Haptic feedback control method for controlling haptic feedback of wearable device and wearable device and electronic device for performing same

Abstract

A haptic feedback control method for controlling haptic feedback of a wearable device and a wearable device and / or an electronic device for performing the same are disclosed. The haptic feedback control method may comprise the operations of: receiving sensor data including movement information of a user from a wearable device when an exercise program using the wearable device is executed; determining a threshold interval for haptic intensity of haptic feedback on the basis of at least one of user profile data of the user, exercise attribute data of the exercise program, and the sensor data; determining the haptic intensity of the haptic feedback to be provided to the user within the determined threshold interval for haptic intensity; and, when a haptic feedback delivery event occurs, transmitting, to the wearable device, a control signal for controlling the haptic feedback of the determined haptic intensity to be provided to the user.

Description

A haptic feedback control method for controlling haptic feedback of a wearable device, a wearable device performing the same, and an electronic device

[0001] Certain embodiments relate to haptic feedback control techniques for controlling haptic feedback of a wearable device, and wearable devices and / or electronic devices performing 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 people in exercising. Recently, as the aging society deepens, the number of people who have difficulty walking normally or complain of discomfort when walking due to leg joint problems is increasing, and interest in walking assistance devices is also increasing. Walking assistance devices can be worn on the user's body to assist the necessary muscle strength and / or guide the user's walking so that the user can walk with a normal walking pattern, thereby assisting exercise and / or walking. These walking assistance devices can also perform functions that assist the user with various leg exercises (e.g., power walking, jogging, stair climbing, lunges, stretching).

[0003]

[0004] The solution to this problem is provided to introduce, in a simplified form, some concepts that are further explained in the detailed description below. It is not intended to identify key or essential features of the claimed composition, nor is it intended to aid in determining the scope of the claimed composition.

[0005] A haptic feedback control method for controlling haptic feedback of a wearable device according to an exemplary aspect may include an operation of receiving sensor data including movement information of a user from a wearable device when an exercise program using the wearable device is performed, an operation of determining a threshold section for a haptic intensity of the haptic feedback based on at least one of user profile data of the user, exercise attribute data of the exercise program, and sensor data, an operation of determining a haptic intensity of the haptic feedback to be provided to the user within the threshold section for the determined haptic intensity, and an operation of transmitting a control signal to the wearable device for controlling the provision of haptic feedback of the determined haptic intensity to the user when a haptic feedback provision event occurs.

[0006] According to another exemplary aspect, an electronic device may include a processor, and a communication module that includes a communication circuit and communicates with a wearable device under the control of the processor. At least one processor including a processing circuit may individually and / or collectively receive, through the communication module, sensor data including movement information of a user from a wearable device when an exercise program using the wearable device is performed, and determine a threshold range for a haptic intensity of haptic feedback based on at least one of user profile data of the user, exercise attribute data of the exercise program, and sensor data. The processor(s) may determine a haptic intensity of haptic feedback to be provided to the user within the threshold range for the determined haptic intensity. When a haptic feedback provision event occurs, the processor may transmit, through the communication module, a control signal to the wearable device that controls providing haptic feedback of the determined haptic intensity to the user.

[0007] According to an exemplary aspect, a wearable device may include a driving module including a motor that generates a torque, a torque transmission frame for transmitting the generated torque to a user's leg, a thigh fastening part directly or indirectly connected to the torque transmission frame and for connecting the torque transmission frame to the user's leg, a sensor module for acquiring sensor data including movement information of a user when an exercise program using the wearable device is performed, a haptic module including a haptic actuator for providing haptic feedback to the user, a communication module including a communication circuit and receiving haptic intensity data including information about a haptic intensity of the haptic feedback from an electronic device, and a processor including a processing circuit and controlling a haptic intensity generated by the haptic actuator based on information about the haptic intensity included in the haptic intensity data. A maximum intensity and / or a high intensity of the haptic intensity generated by the haptic actuator may be included in a threshold range for the haptic intensity determined based on at least one of user profile data of the user, exercise attribute data of the exercise program, and sensor data.

[0008] Other features and aspects will become apparent from the detailed description, drawings and claims that follow.

[0009] These and / or other aspects, features and advantages will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings.

[0010] FIG. 1 is a drawing illustrating an overview of a wearable device worn on a user's body according to an example embodiment.

[0011] FIG. 2 is a drawing for explaining an exercise assistance system including a wearable device and an electronic device according to an exemplary embodiment.

[0012] FIG. 3 illustrates a rear schematic diagram of a wearable device according to an exemplary embodiment.

[0013] FIG. 4 illustrates a left side view of a wearable device according to an exemplary embodiment.

[0014] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to an exemplary embodiment.

[0015] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an exemplary embodiment.

[0016] FIG. 7 is a diagram illustrating a configuration of an electronic device according to an exemplary embodiment.

[0017] FIG. 8 is a flowchart illustrating operations of a haptic feedback control method for controlling haptic feedback of a wearable device according to an exemplary embodiment.

[0018] FIG. 9 is a diagram for explaining the difference in perception of haptic intensity according to user characteristics according to an exemplary embodiment.

[0019] Fig. 10 is a diagram for explaining the difference in perception of haptic intensity according to exercise intensity of an exercise program according to an exemplary embodiment.

[0020] FIG. 11 is a diagram illustrating determining a critical section for haptic intensity of haptic feedback according to an exemplary embodiment.

[0021] FIG. 12 is a diagram illustrating determining the haptic intensity of haptic feedback within a critical interval for the haptic intensity according to an exemplary embodiment.

[0022] FIG. 13 is a diagram illustrating a method for determining whether a user recognizes haptic feedback according to an exemplary embodiment.

[0023] FIG. 14 is a diagram for explaining adjustment of a critical section for haptic intensity according to an exemplary embodiment.

[0024] FIG. 15 is a diagram illustrating an example of adjusting haptic intensity according to sensor data according to an exemplary embodiment.

[0025] FIGS. 16A, 16B, 16C, 16D, and 16E are diagrams illustrating movement situations in which a haptic feedback provision event occurs according to an exemplary embodiment.

[0026] FIGS. 17A and 17B are drawings illustrating applications using haptic feedback according to an exemplary embodiment.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] Hereinafter, specific 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.

[0031]

[0032] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0033] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercise, and / or work. The wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a human or an animal, but is not limited thereto. A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0034] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0035] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode refers to a mode that impedes the body movement of the user (110) or provides resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs in the resistance mode to further enhance the exercise effect on the legs of the user (110). The assistance mode of the exercise assistance mode refers to a mode that applies an assistance force to the body of the user (110) to assist the exercise of the user (110). In the assist mode, an assistive force, which is a force in the same direction as the body movement, is provided to the user (110) to assist the user's body movement. For example, when a disabled person or an elderly person wears the wearable device (100) and exercises, the wearable device (100) may provide an assistive force to assist the body movement. In the assistive mode, the wearable device (100) may provide a force in the same direction as the user's (110) leg movement, and the user (110) may improve walking speed and walking distance with less force. In an exercise program, the resistance mode and the assistive mode may be operated in combination. For example, the wearable device (100) may provide an assistive force and a resistance force in combination by exercise section or time section, such as providing an assistive force in some exercise sections and a resistance force in other exercise sections. In the exercise assistive mode, various exercise programs may be operated depending on the exercise purpose and / or the physical ability of the user (110).The exercise program may include, for example, aerobic exercise, strength training, postural balancing exercise, or any combination thereof. Depending on the exercise program performed by the wearable device (100), the resistance mode and the assistance mode may be appropriately switched and operated, and a target exercise speed appropriate to the user's (110) appropriate physical condition (e.g., heart rate) may be guided to the user while the user is exercising. For example, the target exercise speed may be provided in units of kilometers per hour (km / h), but is not limited thereto.

[0036] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using a sensor (e.g., an angle sensor (125), an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks and / or exercises, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100). The physical ability measurement mode may include an exercise movement measurement mode for measuring the exercise movement (or exercise posture) of the user (110).

[0037] In a specific embodiment, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs). The shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0038] According to one embodiment, the wearable device (100) includes a support frame (e.g., a waist support frame (20) as shown in FIGS. 3-4) for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110), a drive module (120) for generating a torque applied to the legs of the user (110) (e.g., the drive modules (35, 45) of FIG. 3), a torque transmission frame for transmitting the torque generated by the drive module (120) to the legs of the user (110) (e.g., the first torque transmission frame (55) and the second torque transmission frame (50) of FIG. 3), a sensor module including one or more sensors for obtaining sensor data including movement information about the body movement of the user (110) (e.g., the sensor module (520) of FIG. 5A), and a control module (130) for controlling the operation of the wearable device (100) (e.g., the sensor module (520) of FIG. 5A). 5a and 5b) may include a control module (510). Here, each 'drive module' may include a motor and / or a circuit.

[0039] The sensor module may include an angle sensor (125) and an inertial sensor (135). The angle sensor (125) may measure a rotation angle of a torque transmission frame of the wearable device (100) corresponding to a hip joint angle value of the user (110). The rotation angle of the torque transmission frame measured by the angle sensor (125) may be estimated to be a hip joint angle value (or a leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensor (125) may be disposed near a motor included in the drive module (120) that is directly or indirectly connected to the torque transmission frame. The inertial sensor (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure a change in acceleration and / or angular velocity according to a movement of the user (110). The inertial sensor (135) can measure, for example, a movement value of a waist support frame (e.g., waist support frame (20) of FIG. 3) or a base body (e.g., base body (80) of FIG. 3) of a wearable device (100). The movement value of the waist support frame or base body measured by the inertial sensor (135) can be estimated as a waist movement value or an upper body movement value of the user (110).

[0040] In one embodiment, the control module (130) and the inertial sensor (135) may be placed within a base body (e.g., base body (80) of FIG. 3) of the wearable device (100). The base body may be positioned at the waist area of ​​the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the waist support frame of the wearable device (100).

[0041] In one embodiment, the wearable device (100) can provide haptic feedback to the user through a haptic module (e.g., the haptic module (560) of FIGS. 5A and 5B). The haptic module can include one or more haptic actuators that provide haptic feedback. Haptic feedback has an advantage over visual feedback and sound feedback in that it can be quickly recognized by the user (110) without a separate confirmation process by the user (110) and is less constrained by other factors such as ambient noise. In haptic feedback, the haptic intensity (or intensity of the haptic feedback) can vary depending on the vibration intensity of the haptic actuator. Even if haptic feedback of the same haptic intensity occurs, the threshold intensity of the haptic feedback that the user (110) can feel and / or the haptic intensity that the user (110) feels may differ depending on the user characteristics (or user information) (e.g., age, gender, physical information) and / or exercise situation (e.g., exercise program type, exercise intensity, user movement) of the user (110). If the haptic intensity is too low, the user (110) may not be able to perceive the haptic feedback, and if the haptic intensity is too high, the user (110) may feel discomfort due to the haptic feedback. Therefore, it is desirable to provide haptic feedback of an appropriate haptic intensity to the user (110). According to one embodiment, when the wearable device (100) provides haptic feedback during the execution of an exercise program using the wearable device (100), the wearable device (100) may provide haptic feedback of an appropriate haptic intensity determined in consideration of the user characteristics and / or exercise situation. The haptic intensity of haptic feedback can be adjusted in real time based on user characteristics and / or exercise conditions. Determining the appropriate haptic intensity of haptic feedback is described in more detail below.

[0042]

[0043] FIG. 2 is a drawing for explaining an exercise assistance system including a wearable device and an electronic device according to one embodiment.

[0044] Referring to FIG. 2, the exercise assistance system (200) may include a wearable device (100), an electronic device (or user terminal) (210), another wearable device (220), and a server (230). In one embodiment, the exercise assistance system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)), or may add one or more other devices (e.g., a dedicated controller device for the wearable device (100).

[0045] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0046] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement and / or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., aerobic exercise such as power walking and outdoor walking, strength training such as squats, split lunges, dumbbell squats, and lunge and knee ups, stretching, postural balancing exercise, or any combination thereof) and / or an exercise intensity to be applied to the exercise program via the electronic device (210). The wearable device (100) may control the drive module of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including the user's movement information via the sensor module. The wearable device (100) can adjust the strength of the resistance and / or assist force applied to the user based on the user's selected exercise intensity. For example, the wearable device (100) can control the drive module to generate a resistance corresponding to the user's selected exercise intensity. As the exercise intensity increases, the magnitude of the resistance applied to the user may also increase.

[0047] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a lighting unit (e.g., the lighting unit (85) of FIG. 3) and may provide auditory feedback through an audio output module (e.g., the audio output module (550) of FIGS. 5A and 5B).

[0048] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with status information about the status of the wearable device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can recommend an exercise program using the wearable device (100) to the user, and analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by the sensor module of the wearable device (100) from the wearable device (100), and estimate the user's current exercise status, exercise result, exercise posture, and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the estimated current exercise status, exercise result, exercise posture, and / or physical ability through a graphical user interface (GUI).

[0049] In one embodiment, a user may execute a program (e.g., an application) on an electronic device (210) to control a wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from a driving module (e.g., the driving module (35, 45) of FIG. 3), the volume of audio output from an audio output module (e.g., the audio output module (550) of FIGS. 5A and 5B), the brightness of a lighting unit (e.g., the lighting unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0050] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210), and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, medical history, or body mass index (BMI). The server (230) may receive exercise history information regarding exercise performed by the user from the electronic device (210), and store and manage the received exercise history information. The server (230) may provide the electronic device (210) with various exercise programs or physical ability measurement programs that may be provided to the user. In one embodiment, the server (230) may be connected to the wearable device (100). The server (230) can receive sensor data measured by the wearable device (100) from the wearable device (100) and transmit control signals and / or exercise program-related data for controlling the operation of the wearable device (100) to the wearable device (100). In one embodiment, the server (230) can be a cloud server.

[0051] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be directly or indirectly connected to another wearable device (220). The user's exercise result information, physical ability information, and / or exercise motion evaluation information determined by the electronic device (210) may be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication). Other wearable devices (220) may be, for example, wireless earphones (222), a smartwatch (or a wearable device in the form of a watch) (224), or smartglasses (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices.

[0052] In one embodiment, wireless earphones (222) can be wirelessly connected to an electronic device (210) and / or a wearable device (100) to output guide voices, music, and / or sound effects related to an exercise program.

[0053] In one embodiment, the smartwatch (224) may include a biosensor (e.g., a heart rate sensor, an electromyography sensor) that measures a biosignal including heart rate information of the user, and may transmit the biosignal measured by the biosensor to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate the heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyography information of the user based on the biosignal received from the smartwatch (224), and may provide the estimated heart rate information and / or electromyography information to the user. The heart rate information and / or electromyography information may be used to determine the haptic intensity of the haptic feedback provided through the wearable device (100).

[0054] In one embodiment, the smartwatch (224) may include an inertial sensor for measuring user movement information and / or a position sensor for measuring user location information, and may transmit the user movement information and / or location information to the electronic device (210) and / or the wearable device (100). The smartwatch (224) may include a communication module (e.g., a short-range communication module) for communicating with another device (e.g., the electronic device (210), the wearable device (100)). In one embodiment, the smartwatch (224) may provide an exercise program related interface through a display. The exercise program related interface may be implemented through a separate application installed on the smartwatch (224).

[0055] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, in exercise mode, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise volume achieved, exercise time, and biometric information through the display. Additionally, the smart glasses (226) can output a screen to guide the user on their exercise path.

[0056] In one embodiment, the wearable device (100) may provide haptic feedback linked to the user's exercise motion when the user performs exercise according to an exercise program. For example, the wearable device (100) may activate a haptic actuator to provide haptic feedback when the user's exercise speed and / or exercise posture satisfy specific conditions. The electronic device (210) may set and adjust a haptic intensity applied to one or more haptic actuators included in the wearable device (100). If there are multiple haptic actuators, the same haptic intensity may be set for the haptic actuators, or a haptic intensity may be set for each of the haptic actuators. If the haptic intensity is set individually for each of the haptic actuators, the haptic intensity provided by the haptic actuators may be different from each other. The electronic device (210) can adjust the haptic intensity of the haptic feedback based on at least one of user profile data (e.g., gender, age, physical information), exercise situation data (e.g., exercise program type, exercise intensity, information about user movement), and sensor data (e.g., heart rate information, electromyography information) received from another wearable device (220). Since the wearable device (100) is a device worn on the user's body, it is desirable to provide a haptic stimulus with a natural haptic intensity without causing discomfort to the user when providing the haptic feedback. The electronic device (210) can reduce the possibility of the user feeling discomfort due to excessive haptic intensity by appropriately adjusting the haptic intensity of the haptic feedback according to the user's characteristics and / or exercise situation.

[0057]

[0058] Fig. 3 illustrates a rear schematic diagram of a wearable device according to one embodiment. Fig. 4 illustrates a left side view of a wearable device according to one embodiment.

[0059] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components may be added.

[0060] The base body (80) can be positioned on the user's lower back while the user is wearing the wearable device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) to prevent the wearable device (100) from falling downward due to gravity or to reduce the possibility of the wearable device (100) falling off while the user is wearing the wearable device. The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's lower back while the user is wearing the wearable device (100). The base body (80) can be directly or indirectly connected to the lower back support frame (20). Lower back support frame connection elements (not shown) that can be directly or indirectly connected to the lower back support frame (20) can be provided at both ends of the base body (80).

[0061] In one embodiment, a lighting unit (85) may be provided on the outer surface of the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a processor (not shown) of the wearable device (100) (e.g., the processor (512) of FIGS. 5A and 5B). According to an embodiment, the lighting unit (85) may be controlled so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) through the lighting unit (85).

[0062] The lumbar support frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The lumbar support frame (20) can extend from both ends of the base body (80). The user's lumbar region can be accommodated on the inside of the lumbar support frame (20). The lumbar support frame (20) can include at least one rigid body beam. Each beam can have a curved shape having a predetermined curvature so as to surround the user's lumbar region. A lumbar fastening portion (60) can be directly or indirectly connected to an end of the lumbar support frame (20). A driving module (35, 45) can be directly or indirectly connected to the lumbar support frame (20).

[0063] In one embodiment, a processor, a memory (e.g., a memory (514) of FIGS. 5A and 5B), an inertial sensor (e.g., an inertial sensor (135) of FIG. 1, an inertial sensor (522) of FIG. 5B), a communication module (e.g., a communication module (516) of FIGS. 5A and 5B), an audio output module (e.g., an audio output module (550) of FIGS. 5A and 5B), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the components disposed inside. The processor may generate a control signal for controlling the operation of the wearable device (100). The processor may control the motors of the drive modules (35, 45). The processor and the memory may be included in a control circuit. The control circuit may further include a power supply circuit for supplying power from the battery to each component of the wearable device (100).

[0064] In one embodiment, the wearable device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5A) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data including movement information of the user and / or movement information of components of the wearable device (100). The sensor module may include, but is not limited to, an inertial sensor (e.g., inertial sensor (135) of FIG. 1 and inertial sensor (522) of FIG. 5B) for measuring a movement value of the user's upper body or a movement value of the lumbar support frame (20) and an angle sensor (e.g., angle sensor (125) of FIG. 1 and a first angle sensor (524) and a second angle sensor (524-1) of FIG. 5B) for measuring a movement value of the user's hip joint or a movement value of the torque transmission frame (50, 55). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, a distance sensor, or a proximity sensor.

[0065] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0066] The drive module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the drive module (35, 45) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the drive module (35, 45) can include a first drive module (45) positioned corresponding to the user's right hip joint position and a second drive module (35) positioned corresponding to the user's left hip joint position. The first drive module (45) can include a first actuator and a first joint member, and the second drive module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the magnitude and direction of the force generated by the motor.

[0067] In one embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. In one embodiment, the first joint member and the second joint member can be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first torque transmission frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the first joint member or the first torque transmission frame (55) (corresponding to the user's joint angle) can be disposed on one side of the first joint member. One side of the second joint member can be connected to the second actuator, and the other side can be connected to the second torque transmission frame (50). The second joint member can be rotated by power transmitted from the second actuator. An encoder or hall sensor that can function as an angle sensor for measuring the rotation angle of the second joint member or the second torque transmission frame (50) can also be arranged on one side of the second joint member.

[0068] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0069] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can transmit the torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., the leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the movement of the user's leg. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be directly or indirectly connected to a joint member and rotated. The other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is directly or indirectly connected to the first thigh fastening portion (2) and the second thigh fastening portion (1), so that the first torque transmission frame (55) and the second torque transmission frame (50) can support the user's thigh while transmitting the torque generated by the first driving module (45) and the second driving module (35) to the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the length of the user's thigh and can be bent to wrap at least a portion of the user's thigh circumference. The first torque transmission frame (55) can be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) can be a torque transmission frame for transmitting torque to the user's left leg.

[0070] The first thigh fastening part (2) and the second thigh fastening part (1) are directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fix the wearable device (100) to the user's leg (particularly, the thigh). The first thigh fastening part (2) may be a thigh fastening part for fixing the wearable device (100) to the user's right thigh, and the second thigh fastening part (1) may be a thigh fastening part for fixing the wearable device (100) to the user's left thigh.

[0071] In one embodiment, the first thigh fastening unit (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening unit (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may apply torque generated from the first driving module (45) and the second driving module (35) to the user's thigh, respectively. The first cover and the second cover may be disposed on one side of the user's thigh, respectively, to push or pull 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 respect to the other end of the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and may include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover may be directly or indirectly connected to the first fastening frame and the second fastening frame, respectively. The other end of each of the first cover and the second cover can be directly or indirectly connected to the first strap and the second strap.

[0072] 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 the user's thigh from being detached from the wearable device (100) or reducing the possibility of detachment. 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.

[0073] 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).

[0074]

[0075] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0076] Referring to FIG. 5A, a wearable device (e.g., wearable device (100)) may be controlled by a control system (500). The control system (500) may include a control module (510) (including control circuitry such as processing circuitry of a processor), a communication module (516) including communication circuitry, a sensor module (520) including at least one sensor, a drive module (530) including motor and / or driver circuitry, an input module (540) including circuitry, and an audio output module (550). The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). Although the embodiment of FIG. 5A illustrates a drive module (530) including one motor driver circuit (532) and one motor (534), this is merely an example. Referring to FIG. 5B, in the control system (500-1), as in the embodiment illustrated in FIG. 5B, there may be a plurality of motor driver circuits (532, 532-1) and motors (534, 534-1) (e.g., two or more). The drive module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first drive module (45) of FIG. 3, and the drive module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second drive module (35) of FIG. 3. The description of each of the motor driver circuit (532) and the motor (534) described below may also be applied to the motor driver circuit (532-1) and the motor (534-1) illustrated in FIG. 5B.

[0077] Returning to FIG. 5A, the sensor module (520) may include at least one sensor for acquiring sensor data. The sensor module (520) may transmit the acquired sensor data to the control module (510) (including a control circuit such as a processing circuit of a processor). The sensor module (520) may include a sensor for acquiring sensor data including movement information of the user or movement information of the wearable device. The sensor module (520) may include an inertial sensor (522), a first angle sensor (524), and a second angle sensor (524-1) as illustrated in FIG. 5B. The inertial sensor (522) may measure movement values ​​of the user's upper body. For example, the inertial sensor (522) may sense accelerations of the X-axis, Y-axis, and Z-axis and angular velocities of the X-axis, Y-axis, and Z-axis according to the movement of the user. In addition, the inertial sensor (522) can obtain movement values ​​(e.g., acceleration values ​​and angular velocity values) of the lumbar support frame of the wearable device. The first angle sensor (524) and the second angle sensor (524-1) can measure hip joint angle values ​​according to the movement of the user's legs. The first angle sensor (524) can sense a change in the hip joint angle value of the user's right leg, and the second angle sensor (524-1) can sense a change in the hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder and / or a Hall sensor. In addition, the first and second angle sensors (524, 524-1) can obtain movement values ​​of the torque transmission frame of the wearable device. For example, the first angle sensor (524) can obtain a movement value (e.g., a rotation angle value) of the first torque transmission frame (55), and the second angle sensor (524-1) can obtain a movement value (e.g., a rotation angle value) of the second torque transmission frame (50).

[0078] In one embodiment, the sensor module (520) may further include a position sensor for obtaining a position value of the wearable device, a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, and a temperature sensor for measuring the ambient temperature.

[0079] The input module (540) can receive commands or data to be used in a component of the wearable device (e.g., a processor (512)) from an external source (e.g., a user) of the wearable device. The input module (540) can include, for example, a key (e.g., a button) or a touch screen.

[0080] The audio output module (550) can output audio signals to the outside of the wearable device. The audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice.

[0081] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device. The wearable device may convert the power of the battery to an operating voltage of each component of the wearable device and supply the converted power to each component.

[0082] The drive module (530) can generate an external force applied to the user's leg under the control of the control module (510). The drive module (530) is located at a location corresponding to the user's hip joint position and can generate a torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit a control signal to the motor driver circuit (532), and the motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534). Depending on the control signal, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying a current signal to the motor (534), the motor (534) can generate an assistive force that assists the movement of the user's leg or a resistive force that impedes the movement of the leg.

[0083] The control module (510) controls the overall operation of the wearable device and can generate control signals for controlling each component of the wearable device. The control module (510) may include a processor (512) and a memory (514).

[0084] The processor (512) may, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device directly or indirectly connected to the processor (512), and may perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the resulting data after the processing in the memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently of or together with the main processor. The auxiliary processor may be implemented separately from the main processor or as a part thereof.

[0085] Each "processor" in this disclosure may include a processing circuit or may include multiple processors. For example, as used in this disclosure, including in the claims, the term "processor" may include various processing circuits including at least one processor, wherein one or more of the at least one processor may be configured to perform various functions described herein, individually and / or collectively, in a distributed manner. When "processor," "at least one processor," and "one or more processors" are described herein as being configured to perform multiple functions, these terms include, but are not limited to, situations where one processor performs some of the recited functions and another processor performs other of the recited functions, and situations where a single processor may perform all of the recited functions. Furthermore, the at least one processor may include a combination of processors that perform various recited / disclosed functions, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform various functions.

[0086] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0087] The communication module (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication module (516) may transmit sensor data acquired by the sensor module (520) to an external electronic device (e.g., the electronic device (210) of FIG. 2) and receive a control signal from the external electronic device. In one embodiment, the communication module (516) may include one or more communication processors that operate independently from the processor (512) and support direct (e.g., wired) communication or wireless communication. In one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. Any of these communication modules may communicate with other components of the wearable device and / or external electronic devices via a short-range communication network such as, for example, Bluetooth, WiFi (wireless fidelity), or IrDA (infrared data association), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN).

[0088] The haptic module (560) may include a haptic actuator that provides haptic feedback to a user. The haptic actuator may include, for example, a piezo actuator, a bander type actuator, and / or a vibration motor-based actuator. There may be one or more haptic actuators. In one embodiment, the haptic actuator may be located in at least one of a base body (e.g., the base body (80) of FIG. 3), a torque transmission frame (e.g., the first torque transmission frame (55) and the second torque transmission frame (50) of FIG. 3), and a thigh fastening part (e.g., the first thigh fastening part (2) and the second thigh fastening part (1) of FIG. 3) of the wearable device (100). In one embodiment, when the haptic module (560) includes a plurality of haptic actuators, the haptic intensities of the haptic feedback provided by the haptic actuators may be different from each other.

[0089] According to one embodiment, a wearable device (100) includes a drive module (530, 530-1) including a motor (534, 534-1) for generating torque, a torque transmission frame for transmitting the generated torque to the user's leg (e.g., the first torque transmission frame (55) and the second torque transmission frame (50) of FIG. 3), a thigh fastening part connected to the torque transmission frame and for connecting the torque transmission frame to the user's leg (e.g., the first thigh fastening part (2) and the second thigh fastening part (1) of FIG. 3), a sensor module (520) for acquiring sensor data including movement information of the user when an exercise program using the wearable device (100) is performed, a haptic module (560) including a haptic actuator for providing haptic feedback to the user, a communication module (516) for receiving haptic intensity data including information on the haptic intensity of the haptic feedback from an electronic device (210), and a haptic module (518) for receiving haptic intensity data including information on the haptic intensity of the haptic feedback based on the information on the haptic intensity included in the haptic intensity data. It may include a processor (512) that controls the haptic intensity generated by the actuator. The wearable device (100) may further include a base body (e.g., base body (80) of FIG. 3) that supports the user's waist.

[0090] The maximum intensity of the haptic intensity generated by the haptic actuator may be included in a threshold range for the haptic intensity determined based on at least one of the user profile data of the user, exercise attribute data of the exercise program, and sensor data. Determining the threshold range for the haptic intensity is described in detail below. The threshold range for the haptic intensity may be determined by the electronic device (210), the wearable device (100), and / or a server (e.g., the server (230) of FIG. 2).

[0091] In this disclosure, “based on ~” includes “based at least on ~.”

[0092] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0093] Referring to FIG. 6, a wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0094] In one embodiment, the electronic device (210) may execute an application for checking the status of the wearable device (100) or controlling or operating the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0095] In one embodiment, a user may input a command (e.g., a command to execute a walking assistance mode or an exercise assistance mode) for controlling the operation of the wearable device (100) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control command (or a control signal) corresponding to the operation control command or setting change command input by the user and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may analyze the control result and / or sensor data to provide the user with result information (e.g., current exercise status information, exercise result information, exercise posture evaluation information, physical ability evaluation information) through the GUI screen.

[0096]

[0097] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0098] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication module (730), a display module (740), an audio output module (750), and an input module (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output module (750)), or may have one or more other components added (e.g., a sensor module, a haptic module, a battery).

[0099] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or operations. According to one embodiment, as at least a part of the data processing or operations, the processor (710) may store commands or data received from other components (e.g., communication module (730)) in the memory (720), process the commands or data stored in the memory (720), and store result data in the memory (720).

[0100] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or a secondary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0101] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication module (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include volatile memory or non-volatile memory. Here, each processor includes a processing circuit.

[0102] The communication module (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing a communication function. The communication module (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (730) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication module) that performs wireless communication. The communication module (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0103] The display module (740) can visually provide information to an external device (e.g., a user) of the electronic device (210). The display module (740) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) can further include a control circuit for controlling display operation. In one embodiment, the display module (740) can further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch. The display module (740) can output a user interface screen for controlling the wearable device (100) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (100).

[0104] The audio output module (750) can output an audio signal to the outside of the electronic device (210). The audio output module (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100). For example, if it is determined that the wearable device (100) is not normally worn on the user's body, the audio output module (750) can output a guide voice to inform the user of the abnormal wearing of the wearable device (100) or to induce normal wearing.

[0105] The input module (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., the processor (710)) from an external source (e.g., a user) of the electronic device (210). The input module (760) can include an input component circuit and can receive user input. The input module (760) can include, for example, a key (e.g., a button) and / or a touch recognition circuit for recognizing a touch on a screen.

[0106] An electronic device (210) according to one embodiment may include a processor (710) and a communication module (730) that communicates with a wearable device (100) under the control of the processor (710). The processor (710) may receive sensor data including movement information of a user from the wearable device (100) through the communication module (730) when an exercise program using the wearable device (100) is performed. The processor (710) may determine a threshold section for a haptic intensity of haptic feedback based on at least one of user profile data of the user, exercise attribute data of the exercise program, and sensor data received from the wearable device (100).

[0107] In one embodiment, the processor (710) may determine a first boundary value of a critical section based on at least one of user profile data of a user, exercise attribute data of an exercise program, and sensor data, and may determine a second boundary value of the critical section by applying a weight to the determined first boundary value. The critical section for the haptic intensity may correspond to a section between the first boundary value and the second boundary value. When the first boundary value is a lower limit value of the critical section, the second boundary value may be an upper limit value of the critical section, and when the first boundary value is an upper limit value of the critical section, the second boundary value may be a lower limit value of the critical section.

[0108] In one embodiment, the processor (710) may adjust the threshold range for the determined haptic intensity if at least one of the exercise attribute data and the sensor data changes during the execution of the exercise program. For example, if the exercise program and / or the exercise intensity changes during the execution of the exercise program, the processor (710) may re-determine the threshold range for the haptic intensity based on the changed exercise program and / or exercise intensity. If the user's movement information measured by the wearable device (100) significantly changes during the execution of the exercise program, the processor (710) may re-determine the threshold range for the haptic intensity based on the changed user's movement information.

[0109] In one embodiment, the processor (710) may determine a haptic intensity of haptic feedback to be provided to the user within a threshold range for the determined haptic intensity. The processor (710) may determine a haptic intensity value to be provided to the user from among haptic intensity values ​​that are greater than or equal to a lower limit value and less than or equal to an upper limit value of the threshold range. For example, the processor (710) may extract a plurality of different haptic intensity values ​​within the threshold range for the haptic intensity, and determine any one of the extracted haptic intensity values ​​as the haptic intensity value of the haptic feedback to be provided to the user. For example, a smallest value, a middle value, or a largest value among the haptic intensity values ​​may be determined as the haptic intensity value of the haptic feedback to be provided to the user.

[0110] In one embodiment, when a haptic feedback provision event occurs, the processor (710) may transmit a control signal to the wearable device (100) via the communication module (730) to control the provision of haptic feedback of a determined haptic intensity to the user. For example, the haptic feedback provision event may occur in at least one of the cases where the hip joint angle according to the user's exercise posture reaches a reference angle and where the user's exercise posture deviates from the reference posture. In addition, the haptic feedback provision event may be determined to have occurred when notifying the user of an increase or decrease in exercise intensity during an exercise process, requesting the user to increase or decrease the exercise speed, and / or providing a warning to the user when the user's heart rate reaches a reference value.

[0111] In one embodiment, the processor (710) may determine a haptic pattern according to the type of haptic feedback provision event. For example, when an exercise program for a walking exercise is being performed, the processor (710) may generate a control signal for reducing the cycle of a haptic pattern of haptic feedback provided through the wearable device (100) when the target exercise speed of the walking exercise increases. The processor (710) may determine the haptic intensity of the determined haptic pattern (or the maximum intensity of the haptic intensity of the haptic pattern) based on a threshold section for the determined haptic intensity.

[0112] In one embodiment, after haptic feedback is provided to the user, the processor (710) may determine whether the user has recognized the haptic feedback. For example, whether the user has recognized the haptic feedback may be determined based on whether the user has performed an action corresponding to the haptic feedback after the haptic feedback is provided. Alternatively, whether the user has recognized the haptic feedback may be determined based on recognition evaluation information for the haptic feedback input by the user through the input module (760). After providing the haptic feedback, the electronic device (210) may inquire of the user through an application whether the user has recognized the haptic feedback, and the user may input recognition evaluation information for the haptic feedback through the input module (760). The recognition evaluation information may include, for example, evaluation information regarding whether the haptic feedback has been recognized and / or the intensity of the haptic feedback.

[0113] In response to a determination that the user did not perceive haptic feedback, the processor (710) may adjust the threshold range for the haptic intensity. For example, the processor (710) may increase the lower bound of the threshold range for the haptic intensity. As the lower bound is increased, the upper bound of the threshold range for the haptic intensity may be increased or may remain unchanged.

[0114]

[0115] FIG. 8 is a flowchart illustrating operations of a haptic feedback control method for controlling haptic feedback of a wearable device according to one embodiment. In one embodiment, at least one of the operations in FIG. 8 may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. In addition, at least one of the operations may be omitted, and another operation may be additionally performed.

[0116] Referring to FIG. 8, an exercise program may be started in operation (810). For example, the electronic device (210) may recommend several exercise programs to the user, and an exercise program selected by the user among several exercise programs may be started. The electronic device (210) may select recommended exercise programs to be recommended to the user from among all exercise programs based on user information (e.g., gender, age, physical condition, medical history), exercise purpose (e.g., weight loss, body shape management, muscle strength increase, endurance increase, reduction of possibility of chronic disease or prevention of chronic disease, physical strength improvement), and / or exercise performance history, and may provide the selected recommended exercise programs through a display. Upon starting the exercise program, the user may perform an exercise process according to the exercise program while wearing the wearable device (100).

[0117] In one embodiment, immediately after an exercise program is selected or at the beginning of the exercise program, a threshold range for haptic intensity may be determined based on user profile data including user information (e.g., gender, age, physical condition) and / or exercise attribute data of the exercise program (e.g., type of exercise program, set exercise intensity), and the haptic intensity of haptic feedback to be provided through the wearable device (100) may be determined within the determined threshold range. Alternatively, immediately after an exercise program is selected or at the beginning of the exercise program, a preset default haptic intensity may be applied.

[0118] Thereafter, the electronic device (210) can determine an appropriate haptic intensity for haptic feedback by considering the user characteristics and / or movement conditions according to the following operations, and control the wearable device (100) so that haptic feedback of the determined appropriate haptic intensity is provided to the user.

[0119] In operation (820), the electronic device (210) may receive sensor data including user movement information from the wearable device (100) when an exercise program using the wearable device (100) is performed. The electronic device (210) may receive sensor data not only from the wearable device (100) but also from other devices (e.g., the smartwatch (224) of FIG. 2). For example, the electronic device may receive sensor data including user biometric information (e.g., heart rate information, electromyography information) from the smartwatch.

[0120] In operation (830), the electronic device (210) can determine a threshold range for the haptic intensity of the haptic feedback. The threshold range represents an intensity range that the haptic intensity of the haptic feedback provided from the wearable device (100) can have (or can be set to).

[0121] In one embodiment, the electronic device (210) may determine a threshold range for the haptic intensity of the haptic feedback based on at least one of the user profile data of the user, exercise attribute data of the exercise program, and sensor data. The user profile data may include, for example, information about at least one of the user's age and the user's gender. The user profile data may further include at least one of the user's physical information (e.g., height, weight) and medical history. The exercise attribute data may include, for example, information about at least one of the type of the exercise program and the exercise intensity set in the exercise program. The sensor data may include, for example, information about at least one of the user's movement-related acceleration, the user's movement-related speed, the user's hip joint angle, and the user's heart rate. Information about acceleration and velocity according to the user's movement can be obtained by an inertial sensor of the wearable device (100) (e.g., an inertial sensor (522) of FIG. 5B), and information about the user's hip joint angle can be obtained by an angle sensor of the wearable device (100) (e.g., a first angle sensor (524) and a second angle sensor (524-1) of FIG. 5B). Information about the user's heart rate can be obtained by a heart rate sensor of a smartwatch (e.g., a smartwatch (224) of FIG. 2). The electronic device (210) can score information of sensor data and determine a threshold section for haptic intensity based on the scored result.

[0122] According to one embodiment, the act of determining a threshold interval for the haptic intensity may include an act of determining a lower bound value of the threshold interval for the haptic intensity higher as the exercise intensity of the exercise program increases.

[0123] According to one embodiment, the operation of determining a threshold interval for the haptic intensity may include an operation of determining a lower bound of the threshold interval for the haptic intensity to be higher as the user gets older.

[0124] In one embodiment, the lower bound of the threshold interval for the haptic intensity set when the user is male may be greater than the lower bound of the threshold interval for the haptic intensity set when the user is female.

[0125] According to one embodiment, the operation of determining a threshold interval for a haptic intensity may include adjusting the threshold interval for the determined haptic intensity when at least one of the movement attribute data and the sensor data changes during the execution of the movement program. The threshold interval for the haptic intensity may be re-determined based on the changed movement attribute data and / or the changed sensor data.

[0126] According to one embodiment, the operation of determining a threshold interval for a haptic intensity may include: determining a first boundary value of the threshold interval based on at least one of user profile data of a user, exercise attribute data of an exercise program, and sensor data; and determining a second boundary value of the threshold interval by applying a weight to the determined first boundary value. Here, the threshold interval for the haptic intensity may correspond to an interval between the first boundary value and the second boundary value. When the first boundary value is a lower limit value of the threshold interval, the second boundary value may be an upper limit value of the threshold interval. When the first boundary value is an upper limit value of the threshold interval, the second boundary value may be a lower limit value of the threshold interval.

[0127] In one embodiment, the electronic device (210) may determine first and second boundary values ​​of a critical section for a haptic intensity using a haptic intensity determination model. The haptic intensity determination model may be a mathematical model that determines the first boundary value as a weighted sum of feature values ​​included in at least one of the user's profile data, motion attribute data, and sensor data, and determines the second boundary value as a value obtained by adding a result of applying the weight to the first boundary value to the first boundary value. For example, a mathematical model for determining the first boundary value in the haptic intensity determination model may be as shown in the following mathematical equation 1.

[0128]

[0129] Here, X L where W0 represents the weighted intercept for the haptic intensity, and U1 and U2 represent independent variables related to user information (e.g., age, gender, etc.) included in the user profile data. 11 , W 12 represents the weights applied to independent variables related to user information. P1 and P2 represent independent variables related to exercise program-related information (e.g., exercise program type, exercise intensity, etc.) included in exercise attribute data, and W 21 , W 22 represents the weights applied to independent variables related to exercise program information. S1 and S2 represent independent variables related to sensor information (e.g., movement information, heart rate information, etc.) included in the sensor data, and W 31 , W 32 represents the weights applied to the independent variables related to sensor information. Here, the number of independent variables included in mathematical expression 1 may be 1 or more or 0 for each of user information, exercise program related information, and sensor information. For example, the first boundary value X of mathematical expression 1L Only independent variables of any one of the user's profile data, exercise attribute data and sensor data may be used to determine the .

[0130] A mathematical model for determining the second boundary value in the haptic intensity determination model may be, for example, as shown in the following mathematical expression 2.

[0131]

[0132] Here, X L The critical interval for the haptic intensity represents the first boundary value (assumed to be the lower bound), and X U represents the second boundary value (assumed to be the upper bound) for the critical interval for the haptic intensity. K is the second boundary value X U To determine the first boundary value X L Indicates the weight applied to .

[0133] Given at least one of the user's profile data, movement attribute data, and sensor data, a threshold range for haptic intensity can be determined according to Equations 1 and 2. The determined threshold range for haptic intensity can correspond to a haptic intensity range where the user can perceive haptic feedback and is considered not to feel discomfort due to the haptic feedback.

[0134] In operation (840), the electronic device (210) may determine a haptic intensity of the haptic feedback based on the threshold section for the haptic intensity determined in operation (830). The electronic device (210) may determine a haptic intensity of the haptic feedback to be provided to the user within the threshold section for the determined haptic intensity. In one embodiment, the operation of determining the haptic intensity may include an operation of extracting a plurality of haptic intensity values ​​within the threshold section for the haptic intensity and an operation of determining one of the extracted haptic intensity values ​​as a haptic intensity value of the haptic feedback to be provided to the user. For example, a plurality of haptic intensity values ​​may be extracted within the threshold section by dividing the threshold section into n (a natural number greater than 2). n may be a number by which a user can recognize a change in the haptic intensity when the threshold section is divided into n. Among the extracted haptic intensity values, the smallest value, the median value (e.g., the median value between the first boundary value and the second boundary value of the critical section), or the largest value may be determined as the haptic intensity value of the haptic feedback to be provided to the user. In one embodiment, the electronic device (210) may gradually increase the haptic intensity within the critical section as the exercise intensity increases, and may gradually decrease the haptic intensity within the critical section as the exercise intensity decreases. The haptic intensity may vary discretely or continuously.

[0135] In operation (850), the electronic device (210) may determine whether a haptic feedback provision event has occurred during the user's exercise program. For example, the haptic feedback provision event may be determined to have occurred in at least one of the following cases: when the hip joint angle according to the user's exercise posture reaches a reference angle; and when the user's exercise posture deviates from the reference posture. In addition, the haptic feedback provision event may be determined to have occurred in situations such as adjusting exercise speed (e.g., walking speed), adjusting left-right walking balance, notifying the wearable device (100) of switching between resistance mode / assistance mode, notifying the achievement of an exercise goal, and warning of collision with surrounding objects. If it is determined that the haptic feedback provision event has not occurred ('No' in operation (850)), the electronic device (210) may restart from operation (820).

[0136] If it is determined that a haptic feedback provision event has occurred (if 'yes' in operation (850)), in operation (860), the electronic device (210) may transmit a control signal to the wearable device (100) for controlling the haptic feedback of the haptic intensity determined in operation (840) to be provided to the user. A haptic pattern (vibration pattern of the haptic actuator) determined for each haptic feedback provision event may exist, and the electronic device (210) may transmit a control signal to the wearable device (100) for controlling the haptic pattern corresponding to the generated haptic feedback provision event to be generated. The transmitted control signal may include information on the haptic intensity to be applied to each haptic actuator included in the wearable device (100). The wearable device (100) can set the haptic intensity of the haptic actuator based on a control signal received from the electronic device (210) and output haptic feedback of a haptic pattern corresponding to a haptic feedback provision event with the set haptic intensity. The maximum intensity or high intensity of the haptic intensity indicated in the haptic pattern can be set as the haptic intensity included in the control signal.

[0137] In operation (870), the electronic device (210) may determine whether the user has recognized the haptic feedback. Whether the user has recognized the haptic feedback may be determined based on whether the user has performed an action corresponding to the haptic feedback after the haptic feedback is provided. If the user has performed an action as intended by the haptic feedback, it may be determined that the user has recognized the haptic feedback. If the user has not performed an action corresponding to the haptic feedback after the haptic feedback is provided, it may be determined that the user has not recognized the haptic feedback. For example, in a situation where the user recognizes that a specific haptic pattern of haptic feedback is provided as a signal to increase walking speed, if the haptic feedback is provided but the user does not increase walking speed, it may be determined that the user has not recognized the haptic feedback. If the user has increased walking speed after the haptic feedback is provided, it may be determined that the user has recognized the haptic feedback.

[0138] As another example, whether a user perceived the haptic feedback may be determined based on perception evaluation information regarding the haptic feedback input by the user. After providing the haptic feedback, the electronic device may inquire the user about whether the user perceived the haptic feedback through a guide voice or an application. The user may input perception evaluation information regarding whether the user perceived the haptic feedback. The perception evaluation information may include, for example, evaluation information regarding whether the haptic feedback was perceived and / or the intensity of the haptic feedback.

[0139] If it is determined that the user did not perceive the haptic feedback ('No' in operation (870)), the electronic device (210) may adjust a threshold interval for the haptic intensity in operation (880). During the process of adjusting the threshold interval, parameters of the haptic intensity determination model may be updated. The parameters of the haptic intensity determination model may include, for example, weights used to determine the first threshold value of Equation 1 and / or weights applied to the first threshold value to determine the second threshold value of Equation 2. If it is determined that the user repeatedly does not perceive the haptic feedback, the electronic device (210) may adjust the haptic intensity of the haptic feedback until the user performs an action upon perception of the haptic feedback. For example, the electronic device (210) may gradually increase the haptic intensity of the haptic feedback until the user performs an action upon perception of the haptic feedback. The electronic device (210) can gradually increase the haptic intensity of the haptic feedback and determine the increased haptic intensity as the haptic intensity corresponding to the first boundary value until the user recognizes the haptic feedback and performs an action intended for the haptic feedback.

[0140] It is important to determine the appropriate haptic intensity of the haptic feedback because the haptic intensity may feel unpleasant to the user if it exceeds a certain level, and the user may not perceive the haptic feedback if the haptic intensity is too low. Meanwhile, the minimum intensity or low intensity of the haptic intensity for perceiving the haptic feedback may vary depending on the user's characteristics and / or exercise situation. The electronic device (210) may adjust the haptic intensity of the haptic feedback to suit the user based on the user's characteristics and / or exercise situation, thereby improving the user convenience.

[0141] In this embodiment, it has been described that the electronic device (210) determines the critical section and the haptic intensity within the critical section for the haptic intensity of the haptic feedback, but in addition to the electronic device (210), the wearable device (100) and / or the server (e.g., the server (230) of FIG. 2) may also determine the critical section and the haptic intensity within the critical section for the haptic intensity of the haptic feedback according to the operations described above.

[0142]

[0143] FIG. 9 is a diagram for explaining the difference in perception of haptic intensity according to user characteristics according to one embodiment.

[0144] Depending on the user characteristics, the minimum / lowest intensity (haptic threshold) of the haptic intensity at which the haptic feedback is felt may differ among users. Referring to FIG. 9, graphs (912, 914, 916) are shown that represent the change in the user's perceived intensity with respect to the haptic intensity according to the user profile (e.g., gender, age). Graph (912) represents the change in the user's perceived intensity with respect to the haptic intensity when the user profile is selected as a female in her 20s (922). In this case, the user feels the haptic threshold (I 11 ) begins to feel haptic feedback with a perceived intensity (U1). Graph (914) shows the change in user perceived intensity according to haptic intensity when the user profile is selected as a male in his 50s (924). In this case, the user feels the haptic threshold (I 12 ) begins to feel haptic feedback with a perceived intensity (U2). Graph (916) shows the change in user perceived intensity according to haptic intensity when the user profile is selected as a woman in her 50s (926). In this case, the user feels the haptic threshold (I 13) begins to feel haptic feedback with a perceived intensity (U3). The user profile distinction described as an example is only an example, and the user profile distinction can be further subdivided or distinguished differently. The haptic threshold values ​​(I) shown in the graphs (912, 914, 916) 11 , I 12 , I 13 ), haptic thresholds generally increase with age, and men tend to have higher haptic thresholds than women. Therefore, it may be desirable to adjust the haptic intensity of haptic feedback by considering user characteristics.

[0145] According to one embodiment, the electronic device (210) and / or the wearable device (100) may consider the above tendency and, when determining the threshold range for the haptic intensity, determine a lower limit value of the threshold range for the haptic intensity to be higher as the user gets older and / or determine a lower limit value of the threshold range for the haptic intensity set when the user is male to be higher than a lower limit value of the threshold range for the haptic intensity set when the user is female.

[0146]

[0147] FIG. 10 is a diagram for explaining the difference in perception of haptic intensity according to exercise intensity of an exercise program according to one embodiment.

[0148] The minimum intensity and / or low intensity of the haptic intensity for feeling haptic feedback according to the exercise intensity of the exercise program may be different among users. Referring to FIG. 10, graphs (1012, 1014, 1016) are shown that represent the change in the user's perceived intensity with respect to the haptic intensity according to the exercise intensity of the exercise program. Graph (1012) represents the change in the user's perceived intensity with respect to the haptic intensity when a low-intensity exercise program is performed (1022). In this case, the user may feel the haptic threshold (I 21) begins to feel haptic feedback with a perceived intensity (P1). The graph (1014) shows the change in user perceived intensity according to the haptic intensity when a medium-intensity exercise program is performed (1024). In this case, the user feels the haptic threshold (I 22 ) begins to feel haptic feedback with a perceived intensity (P2). The graph (1016) shows the change in user perceived intensity according to the haptic intensity when a high-intensity exercise program is performed (1026). In this case, the user starts to feel haptic feedback with a haptic threshold (I 23 ) begins to feel haptic feedback with a perceived intensity (P3). The distinction of exercise intensity described as an example is only an example, and the distinction of exercise intensity can be further subdivided or distinguished differently. The haptic threshold values ​​(I) shown in the graphs (1012, 1014, 1016) 21 , I 22 , I 23 ), the haptic threshold generally tends to increase as the exercise intensity increases. Therefore, it may be desirable to adjust the haptic intensity of the haptic feedback by considering the exercise intensity of the exercise program.

[0149] According to one embodiment, the electronic device (210) and / or the wearable device (100) may determine a lower limit value of the threshold range for the haptic intensity to be higher as the exercise intensity is higher, taking into account the above tendency when determining the threshold range for the haptic intensity.

[0150]

[0151] FIG. 11 is a diagram illustrating determining a critical section for haptic intensity of haptic feedback according to one embodiment.

[0152] In one embodiment, the haptic threshold of the haptic intensity of the haptic feedback that the user can ultimately perceive may be defined as a haptic threshold derived based on at least one of user characteristics, exercise properties related to the exercise program, and sensor values. It is desirable to provide haptic feedback only within a range where the haptic feedback is perceived without discomfort at a haptic intensity higher than the haptic threshold.

[0153] Referring to FIG. 11, graphs (1110, 1120, 1130) are illustrated that represent changes in user perceived intensity with respect to haptic intensity for each of user characteristics, exercise intensity of an exercise program, and sensor data (e.g., sensor values ​​of an inertial sensor and / or an angle sensor of a wearable device (100). By synthesizing the influence of the elements, changes in user perceived intensity with respect to haptic intensity that take into account user characteristics and exercise situations of a specific user can be derived, as in the graph (1140). The graph (1140) assumes that the user's perceived intensity according to the haptic intensity is reflected when the sensor data has a sensor value (1135).

[0154] Referring to the graph (1140), the user's haptic feedback recognition related section can be divided into a section (1162) where the user does not recognize the haptic feedback, a section (1164) where the user recognizes the haptic feedback but does not feel discomfort, and a section (1166) where the user feels discomfort about the haptic feedback. The user may set a haptic threshold (X L ) begins to perceive haptic feedback with a perceived intensity (T1), and the haptic intensity increases to a haptic intensity value (X U ) will cause discomfort. Haptic threshold (X L) can be determined by the contribution according to the user characteristics (1152), the contribution according to the exercise properties of the exercise program (1154), and the contribution according to the sensor data (1156). Each contribution is, for example, the first boundary value (haptic threshold value (X) in Equation 1 for each of the user characteristics, the exercise properties of the exercise program, and the sensor data. L ) can indicate the extent to which it influenced the decision. Contribution (1154) and contribution (1156) can indicate the contribution according to the exercise situation.

[0155] According to one embodiment, the electronic device (210) and / or the wearable device (100) may determine a threshold range for the haptic intensity of the haptic feedback based on at least one of user profile data, exercise attribute data of an exercise program, and sensor data. The threshold range for the determined haptic intensity may be determined, for example, through mathematical expressions 1 and 2, and may correspond to a range (1164) in the graph (1140) where the user recognizes the haptic feedback but does not feel discomfort. The electronic device (210) and / or the wearable device (100) may determine a threshold range of the haptic intensity at which the user is expected to recognize the haptic feedback but not feel discomfort due to the haptic feedback, taking into consideration user characteristics and / or exercise conditions.

[0156] This embodiment illustrates, but is not limited to, determining a threshold interval for haptic intensity based on user profile data, exercise attribute data of an exercise program, and sensor data. For example, the threshold interval for haptic intensity may be determined based on any one of user profile data, exercise attribute data of an exercise program, and sensor data, or any combination thereof.

[0157]

[0158] FIG. 12 is a diagram illustrating determining the haptic intensity of haptic feedback within a critical interval for the haptic intensity according to one embodiment.

[0159] Referring to Fig. 12, a graph (1210) represents a change in the user's perceived intensity with respect to the user's haptic intensity. The user's haptic feedback recognition-related sections can be divided into a section (1222) in which the user does not recognize the haptic feedback, a section (1224) in which the user recognizes the haptic feedback but does not feel discomfort, and a section (1226) in which the user feels discomfort with the haptic feedback. The user may set a haptic threshold (I 31 ) begins to perceive haptic feedback with a perceived intensity (E1), and the haptic intensity value (I 3n ) is felt at the point of reaching the cognitive intensity (E2), and it is assumed that discomfort is felt when the cognitive intensity (E2) is exceeded.

[0160] The electronic device (210) and / or the wearable device (100) may determine a section (1224) by considering the user characteristics and / or the movement situation. The section (1224) may correspond to a critical section for haptic intensity. In order to distinguish the haptic pattern and make it recognizable to the user according to the scenario in which haptic feedback is to be delivered to the user, n haptic intensity values ​​(I) are determined within the critical section. 31 , I 32 , I 33 , ... , I 3n ) can be extracted. The extracted haptic intensity values ​​(I 31 , I 32 , I 33 , ... , I 3n ) can provide haptic feedback of one haptic intensity value to the user depending on the scenario. For example, among the extracted haptic intensity values ​​(I 31 , I 32 , I 33 , ... , I 3n ) is the smallest value (I31 ), median or largest value (I 3n ) may be determined as a haptic intensity value of haptic feedback to be provided to the user. In one embodiment, the electronic device (210) and / or the wearable device (100) may gradually increase the haptic intensity within a section (1224) when the exercise intensity increases during the user's exercise, and may gradually decrease the haptic intensity within a section (1224) when the exercise intensity decreases.

[0161]

[0162] FIG. 13 is a diagram illustrating a method for determining whether a user recognizes haptic feedback according to one embodiment.

[0163] The electronic device (210) and / or the wearable device (100) may determine whether the user has perceived the haptic feedback after the haptic feedback is output. A process for determining whether the user has perceived the haptic feedback may be necessary to determine whether the haptic threshold of the currently set haptic intensity is appropriate (e.g., whether it is too low for the user to perceive it).

[0164] In one embodiment, whether the user has perceived the haptic feedback may be estimated based on whether the user has performed an action corresponding to the haptic feedback after the haptic feedback is output. If the user has performed an action in accordance with the intention conveyed by the haptic feedback, it may be determined that the user has perceived the haptic feedback. If the user has not performed an action corresponding to the haptic feedback after the haptic feedback is provided, it may be determined that the user has not perceived the haptic feedback.

[0165] Referring to Figure 13, when haptic feedback is provided while the user is performing a walking exercise at an average walking speed (V1), the walking speed is changed to a target walking speed (V o) is to be raised. Such motion guidance based on haptic feedback can be guided to the user before or during exercise. When haptic feedback is provided from the wearable device (100) at time A, if the user's walking speed is measured as in the graph (1310), it can be determined that the user has recognized the haptic feedback. Conversely, if the user's walking speed is measured as not significantly changing as in the graph (1320) after the haptic feedback is provided at time A, it can be determined that the user has not recognized the haptic feedback. For example, whether the haptic feedback is recognized can be determined by comparing the indices related to the exercise at time (t) (e.g., walking speed, hip joint angle, etc.) when the haptic feedback is output and when the haptic feedback is not output. If the situation in which the indices do not significantly change continues even though the haptic feedback is output, it can be determined that the user has not recognized the haptic feedback. If it is determined that the user did not perceive the haptic feedback, a process may be performed to determine whether the user perceived the haptic feedback.

[0166] In one embodiment, the perception of haptic feedback can be determined through a time series analysis method using an autoregressive integrated moving average (ARIMA) model. A mathematical equation representing an ARIMA-Intervention model for determining the presence or absence of influence of a specific event (X), such as the output of haptic feedback, when a specific event (X) occurs among the ARIMA models can be as follows.

[0167]

[0168] can be represented. V1 can represent the average walking speed before the haptic feedback corresponding to the average of the entire time series data is output. can represent the auto-regression (AR) parameters of the ARIMA-Intervention model. can represent the moving-average (MA) parameters of the ARIMA-Intervention model. X t can represent a binary variable representing an event (X). For example, X t It can have the value '1' when an event (X) occurs, and '0' at other times. represents the white noise component, and β represents the regression coefficient of Xt. When an event of the output of the haptic feedback occurs through the above ARIMA-Intervention model, V t -The influence of the event represented by V1(1330) can be determined numerically. For example, V t -If V1(1330) is above a certain threshold value, it is determined that the user has recognized the haptic feedback, and V t -If V1(1330) is less than a certain threshold, it can be determined that the user did not perceive the haptic feedback.

[0169] FIG. 14 is a diagram for explaining adjustment of a critical section for haptic intensity according to one embodiment.

[0170] If haptic feedback is output through the wearable device (100) but it is determined that the user does not perceive the haptic feedback, a process of adjusting the threshold range for the haptic intensity may be performed. The process of adjusting the threshold range may be performed automatically, for example, or may be performed when the user explicitly indicates that he or she does not perceive the haptic feedback through a process of confirming whether or not the haptic feedback was perceived.

[0171] In one embodiment, the process of adjusting the threshold interval may be performed by gradually increasing the haptic threshold of the haptic intensity until the user perceives the haptic feedback, or by adjusting the haptic intensity and then explicitly confirming to the user whether or not he or she is satisfied with the adjusted haptic intensity.

[0172] Referring to Fig. 14, it is assumed that the haptic feedback recognition related section of a specific user is divided into a section (1422) where the user does not recognize the haptic feedback, a section (1424) where the user recognizes the haptic feedback but does not feel discomfort, and a section (1426) where the user feels discomfort about the haptic feedback. The user has a haptic threshold (I 42 ) begins to perceive haptic feedback with a perceived intensity (E1), and the haptic intensity value (I 43 ) is felt at the point where it reaches the cognitive intensity (E2), and it is assumed that when it exceeds the cognitive intensity (E2), it feels unpleasant.

[0173] Initially, as in the graph (1410), the critical section of the haptic intensity is determined as the critical section (1432), and the user is provided with the haptic intensity (I) corresponding to the haptic threshold value of the critical section (1432). 41 ) is provided. Haptic intensity (I 41 ) does not provide a perceived intensity that falls within the range (1424, 1426) where the user can perceive haptic feedback, so the user must select the haptic intensity (I 41 ) will not perceive the haptic feedback. If it is determined that the user does not perceive the haptic feedback, a process of adjusting the threshold range for the haptic intensity may be performed. In one embodiment, the electronic device (210) and / or the wearable device (100) adjusts the haptic threshold of the haptic intensity (I) until it is determined that the user has perceived the haptic feedback. 41) can be gradually increased. When the user's haptic feedback recognition is confirmed, the electronic device (210) and / or the wearable device (100) can determine the haptic intensity when it is confirmed that the user has recognized the haptic feedback as a haptic threshold value, and can re-set the threshold range for the haptic intensity based on the determined haptic threshold value. For example, the haptic intensity (I 42 ) when the user is confirmed to have recognized the haptic feedback, the threshold interval for the haptic intensity is the haptic intensity (I 42 ) can be adjusted to a critical section (1434). The graph (1415) can represent a graph of changes in user perceived intensity for the user's haptic intensity reflecting the result of adjusting the critical section (1434). The critical section (1434) is the haptic intensity (I) when the user begins to perceive the haptic feedback. 42 ) and the largest or highest haptic intensity (I) at which the user does not feel discomfort from haptic feedback. 43 ) can correspond to the interval between them.

[0174]

[0175] FIG. 15 is a diagram illustrating an example of adjusting haptic intensity according to sensor data according to one embodiment.

[0176] In the process of performing an exercise by a user (110), the haptic threshold, which is the minimum intensity of the haptic intensity at which the user (110) feels haptic feedback, may vary depending on the exercise state of the user (110). If the movement value (e.g., acceleration, speed, hip joint angular velocity) or heart rate of the user (110) per hour is high, it may be estimated that the user (110) is in an exercise state in which he or she is actively exercising, and if the movement value and heart rate of the user (110) per hour are low, it may be estimated that the user (110) is in an exercise state in which he or she is not actively exercising.

[0177] Referring to FIG. 15, graphs (1512, 1514, 1516) are shown that represent changes in the perceived intensity of a user (110) with respect to haptic intensity according to a movement state. Graph (1512) represents changes in the perceived intensity of a user (110) with respect to haptic intensity when the user (110) is in a movement state (1522) in which the user (110) is not moving. In this case, the user (110) has a haptic threshold value (I 51 ) begins to feel haptic feedback with a perceived intensity (S1). The graph (1514) shows the change in the perceived intensity of the user (110) according to the haptic intensity when the user (110) is in a low-intensity exercise state (exercise or inactive exercise) (1524). In this case, the user (110) experiences a haptic threshold (I 52 ) begins to feel haptic feedback with a perceived intensity (S2). The graph (1516) shows the change in the perceived intensity of the user (110) according to the haptic intensity when the user (110) is in a high-intensity exercise state (actively exercising) (1526). In this case, the user (110) experiences a haptic threshold (I 53 ) begins to feel haptic feedback with a perceived intensity (S3). The distinction of the movement state described as an example is only an example, and the distinction of the movement state can be further subdivided or distinguished differently. The haptic threshold values ​​(I) shown in the graphs (1512, 1514, 1516) 51 , I 52 , I 53 ), the haptic threshold generally tends to increase as the movement becomes more active. Therefore, it may be desirable to adjust the haptic intensity of the haptic feedback by considering the movement state of the user (110).

[0178] According to one embodiment, the electronic device (210) and / or the wearable device (100) may adjust the haptic intensity of the haptic feedback provided from the haptic actuator (1530) of the wearable device (100) based on the real-time exercise state (e.g., change in exercise intensity) of the user (110) measured by the sensor, taking into account the above tendency. The electronic device (210) and / or the wearable device (100) may gradually increase the haptic intensity within a critical range for the haptic intensity when the exercise intensity increases during exercise, and may gradually decrease the haptic intensity within the critical range for the haptic intensity when the exercise intensity decreases. The haptic intensity may vary discretely or continuously depending on the exercise state.

[0179]

[0180] FIGS. 16a, 16b, 16c, 16d, and 16e are drawings illustrating movement situations in which a haptic feedback provision event occurs according to one embodiment.

[0181] Referring to FIG. 16A, in one embodiment, haptic feedback may be provided to guide walking speed, tempo of left and right leg movements, and / or left and right balance when a user (110) performs a bipedal exercise such as walking. For example, when a haptic pattern of haptic feedback corresponding to a target walking speed is provided to the user (110) through one or more haptic actuators (1612, 1614, 1616) included in the wearable device (100), the user (110) may intuitively recognize the walking tempo according to the target walking speed through the haptic pattern. The haptic feedback may be provided, for example, by one haptic actuator, or by haptic actuators arranged at thigh joints of both legs (e.g., the first thigh joint (2) and the second thigh joint (1) of FIG. 3). In one embodiment, when one haptic actuator is used, it is possible to guide the tempo of walking through haptic feedback, and when haptic actuators arranged at the thigh joints of both legs are used, it is possible to guide the tempo of walking of the left and right legs separately.

[0182] In one embodiment, when a walking exercise program is being performed and the target exercise speed of the walking exercise increases, the cycle of a haptic pattern of haptic feedback provided through one or more haptic actuators (1612, 1614, 1616) of the wearable device (100) may be reduced. By reducing the cycle of the haptic pattern, the user (110) can intuitively recognize that the walking speed should be increased in accordance with the haptic pattern.

[0183] In one embodiment, haptic feedback may be provided to guide the user's (110) exercise posture. By providing haptic feedback when the user's (110) exercise posture reaches a target posture, the user can intuitively recognize that the target posture has been reached. For example, assume that the user (110) is performing a knee-up exercise to strengthen the lower body muscles by raising the thighs. During the user's exercise motion of raising the right thigh, haptic feedback may be provided to the user (110) through the haptic actuator (1616) of the right thigh whenever the angle formed by the right thigh and the left thigh reaches the target angle (1622). The angle formed between the two thighs may be determined based on sensor data acquired from angle sensors of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5B ). During the process of the user performing the exercise motion of raising the left thigh, haptic feedback may be provided to the user (110) through the haptic actuator (not shown) of the left thigh at each moment when the angle formed by the left thigh and the right thigh reaches the target angle (1622).

[0184] FIG. 16B illustrates an exercise motion when a user (110) performs a mountain climber exercise according to one embodiment. The flexion angle of the hip joint of the user (110) is measured through an angle sensor included in the wearable device (100), and when the measured flexion angle reaches a target angle (1624), haptic feedback may be provided through a haptic actuator (e.g., haptic actuator (1616)). The user (110) can intuitively recognize that the flexion angle of the hip joint has reached the target angle (1624) through the haptic feedback, and it becomes possible to guide the user (110) to a desirable exercise motion.

[0185] FIG. 16C illustrates an exercise motion of a user (110) performing a plank exercise according to one embodiment. The torso posture of the user (110) may be measured through an inertial sensor included in the wearable device (100) (e.g., the inertial sensor (522) of FIG. 5B). In one embodiment, when the torso position of the user (110) rises above an allowable range, haptic feedback may be output to the lumbar region of the user (110) through the haptic actuator (1612), and when the torso position of the user (110) falls below an allowable range, haptic feedback may be output to the stomach region of the user (110) through the haptic actuator (1618). The user (110) may intuitively recognize that the exercise motion of the plank exercise is incorrect through the haptic feedback. In this way, haptic feedback can help the user (110) maintain a consistent motor movement that is targeted.

[0186] FIG. 16D illustrates an exercise motion when a user (110) performs a lunge exercise according to one embodiment. The flexion angle of the hip joint of the user (110) is measured through an angle sensor included in the wearable device (100), and when the measured flexion angle reaches a target angle (1626), haptic feedback may be provided through a haptic actuator (e.g., haptic actuator (1616)). The user (110) can intuitively recognize that the flexion angle of the hip joint has reached the target angle (1626) through the haptic feedback. In addition, the torso position of the user (110) may be measured through an inertial sensor included in the wearable device (100). If the measured torso position is outside the allowable angle range (1628), haptic feedback may be provided through a haptic actuator (e.g., haptic actuators (1612, 1618)). For example, if the torso of the user (110) leans forward and falls outside the allowable angle range (1628), haptic feedback may be provided through the haptic actuator (1618), and the user (110) may intuitively recognize that the torso position is outside the allowable angle range (1628) and leans forward through the haptic feedback transmitted to the stomach area. When the torso of the user (110) is tilted backward and out of the allowable angle range (1628), haptic feedback can be provided through the haptic actuator (1612), and the user (110) can intuitively recognize that the position of his / her torso is tilted backward and out of the allowable angle range (1628) through the haptic feedback transmitted to the lumbar region. The haptic actuators (1612, 1616, 1618) included in the wearable device (100) can provide haptic feedback simultaneously or individually depending on the exercise scenario. In addition, the haptic actuators (1612, 1616, 1618) can provide haptic feedback of the same haptic intensity or can provide haptic feedback of different haptic intensities.

[0187] FIG. 16E illustrates an exercise motion when a user (110) performs a bird dog exercise according to one embodiment. The leg posture of the user (110) can be measured through an angle sensor included in the wearable device (100). In one embodiment, when the leg position of the user (110) rises above an allowable range (1629), haptic feedback can be output to the back of the thigh of the user (110) through the haptic actuator (1617), and when the leg position of the user (110) goes down above an allowable range (1629), haptic feedback can be output to the front of the thigh of the user (110) through the haptic actuator (1615). In the bird dog exercise, it is important for the user (110) to keep his / her legs horizontal, and the user (110) can intuitively recognize whether he / she is keeping his / her legs horizontal through the haptic feedback.

[0188]

[0189] FIGS. 17A and 17B are drawings illustrating applications using haptic feedback according to one embodiment.

[0190] Haptic feedback can be utilized in various applications. Referring to FIG. 17A, a user (110) can wear a wearable device (100) and perform a virtual exercise program, such as a hula hoop exercise, according to hula hoop exercise content displayed on a display device (1710) (e.g., a TV or monitor). In one embodiment, when haptic actuators (1720) are provided in the base body and waist support frame of the wearable device (100), the waist direction of the user (110) is estimated based on sensor data acquired from an inertial sensor, and the haptic feedback output from each of the haptic actuators (1720) is controlled based on the estimated waist direction, thereby providing the user (110) with a reproducible sensation, such as performing a hula hoop exercise. The haptic actuators (1720) can be arranged at a distance from each other around the abdomen of the user (110). When a user (110) wears a wearable device (100) and performs a waist rotation movement as if turning a hula hoop, haptic feedback can be controlled to be output sequentially from the haptic actuator corresponding to the outermost direction. For example, when the user (110) performs a waist rotation movement, if the direction of the user's waist approaches a location (1731), haptic feedback can be output through the haptic actuator arranged toward the location (1731), and later, if the direction of the user's (110) waist approaches a location (1732), haptic feedback can be output through the haptic actuator arranged toward the location (1732). Afterwards, when the waist direction of the user (110) approaches the positions (1733), (1734), (1735), (1736), (1737), and (1738) in sequence according to the rotation order, haptic feedback can be output through the haptic actuators arranged at each position (1733, 1734, 1735, 1736, 1737, 1738). Afterwards, haptic feedback can be output in sequence again starting from the position (1731).This control allows the user (110) to feel as if he or she is spinning a hula hoop even without actually spinning the hula hoop.

[0191] Referring to FIG. 17B, a user (110) can perform diaphragmatic breathing by wearing a wearable device (100) and inducing breathing based on haptic feedback. In one embodiment, when haptic actuators (1720) of the wearable device (100) are placed around the waist of the user (110), the user (110) can be induced to take deep breaths, such as inhalation or exhalation, by controlling sequential haptic feedback. When inducing inhalation (1752), haptic feedback may be output first through the haptic actuators arranged at locations (1741, 1742), then through the haptic actuators arranged at locations (1743, 1744), and finally through the haptic actuator arranged at the most forward location (1745). Through the sequential output of haptic feedback, the inhalation and deep breathing tempo in the direction of expanding the abdomen may be guided to the user (110). When inducing exhalation (1754), haptic feedback may be output first through the haptic actuator positioned at the most forward position (1745), then through the haptic actuators positioned at positions (1743, 1744), and finally through the haptic actuators positioned at positions (1741, 1742). Through the sequential output of haptic feedback, the user (110) may be guided to exhale in the direction of contracting the abdomen and to perform deep breathing.

[0192]

[0193] The various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In the present disclosure, each of the phrases "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase among the phrases, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish the corresponding component from other corresponding components and do not limit the corresponding components in any other respect (e.g., importance or order). When a component (e.g., a first) is referred to as "coupled" or "connected" to another (e.g., a second) component, with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through at least a third component(s).

[0194] The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integral component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0195] 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, or computer storage medium or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium that can be read by a machine. For example, a processor of the device may recall at least one of the one or more instructions stored from the storage medium and execute it. This enables the device to operate to perform at least one function in accordance with the recalled at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0196] According to one embodiment, the method according to the embodiments may be provided as a computer program product. The computer program product may be traded between sellers and buyers as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or may be provided through an application store (e.g., Play Store). TM ) or directly between two user devices (e.g., smart phones), online distribution (e.g., downloading or uploading). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0197] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0198] While this disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are illustrative and not limiting. It will be further understood by those skilled in the art 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. Furthermore, it will be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. A haptic feedback control method for controlling haptic feedback of a wearable device (100), An action of receiving sensor data including user movement information from the wearable device (100) when an exercise program using the wearable device (100) is performed; An action of determining a threshold range for a haptic intensity of the haptic feedback based on at least one of user profile data of the user, exercise attribute data of the exercise program, and the sensor data; An operation for determining a haptic intensity of haptic feedback to be provided to the user within a critical interval for the determined haptic intensity; and When a haptic feedback provision event occurs, an operation of transmitting a control signal to the wearable device (100) to control providing haptic feedback of the determined haptic intensity to the user. A method for controlling haptic feedback comprising:

2. In paragraph 1, The operation of determining the critical range for the above haptic intensity is: An operation of determining a first boundary value of the critical section based on at least one of the user profile data of the user, exercise attribute data of the exercise program, and the sensor data; and An operation of determining a second boundary value of the critical interval by applying a weight to at least the first boundary value determined above. Including, The critical interval for the above haptic intensity corresponds to the interval between the first boundary value and the second boundary value. A method for controlling haptic feedback.

3. In paragraph 1 or 2, The operation of determining the critical range for the above haptic intensity is: An action of determining a higher lower limit value of the critical section for the haptic intensity as the exercise intensity of the exercise program is higher; and / or The action of determining the lower limit of the critical interval for the haptic intensity higher as the age of the user increases. A method for controlling haptic feedback comprising:

4. In any one of paragraphs 1 to 3, The lower limit of the critical interval for the haptic intensity set when the above user is male is is greater than the lower limit of the critical range for the haptic intensity set when the user is a woman; A method for controlling haptic feedback.

5. In any one of paragraphs 1 to 4, The operation of determining the critical range for the above haptic intensity is: An operation of adjusting a threshold section for the determined haptic intensity when at least one of the movement property data and the sensor data changes during execution of the movement program. A method for controlling haptic feedback comprising:

6. In any one of paragraphs 1 to 5, The action of determining the above haptic intensity is: An operation of extracting a plurality of haptic intensity values ​​within a critical interval for the haptic intensity; and An operation of determining one of the extracted haptic intensity values ​​as a haptic intensity value of haptic feedback to be provided to the user. A method for controlling haptic feedback comprising:

7. In any one of paragraphs 1 to 6, An action for determining whether said user has perceived said haptic feedback; and In response to a determination that the user did not perceive the haptic feedback, an action of adjusting a threshold interval for the haptic intensity. A method for controlling haptic feedback further comprising:

8. In any one of paragraphs 1 to 7, The haptic feedback provision event occurs in at least one of the following cases: when the hip joint angle according to the user's exercise posture reaches the reference angle and when the user's exercise posture deviates from the reference posture. A method for controlling haptic feedback.

9. A computer-readable recording medium having recorded thereon instructions that, when executed by at least one processor, cause the at least one processor to individually and / or collectively perform the method of any one of claims 1 to 8.

10. In an electronic device (210), At least one processor (710) comprising a processing circuit; and A communication circuit is included, and a communication module (730) is included for communicating with a wearable device (100) under the control of at least one processor (710). The above at least one processor (710) individually and / or collectively, At least through the communication module (730), when an exercise program using the wearable device (100) is performed, sensor data including user movement information is received from the wearable device (100), Determine a threshold range for the haptic intensity of the haptic feedback based on at least one of the user profile data of the user, the exercise attribute data of the exercise program, and the sensor data; Determine the haptic intensity of the haptic feedback to be provided to the user within a critical range for the above-determined haptic intensity, Based on the occurrence of a haptic feedback provision event, a control signal is transmitted to the wearable device (100) to control providing haptic feedback of the determined haptic intensity to the user at least through the communication module (730). Electronic device (210).

11. In paragraph 10, The at least one processor (710) including a processing circuit, individually and / or collectively, Determine a first boundary value of the critical section based on at least one of the user profile data of the user, exercise attribute data of the exercise program, and the sensor data; At least a second boundary value of the critical interval is determined by applying a weight to the first boundary value determined above, The critical interval for the above haptic intensity corresponds to the interval between the first boundary value and the second boundary value. Electronic device (210).

12. In clause 10 or 11, The at least one processor (710) including a processing circuit, individually and / or collectively, If at least one of the movement property data and the sensor data changes during the execution of the movement program, the threshold section for the determined haptic intensity is adjusted. Electronic device (210).

13. In any one of paragraphs 10 to 12, The at least one processor (710) including a processing circuit, individually and / or collectively, determine whether the user has perceived the haptic feedback; In response to a determination that the user did not perceive the haptic feedback, adjusting a threshold interval for the haptic intensity; Electronic device (210).

14. In any one of paragraphs 10 to 13, The at least one processor (710) including a processing circuit, individually and / or collectively, When the exercise program of the walking exercise is being performed, if the target exercise speed of the walking exercise increases, a control signal is generated to reduce the cycle of the haptic pattern of the haptic feedback provided through the wearable device (100). Electronic device (210).

15. In a wearable device (100), A drive module (530; 530-1) including a motor (534; 534-1) and generating torque; A torque transmission frame (50; 55) for transmitting the generated torque to the user's legs; A thigh fastening member (1; 2) connected to the torque transmission frame (50; 55) and for connecting the torque transmission frame (50; 55) to the user's leg; A sensor module (520) including a sensor and obtaining sensor data including movement information of the user when an exercise program using the wearable device (100) is performed; A haptic module (560) including a haptic actuator providing haptic feedback to the user; A communication module (516) including a communication circuit and receiving haptic intensity data including information about haptic intensity of the haptic feedback from an electronic device (210); and A processor (512) including a processing circuit and controlling a haptic intensity generated by the haptic actuator based on information about the haptic intensity included in the haptic intensity data, The maximum and / or high intensity of the haptic intensity generated by the haptic actuator is, The haptic intensity is included in a critical section determined based on at least one of the user profile data of the user, the exercise attribute data of the exercise program, and the sensor data. Wearable device (100).

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