearable device (120) has been used for a long time enough for the user's accumulated step number to reach the fourth step number, the processor (310) may provide a notification to the user that a visit to a service center is required to inspect the wearable device (120).

[0128] According to an embodiment, when the user's accumulated number of steps reaches the fourth step number, the processor (310) outputs a torque value The size of the output torque (e.g., the torque generated by the driving module (30) and the human torque, etc.) can be reduced by making the size of the processor (310) smaller. For example, the processor (310) can be configured to use mathematical expressions The gain κ can be reduced. Accordingly, the size of the output torque can be reduced.

[0129] FIGS. 10 and 11 are drawings illustrating other examples of the operation of a wearable device according to one embodiment.

[0130] Referring to FIG. 10, in operation 1010, the wearable device (120) may calculate a numerical value indicating how much greater the angular acceleration of the first joint is than the angular acceleration of the second joint. In the example illustrated in FIG. 11, the processor (310) may receive angular acceleration values ​​(1110) of the first joint (e.g., the left hip joint) from the angle sensor (320) and angular acceleration values ​​(1120) of the second joint (e.g., the right hip joint) from the angle sensor (320-1) for a certain period of time. The processor (310) may calculate an average value of the angular acceleration values ​​(1110) and an average value of the angular acceleration values ​​(1120). The processor (310) may determine a numerical value indicating the degree to which the average value of the angular acceleration values ​​(1110) is greater than the average value of the angular acceleration values ​​(1120). For example, the average value of each acceleration value (1120) is 80 rad / s 2 And the average value of each acceleration value (1110) is 90 rad / s 2 It may be. The processor (310) may determine that the average of the angular acceleration values ​​(1110) is 12.5% ​​greater than the average of the angular acceleration values ​​(1120). In other words, the processor (310) may calculate a numerical value (e.g., 12.5%) indicating how much greater the average of the angular acceleration values ​​(1110) is than the average of the angular acceleration values ​​(1120).

[0131] Wearable device (120) Torque value according to can determine the torque value so that the drive module (30) can generate torque (e.g., auxiliary torque or resistance torque). The driving module (30) can be controlled based on the driving module (30). The driving module (30) can generate torque and provide it to the user, and the user can perform exercise.

[0132] In operation 1020, the wearable device (120) can determine whether the deterioration of the driving module (30) has occurred to a certain level or more based on the calculated numerical value. For example, if the calculated numerical value is less than a certain value (e.g., 15%), the processor (310) can determine that the deterioration of the driving module (30) has not occurred to a certain level or more. If the calculated numerical value is greater than a certain value (e.g., 15%), the processor (310) can determine that the deterioration of the driving module (30) has occurred to a certain level or more.

[0133] If the processor (310) determines that the deterioration of the driving module (30) has occurred to a certain level or more, the processor (310) may provide a notification in operation 1030. The notification may correspond to a notification regarding the deterioration of the driving module (30). The notification may include, for example, at least one of a motor replacement notification or a notification indicating a visit to a service center. The notification may be at least one of a visual notification, an auditory notification, or a tactile notification. According to one embodiment, the wearable device (120) may provide the notification to the user through at least one of an audio output module (e.g., a speaker) of the wearable device (120), an electronic device (110), or another wearable device (130) (e.g., wireless earphones (131), a smart watch (132)).

[0134] FIG. 12 is a drawing illustrating another example of the operation of a wearable device according to one embodiment.

[0135] According to one embodiment, a wearable device (120) (e.g., processor (310)) can accumulate the number of steps of a user exercising.

[0136] Referring to FIG. 12, in operation 1210, the wearable device (120) may determine that the user's accumulated number of steps has reached a first number of steps (e.g., 1.8 million steps).

[0137] When the user's cumulative number of steps reaches a first number of steps (e.g., 1.8 million), the wearable device (120) can determine whether the deterioration of the driving module (30) has occurred to a certain level or higher (or whether the driving module (30) needs to be inspected) based on the angular acceleration values ​​of the first joint and the angular acceleration values ​​of the second joint acquired during a certain time period (e.g., 2 minutes) (hereinafter referred to as the "sixth time period").

[0138] For example, the processor (310) may receive angular acceleration values ​​of the first joint from the angle sensor (320) and angular acceleration values ​​of the second joint from the angle sensor (320-1) during a sixth time interval. The processor (310) may calculate an average value of the angular acceleration values ​​of the first joint and an average value of the angular acceleration values ​​of the second joint during the sixth time interval. The processor (310) may calculate a numerical value indicating how much greater the average value of the angular acceleration values ​​of the first joint during the sixth time interval is than the average value of the angular acceleration values ​​of the second joint during the sixth time interval. The processor (310) may determine whether the calculated numerical value is greater than or equal to a first value (e.g., 15%) set to correspond to a first step number. The processor (310) may determine that the deterioration of the driving module (30) has not occurred to a certain level or more (or that inspection of the driving module (30) is not required) if the calculated numerical value is less than the first value (e.g., 15%) set to correspond to the first step number. The processor (310) may determine that the deterioration of the driving module (30) has occurred to a certain level or more (or that inspection of the driving module (30) is required) if the calculated numerical value is greater than or equal to the first value (e.g., 15%) set to correspond to the first step number. The processor (310) may provide a notification to the user that inspection of the driving module (30) is required.

[0139] At operation 1220, the wearable device (120) may determine that the user's cumulative number of steps has reached a second number of steps (e.g., 3.7 million steps).

[0140] When the user's accumulated number of steps reaches a second number of steps (e.g., 3.7 million), the wearable device (120) can determine whether the deterioration of the driving module (30) has occurred to a certain level or higher (or whether the driving module (30) needs to be inspected) based on the angular acceleration values ​​of the first joint and the angular acceleration values ​​of the second joint acquired during a certain time period (e.g., 2 minutes) (hereinafter referred to as the "seventh time period").

[0141] For example, the processor (310) may receive angular acceleration values ​​of the first joint from the angle sensor (320) and angular acceleration values ​​of the second joint from the angle sensor (320-1) during a seventh time interval. The processor (310) may calculate an average value of the angular acceleration values ​​of the first joint and an average value of the angular acceleration values ​​of the second joint during the seventh time interval. The processor (310) may calculate a numerical value indicating how much greater the average value of the angular acceleration values ​​of the first joint during the seventh time interval is than the average value of the angular acceleration values ​​of the second joint during the seventh time interval. The processor (310) may determine whether the calculated numerical value is greater than or equal to a second value (e.g., 20%) set to correspond to a second step number. The processor (310) may determine that the deterioration of the driving module (30) has not occurred to a certain level or more (or that inspection of the driving module (30) is not required) if the calculated numerical value is less than the second value (e.g., 20%). The processor (310) may determine that the deterioration of the driving module (30) has occurred to a certain level or more (or that inspection of the driving module (30) is required) if the calculated numerical value is greater than or equal to the second value (e.g., 20%). The processor (310) may provide the user with at least one of a notification that inspection of the driving module (30) is required or a notification that inspection of the wearable device (120) is required by visiting a service center.

[0142] FIG. 13 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0143] Referring to FIG. 13, in operation 1310, the wearable device (120) can generate torque and transmit the generated torque to the user's leg.

[0144] In operation 1320, the wearable device (120) can sense the movement of the user's joints to obtain at least one angular acceleration value.

[0145] In operation 1330, the wearable device (120) can determine whether the deterioration of the driving module (30) has occurred to a certain level or higher based on at least one acquired angular acceleration value.

[0146] In operation 1340, the wearable device (120) may provide a notification of deterioration when the deterioration of the driving module (30) exceeds a certain level.

[0147] The embodiments described through FIGS. 1 to 12 can be applied to the operating method of the wearable device (120) of FIG. 13.

[0148] Each embodiment of this specification may be used in combination with other embodiment(s) described herein.

[0149] According to one embodiment, a wearable device (120; 200; 300; 300-1) worn on a user's body may include a driving module (e.g., driving module (30)) that generates a torque, an angle sensor (e.g., angle sensor (320) and / or angle sensor (320-1)) that senses movement of a joint of the user to obtain at least one angular acceleration value, and a processor (310) that controls the driving module to generate the torque, receives the at least one angular acceleration value obtained from the angle sensor, determines whether deterioration of the driving module has occurred to a certain level or higher based on the received at least one angular acceleration value, and controls a notification of the deterioration to be provided to the user when it is determined that the deterioration has occurred to the certain level or higher.

[0150] According to one embodiment, the processor can determine a feature value based on at least one of the angular acceleration values ​​received from the angular sensor during a certain time period, determine an increase rate of the determined feature value compared to a reference angular acceleration value, and determine that the deterioration has occurred above a certain level when the determined increase rate is above a certain rate.

[0151] According to one embodiment, the feature value may include a maximum value, a minimum value, or an average value of the received angular acceleration values.

[0152] According to one embodiment, the processor may determine the reference angular acceleration value (e.g., at least one of a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) based on at least one of the angular acceleration values ​​received from the angular sensor during the initial time interval.

[0153] In one embodiment, the initial time interval may correspond to a time interval from a first initial time point when the user initially wears the wearable device and starts exercising to a second initial time point.

[0154] According to one embodiment, the processor can check whether the cumulative number of steps of the user reaches a predetermined number, determine an increase rate of the at least one received angular acceleration value compared to a reference angular acceleration value, and when the cumulative number of steps of the user reaches the predetermined number (e.g., at least one of the first to fourth step numbers of FIG. 9), determine whether the determined increase rate is greater than or equal to a rate set corresponding to the predetermined number (e.g., at least one of the rate set corresponding to each of the first to fourth step numbers described through FIG. 9), and when it is determined that the determined increase rate is greater than or equal to the rate set corresponding to the predetermined number, determine that the deterioration has occurred to a predetermined level or more.

[0155] According to one embodiment, the processor may calculate a numerical value indicating how much greater the angular velocity value of the joint of the user's leg is than the angular velocity value of the joint of the other leg of the user, and if the calculated numerical value exceeds a predetermined value, it may be determined that the deterioration has occurred above a predetermined level.

[0156] In one embodiment, the notification may include a notification indicating at least one of inspection or replacement of a motor of the drive module.

[0157] In one embodiment, the processor may cause the notification to be provided to the user via an electronic device of the user (e.g., electronic device (110), another wearable device (130)) or at least one of the wearable devices.

[0158] According to one embodiment, a wearable device (120; 200; 300; 300-1) worn on a user's body may include a driving module (30) that generates a torque, an angle sensor (320) that senses movement of a joint of the user to obtain angular acceleration values, and a processor (310). The processor may control the driving module to generate the torque, receive the obtained angular acceleration values ​​from the angle sensor, determine a feature value based on at least one of the received angular acceleration values, determine an increase rate of the determined feature value compared to a reference angular acceleration value, determine whether deterioration of the driving module has occurred to a certain level or higher based on the determined increase rate, and control a notification of the deterioration to be provided to the user when it is determined that the deterioration has occurred to the certain level or higher.

[0159] According to one embodiment, the processor may determine that the deterioration has occurred above a certain level if the determined increase rate is above a certain percentage.

[0160] According to one embodiment, the feature value may include a maximum or high value, a minimum or low value, or an average value.

[0161] According to one embodiment, the processor may determine the reference angular acceleration value (e.g., at least one of a first reference angular acceleration value, a second reference angular acceleration value, or a third reference angular acceleration value) based on at least one of the angular acceleration values ​​received from the angular sensor during the initial time interval.

[0162] In one embodiment, the initial time interval may correspond to a time interval from a first initial time point when the user initially wears the wearable device and starts exercising to a second initial time point.

[0163] According to one embodiment, the processor can check whether the user's cumulative number of steps reaches a predetermined number, and when the user's cumulative number of steps reaches the predetermined number, it can determine whether the determined increase rate is greater than or equal to a rate set corresponding to the predetermined number, and when it is determined that the determined increase rate is greater than or equal to a rate set corresponding to the predetermined number, it can determine that the deterioration has occurred to a predetermined level or higher.

[0164] According to one embodiment, the processor may calculate a numerical value indicating how much greater the angular velocity value of the joint of the user's leg is than the angular velocity value of the joint of the other leg of the user, and if the calculated numerical value exceeds a predetermined value, it may be determined that the deterioration has occurred above a predetermined level.

[0165] In one embodiment, the notification may include a notification indicating at least one of inspection or replacement of a motor of the drive module.

[0166] In one embodiment, the processor may cause the notification to be provided to the user via at least one of the user's electronic device or the wearable device.

[0167] According to one embodiment, a method of operating a wearable device (120; 200; 300; 300-1) worn on a user's body may include an operation of generating a torque and transmitting the generated torque to the user's leg, an operation of sensing a movement of a joint of the user to obtain at least one angular acceleration value, an operation of determining whether a deterioration of a driving module of the wearable device has occurred to a certain level or higher based on the obtained at least one angular acceleration value, and an operation of providing a notification about the deterioration when the deterioration has occurred to the certain level or higher.

[0168] According to one embodiment, the judging operation may include an operation of determining a first characteristic value from angular acceleration values ​​acquired over a certain time interval; an operation of determining an increase rate of the determined first characteristic value compared to a reference angular acceleration value; and an operation of determining that the deterioration has occurred above a certain level if the determined increase rate is above a certain rate.

[0169] According to one embodiment, the judging operation may include: checking whether the cumulative number of steps of the user reaches a predetermined number; determining an increase rate of the at least one acquired angular acceleration value compared to a reference angular acceleration value; determining whether the determined increase rate is greater than or equal to the increase rate corresponding to the predetermined number when the cumulative number of steps of the user reaches the predetermined number; and determining that the deterioration has occurred to a predetermined level or greater when it is determined that the determined increase rate is greater than or equal to the increase rate corresponding to the predetermined number.

[0170] According to one embodiment, the judging operation may include an operation of calculating a numerical value indicating how much greater the angular velocity value of a joint of the user's leg is than the angular velocity value of a joint of the other leg of the user; and an operation of determining that the deterioration has occurred above a predetermined level if the calculated numerical value exceeds a predetermined value.

[0171] 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. Furthermore, the processing device may 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.

[0172] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, 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.

[0173] 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 store 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.

[0174] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0175] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0176] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

[0177] While the present disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are intended to be illustrative and not limiting. Those skilled in the art will appreciate that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. It is also to be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. In a wearable device (120; 200; 300; 300-1) worn on a user's body, A drive module (30) comprising a motor and / or circuit and generating torque; An angle sensor (320) that senses the movement of the user's joints to obtain at least one angular acceleration value; and At least one processor (310) comprising a processing circuit Including, The above at least one processor individually and / or collectively, Controlling the driving module so that the driving module generates the torque, receiving at least one angular acceleration value obtained from the angle sensor, determining whether deterioration of the driving module has occurred to a certain level or higher based on the received at least one angular acceleration value, and controlling such that a notification regarding the deterioration is provided to the user when it is determined that the deterioration has occurred to the certain level or higher. Wearable devices.

2. In paragraph 1, The above at least one processor individually and / or collectively, A feature value is determined based on at least one of the angular acceleration values ​​received from the angle sensor during a certain time interval, an increase rate of the determined feature value compared to a reference angular acceleration value is determined, and if the determined increase rate is greater than a certain rate, it is determined that the deterioration has occurred above a certain level. Wearable devices.

3. In paragraph 2, The above characteristic value includes at least one of the maximum value, minimum value, or average value of the received angular acceleration values. Wearable devices.

4. In paragraph 2, The above at least one processor individually and / or collectively, Determining the reference angular acceleration value based on at least one of the angular acceleration values ​​received from the angular sensor during the initial time interval, Wearable devices.

5. In paragraph 4, The above initial time interval corresponds to the time interval from the first initial time point to the second initial time point when the user starts exercising by wearing the wearable device. Wearable devices.

6. In any one of paragraphs 1 to 5, The above at least one processor individually and / or collectively, Checking whether the cumulative number of steps of the user reaches a predetermined number, determining an increase rate of at least one received angular acceleration value compared to a reference angular acceleration value, and if the cumulative number of steps of the user reaches the predetermined number, determining whether the determined increase rate is greater than or equal to an increase rate corresponding to the predetermined number, and determining that the deterioration has occurred above a predetermined level if it is determined that the determined increase rate is greater than or equal to an increase rate corresponding to the predetermined number. Wearable devices.

7. In any one of paragraphs 1 to 6, The above at least one processor individually and / or collectively, Calculating a numerical value representing how much greater the angular velocity value of the joint of the user's leg is than the angular velocity value of the joint of the other leg of the user, and determining that the deterioration has occurred above a certain level if the calculated numerical value exceeds a predetermined value. Wearable devices.

8. In any one of paragraphs 1 to 7, The above notification includes a notification indicating at least one of inspection or replacement of the motor of the drive module. Wearable devices.

9. In any one of paragraphs 1 to 8, The above at least one processor individually and / or collectively, causing said notification to be provided to said user via at least one of said user's electronic device or said wearable device; Wearable devices.

10. In the operating method of a wearable device (120; 200; 300; 300-1) worn on a user's body, An action of generating torque and transmitting the generated torque to the user's leg; An action of sensing the movement of the user's joints to obtain at least one angular acceleration value; An operation of determining whether deterioration of a drive module of the wearable device has occurred to a certain level or more based on at least one of the acquired angular acceleration values, wherein the drive module includes a motor and / or a circuit; and Action to provide notification of the above deterioration when the above deterioration exceeds the above specified level. Including, Method of operation of a wearable device.

11. In paragraph 10, The above judging action is, An operation of determining a feature value based on at least one of the angular acceleration values ​​acquired over a certain time interval; An operation for determining an increase rate of the determined characteristic value compared to a reference angular acceleration value; and An action that determines that the deterioration has occurred above a certain level when the determined increase rate is above a certain percentage. Including, Method of operation of a wearable device.

12. In paragraph 11, The above feature value includes at least one of the maximum value, minimum value, or average value of the acquired angular acceleration values. Method of operation of a wearable device.

13. In paragraph 11, An operation of determining the reference angular acceleration value based on at least one of the angular acceleration values ​​acquired during the initial time interval. Including more, Method of operation of a wearable device.

14. In paragraph 10, The above judging action is, An action to check whether the cumulative number of steps of the above user reaches a set number; An operation for determining an increase rate of at least one acquired angular acceleration value compared to a reference angular acceleration value; When the cumulative number of steps of the user reaches the set number of times, an operation for determining whether the determined increase rate is greater than or equal to the increase rate corresponding to the set number of times; and An operation for determining that the deterioration has occurred above a certain level when the determined increase rate is determined to be greater than the increase rate corresponding to the determined number of times. Including,, Method of operation of a wearable device.

15. In paragraph 10, The above judging action is, An operation of calculating a numerical value representing how much greater the angular velocity value of a joint of the user's leg is than the angular velocity value of a joint of the user's other leg; and An operation that determines that the deterioration has occurred above a certain level when the calculated numerical value exceeds a set value. Including, Method of operation of a wearable device.

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