Exercise assistance method for assisting user's exercise on basis of slope of ground, and wearable device and electronic device for performing same

Abstract

Disclosed are an exercise assistance method for assisting exercise of a user on the basis of a slope of the ground, and a wearable device and an electronic device for performing same. The exercise assistance method may comprise operations of: on the basis of sensor data, determining a ground slope in a direction in which a wearable device worn by a user moves; on the basis of the ground slope, determining whether the ground in the direction in which the wearable device moves is a downhill slope or an uphill slope; when the ground is determined as a downhill slope or an uphill slope, on the basis of the ground slope, determining a target exercise speed for achieving a target exercise amount of an exercise program running in the wearable device; and adjusting at least one of a current target exercise speed set in the exercise program and a current exercise intensity set in the exercise program on the basis of the determined target exercise speed.

Description

Exercise assistance method for assisting a user's exercise based on the slope of the ground, wearable device and electronic device performing the same

[0001] Embodiments relate to a movement assistance method for assisting a user's movement based on a slope such as a ground slope, and a wearable device and / or electronic device performing the same.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who cannot 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 are worn on the user's body and can assist the user with exercise and / or walking by assisting the user's desired or necessary muscle strength and guiding the user's walking so that the user can walk with a normal walking pattern. 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] 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.

[0004] In an exemplary embodiment, an exercise assistance method for assisting a user's exercise based on a slope of a ground may include an operation of determining a slope of a ground in a direction in which a wearable device worn by the user moves based on sensor data, an operation of determining whether the ground in the direction in which the wearable device moves is a downhill slope or an uphill slope based on the slope of the ground, an operation of determining a target exercise speed for achieving a target exercise amount of an exercise program being performed by the wearable device based on the slope of the ground when the ground is determined to be a downhill slope or an uphill slope, and an operation of adjusting at least one of a current target exercise speed set in the exercise program and a current exercise intensity set in the exercise program based on the determined target exercise speed.

[0005] In an exemplary embodiment, the electronic device may include at least one processor including a processing circuit, and a communication module including a communication circuit, the communication module communicating with the wearable device under the control of the processor, wherein the at least one processor may individually and / or collectively determine a target exercise speed for achieving a target exercise amount of an exercise program being performed by the wearable device based on a ground slope in a direction in which the wearable device moves when the wearable device is operating in an exercise mode that assists the user's exercise, and adjust at least one of a current target exercise speed of the wearable device and an exercise intensity currently set for the wearable device based on the determined target exercise speed.

[0006] In an exemplary embodiment, the wearable device includes a drive module that generates torque and includes a motor, a torque transmission frame for transmitting the generated torque to a user's leg, a thigh fastening member directly or indirectly connected to the torque transmission frame for connecting the torque transmission frame to the user's leg, and at least one processor, wherein the at least one processor is individually and / or collectively configured to determine a target exercise speed for achieving a target exercise amount of an exercise program being performed by the wearable device based on a ground slope in a direction in which the wearable device moves when the wearable device is operating in an exercise mode that assists the user's exercise, and adjust at least one of a current target exercise speed set in the exercise program and a current exercise intensity set in the exercise program based on the determined target exercise speed.

[0007] Other features and aspects will become apparent from the detailed description, drawings and claims that follow.

[0008] 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.

[0009] FIG. 1 is a drawing illustrating an overview of a wearable device worn on a user's body according to an example embodiment.

[0010] FIG. 2 is a drawing for explaining an exercise assistance system including a wearable device and an electronic device according to an exemplary embodiment.

[0011] FIG. 3 illustrates a rear schematic diagram of a wearable device according to an exemplary embodiment.

[0012] FIG. 4 illustrates a left side view of a wearable device according to an exemplary embodiment.

[0013] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to an exemplary embodiment.

[0014] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to an exemplary embodiment.

[0015] FIG. 7 is a diagram illustrating a configuration of an electronic device according to an exemplary embodiment.

[0016] FIGS. 8 and 9 are flowcharts illustrating operations of a motion assistance method for assisting a user's motion based on a ground slope according to an exemplary embodiment.

[0017] FIGS. 10A, 10B, and 10C are drawings illustrating adjustment of target exercise speed and / or exercise intensity at different slope sections according to an exemplary embodiment.

[0018] FIGS. 11A and 11B are drawings illustrating adjusting a target exercise speed and / or exercise intensity in a stair section according to an exemplary embodiment.

[0019] FIG. 12 is a diagram showing a user setting screen for adjusting target movement speed according to ground slope detection according to an exemplary embodiment.

[0020] FIGS. 13A and 13B are drawings showing guide screens displayed on a smartwatch according to an operation mode according to an exemplary embodiment.

[0021] FIG. 14 is a diagram showing map data showing a section in which a target movement speed is adjusted based on a ground slope according to an exemplary embodiment.

[0022] FIG. 15 is a diagram illustrating automatic adjustment of a movement mode based on detection of a previous movement path according to an exemplary embodiment.

[0023] 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 the present disclosure includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0024] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this disclosure, terms such as "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 preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] 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.

[0026] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0027] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0028] 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'.

[0029] 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. Here, each 'driving module' may include one or more of a motor, a sensor, and / or a circuit.

[0030] 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.

[0031] 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 of the user (110).

[0032] 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.

[0033] 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., leg movement, upper body movement), and a control module (130) for controlling the operation of the wearable device (100) (e.g., processing It may include a control module (510) of FIGS. 5A and 5B including a circuit.

[0034] 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).

[0035] 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).

[0036] FIG. 2 is a drawing for explaining an exercise assistance system including a wearable device and an electronic device according to one embodiment.

[0037] 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).

[0038] 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.

[0039] 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.

[0040] 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).

[0041] 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).

[0042] 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 brightness of a 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).

[0043] 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 directly or indirectly 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.

[0044] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be 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.

[0045] 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.

[0046] In one embodiment, the smartwatch (224) may include a heart rate sensor that measures a bio-signal including heart rate information of the user, and may transmit the bio-signal measured through the heart rate sensor to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) of the user based on the bio-signal received from the smartwatch (224) and may provide the estimated heart rate information to the user. In one embodiment, the smartwatch (224) may include an inertial sensor that measures movement information of the user and / or a position sensor that measures location information of the user, and may transmit the movement information and / or location information of the user 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) that includes communication circuitry for communicating with other devices (e.g., an electronic device (210), a 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).

[0047] In one embodiment, the smart glasses (226) can provide information to the user through a display in the form of glasses. For example, in exercise mode, the smart glasses (226) can output information such as current exercise speed, target exercise speed, ground slope, current exercise amount achieved, and exercise performance time through the display. In addition, the smart glasses (226) can output a screen to guide the user on an exercise path. The smart glasses (226) can include a vision sensor, and can acquire terrain data indicating the terrain shape in the direction in front of the user through the vision sensor. The ground slope in the direction in front of the user can be estimated by analyzing terrain feature points in the acquired terrain data.

[0048] In one embodiment, a user may select an exercise program from among several exercise programs and perform the selected exercise program. The exercise program performed by the user may have a target amount of exercise to be achieved, and a target exercise speed for each exercise section (e.g., exercise concentration section, recovery section) may be set before the exercise begins, taking into account the target amount of exercise. The target amount of exercise may be presented in the form of, for example, calories to be burned through exercise or the total number of steps. The user may receive exercise coaching guidance based on the target exercise speed set by the exercise program while performing the exercise. For example, if the user's current exercise speed (e.g., walking speed) is lower than the target exercise speed, a guidance voice may be provided to the user to walk faster. If the user's current exercise speed is higher than the target exercise speed or the user's heart rate is high, a guidance voice may be provided to the user to walk more slowly.

[0049] The target exercise speed of each exercise section set by the exercise program selected by the user does not take into account the ground slope of the terrain on which the user actually exercises. The amount of exercise achieved and the exercise intensity may vary depending on the ground slope. Assuming that exercise is performed at the same exercise speed for the same amount of time, the amount of exercise achieved may increase as the ground slope increases (i.e., as the ground slope of an uphill slope increases). Since the ground slope has a great influence on the amount of exercise as much as the exercise speed, it is desirable to consider the ground slope in order to accurately calculate the amount of exercise achieved by the user's exercise. In particular, when the user wears the wearable device (100) and performs exercise such as walking or running outdoors, the proportion of the ground slope that affects the actual amount of exercise may be large.

[0050] In order to more accurately manage the state of exercise volume achievement during exercise and to reduce the possibility of excessive physical strain on the user or safety issues, it is desirable to adjust the target exercise speed and / or exercise intensity during exercise by considering the ground slope measured while the user is exercising. When the wearable device (100) operates in resistance mode on an uphill road, if the ground slope is not taken into account, the user may exercise more than the planned exercise volume in the exercise program, which may cause the user to become easily tired. When the wearable device (100) operates in assistance mode on a downhill road, if the ground slope is not taken into account, the user may exercise less than the planned exercise volume or exercise at an inappropriately fast speed, which may cause safety accidents such as falls.

[0051] The wearable device (100) and / or the electronic device (210) may sense the ground slope of the path the user is currently walking on, and adjust the target exercise speed and / or exercise intensity to achieve the target exercise amount according to the ground slope. The ground slope may be, for example, expressed as a percentage (%) of the tangent value of the angle (degree) of the ground on which the user is positioned with respect to the horizon. In one embodiment, the wearable device (100) and / or the electronic device (210) may adjust the exercise intensity so that the user achieves the planned exercise amount when it is expected that the exercise amount achieved will differ from the exercise amount achieved planned in the exercise program due to the adjustment of the target exercise speed. The magnitude of the force provided to the user from the wearable device (100) may vary depending on the adjustment of the exercise intensity. In one embodiment, the exercise mode may be changed according to the measured ground slope. For example, when a high ground slope is detected, the exercise mode may be changed from a resistance mode to an assistance mode. The electronic device (210) may also adjust the target exercise speed based on the ground slope and the current exercise mode (or exercise section). For example, if the current exercise mode is resistance mode and a downhill ground slope is detected, the target exercise speed may be changed to a higher value than before. If the current exercise mode is assistance mode and a downhill ground slope is detected, the target exercise speed may not be changed or may be changed to a preset minimum speed for safety. In this way, the user's target exercise speed and / or exercise intensity may be adjusted based on the ground slope and / or exercise mode, thereby improving the efficiency, suitability, and safety of the exercise program.

[0052] In one embodiment, when a ground slope attribute (e.g., downhill slope, uphill slope, steep downhill slope, stairs) is detected based on the ground slope, a guide notification regarding the ground slope attribute may be provided to the user. Additionally, when a target exercise speed and / or exercise intensity is adjusted based on the ground slope, a guide notification regarding the adjustment of the target exercise speed and / or exercise intensity may be provided to the user. Such a guide notification may be provided to the user through an audio output module of the wearable device (100) (e.g., an audio output module (550) of FIGS. 5B and 5A) and another device communicating with the wearable device (100) (e.g., an electronic device (210), a wireless earphone (222), a smartwatch (224)).

[0053] 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.

[0054] 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.

[0055] 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).

[0056] 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).

[0057] 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).

[0058] 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).

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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 can be disposed on one side of the first joint member, which can act as an angle sensor for measuring a rotation angle (corresponding to the user's joint angle) of the first joint member or the first torque transmission frame (55). One side of the second joint member may be directly or indirectly connected to the second actuator, and the other side may be directly or indirectly connected to the second torque transmission frame (50). The second joint member may be rotated by power transmitted from the second actuator. An encoder or a hall sensor that may function as an angle sensor for measuring a rotation angle of the second joint member or the second torque transmission frame (50) may also be arranged on one side of the second joint member.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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 reducing the likelihood of the user's thigh being detached from the wearable device (100). 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.

[0068] 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).

[0069] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0070] Referring to FIG. 5A, a wearable device (e.g., the wearable device (100) of FIGS. 1-4) 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). In the embodiment of Fig. 5a, a drive module (530) including one motor driver circuit (532) and one motor (534) is illustrated, but this is only an example. Referring to Fig. 5b, as in the embodiment illustrated in Fig. 5b, the number of motor driver circuits (532, 532-1) and motors (534, 534-1) in the control system (500-1) may be plural (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 can also be applied to the motor driver circuit (532-1) and the motor (534-1) illustrated in FIG. 5b.

[0071] 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.

[0072] 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).

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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).

[0079] 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.

[0080] 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).

[0081] 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), ANT, 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).

[0082] A wearable device according to one embodiment may include a driving module (530, 530-1) including a motor (534, 534-1) for generating torque, a torque transmission frame for transmitting the generated torque to a user's leg (e.g., a first torque transmission frame (55) and a second torque transmission frame (50) of FIG. 3), 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 (e.g., a first thigh fastening part (2) and a second thigh fastening part (1) of FIG. 3), and a processor (512) for controlling the driving module (530, 530-1).

[0083] In one embodiment, when the wearable device (100) operates in an exercise mode that assists the user's exercise, the processor (512) may determine a target exercise speed for achieving a target amount of exercise of an exercise program being performed on the wearable device based on a ground slope in a direction in which the wearable device (100) moves. The processor (512) may adjust at least one of a current target exercise speed set in the exercise program and a current exercise intensity set in the exercise program based on the determined target exercise speed. When the exercise intensity is adjusted, the magnitude of the force provided to the user from the drive module (530, 530-1) may vary.

[0084] In one embodiment, the processor (512) may determine a target exercise speed that is lower than the current target exercise speed of the exercise program when it is determined that the ground in the direction in which the wearable device (100) is moving is an uphill slope and the magnitude of the ground slope is greater than or equal to a first threshold value.

[0085] In one embodiment, if the processor (512) determines that the ground in the direction in which the wearable device (100) is moving is a downhill slope and the magnitude of the ground slope is greater than a second threshold value, the processor (512) may adjust the current target exercise speed set in the exercise program to a predetermined low exercise speed or minimum exercise speed. For example, if the ground is a downhill slope and the magnitude of the ground slope is greater than the second threshold value, the processor (512) may determine that the current ground is a steep downhill slope and may execute the operation mode of the wearable device (100) as a safe mode. When the safe mode is executed, the current target exercise speed may be adjusted to the predetermined minimum exercise speed. In the safe mode, the processor (512) may reduce the intensity of the torque generated from the motor (534, 534-1)) or stop the generation of the torque.

[0086] In one embodiment, the processor (512) may determine a target exercise speed that is higher than the current target exercise speed of the exercise program when it is determined that the ground in the direction in which the wearable device (100) is moving is a downhill slope and the magnitude of the ground slope is included in a critical section.

[0087] In one embodiment, if it is determined that the user is climbing or descending stairs based on the ground slope, the processor (512) may adjust the current target exercise speed set in the exercise program to a predetermined minimum exercise speed and adjust the current exercise intensity set in the exercise program to 0. If the exercise intensity is adjusted to 0, no torque is generated from the power module (530, 530-1), and the user performs exercise without receiving external force from the wearable device (100).

[0088] In one embodiment, if the ground is uphill and the determined target exercise speed is lower than or equal to a predetermined minimum exercise speed, the processor (512) may adjust the current target exercise speed to the minimum exercise speed and lower the exercise intensity set in the exercise program. The minimum exercise speed may correspond to the lowest target exercise speed set in the exercise program. The lowering of the exercise intensity may reduce the magnitude of the torque generated from the motor (534, 534-1). If the ground is downhill and the determined target exercise speed is higher than or equal to a predetermined high exercise speed or maximum exercise speed, the processor (512) may adjust the current target exercise speed to the high exercise speed or maximum exercise speed and increase the exercise intensity set in the exercise program. The maximum exercise speed may correspond to the highest target exercise speed set in the exercise program. The increasing of the exercise intensity may increase the magnitude of the torque generated from the motor (534, 534-1).

[0089] In one embodiment, the target movement speed may be determined by another device (e.g., the electronic device (210) or server (230) of FIG. 2). Information about the ground slope and the target movement speed from the other device and / or a control signal for controlling the wearable device (100) based on the target movement speed may be transmitted to the wearable device (100) via the communication module (516).

[0090] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0091] 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).

[0092] 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).

[0093] 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.

[0094] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0095] 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).

[0096] 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).

[0097] 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.

[0098] 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.

[0099] 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).

[0100] 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).

[0101] 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.

[0102] 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.

[0103] According to one embodiment, the electronic device (210) may adjust attribute values ​​applied to an exercise program based on the ground slope in the direction in which the wearable device (100) moves when the wearable device (100) operates in an exercise mode that assists the user's exercise. For example, the electronic device (210) may adjust the current target exercise speed and / or exercise intensity of the exercise program based on the ground slope.

[0104] 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). When the wearable device (100) operates in an exercise mode that assists a user's exercise, the processor (710) may determine a target exercise speed for achieving a target exercise amount of an exercise program being performed in the wearable device (100) based on a ground slope in a direction in which the wearable device (100) moves. The processor (710) may adjust at least one of a current target exercise speed of the wearable device (100) and an exercise intensity currently set in the wearable device (100) based on the determined target exercise speed.

[0105] In one embodiment, if the processor (710) determines that the ground in the direction in which the wearable device (100) moves is an uphill slope and the magnitude of the ground slope is greater than or equal to a first threshold value, the processor (710) may determine a target exercise speed that is lower than the current target exercise speed of the exercise program. If the ground in the direction in which the wearable device (100) moves is an uphill slope and the determined target exercise speed is lower than or equal to a predetermined minimum exercise speed, the processor (710) may adjust the current target exercise speed to the minimum exercise speed and increase the exercise intensity set in the exercise program. If the exercise intensity is lowered, the processor (710) may generate a control signal for increasing the strength of the torque generated from the wearable device (100). The generated control signal can be transmitted to the wearable device (100) through the communication module (730), and the wearable device (100) can increase the intensity of the torque generated from the motor (e.g., the motor (534, 534-1) of FIG. 5b) in response to receiving the control signal.

[0106] In one embodiment, if the ground in the direction in which the wearable device (100) moves is a downhill slope and the magnitude of the ground slope is determined to be included in the critical section, the processor (710) may determine a target exercise speed that is higher than the current target exercise speed of the exercise program. When a user walks downhill, less force is required than when walking on flat ground, and accordingly, when walking at the same exercise speed, the amount of exercise achieved when walking downhill is less than the amount of exercise achieved when the user walks at the same exercise speed on flat ground. In order to achieve the planned target exercise amount, the processor (710) may increase the target exercise speed on a downhill road with a ground slope included in the critical section.

[0107] In one embodiment, if the ground in the direction in which the wearable device (100) moves is a downhill slope and the determined target exercise speed is higher than the predetermined maximum exercise speed, the processor (710) may adjust the current target exercise speed to the maximum exercise speed and increase the exercise intensity set in the exercise program. If the exercise intensity is increased, the processor (710) may generate a control signal for increasing the intensity of the torque generated from the wearable device (100). The generated control signal may be transmitted to the wearable device (100) through the communication module (730), and the wearable device (100) may increase the intensity of the torque generated from the motor (e.g., the motor (534, 534-1) of FIG. 5B) in response to receiving the control signal.

[0108] In one embodiment, if the processor (710) determines that the ground in the direction in which the wearable device (100) is moving is a downhill slope and the magnitude of the ground slope is greater than a second threshold value, the processor (710) may adjust the current target exercise speed set in the exercise program to a predetermined minimum exercise speed. If the ground is a downhill slope and the magnitude of the ground slope is greater than or equal to the second threshold value, the processor (710) may determine that the current ground is a steep downhill slope and generate a control signal to control the wearable device (100) to operate in a safe mode. The generated control signal is transmitted to the wearable device (100) through the communication module (516 / 730) (including a communication circuit), and the wearable device (100) may adjust the current target exercise speed to the predetermined minimum exercise speed in response to receiving the control signal. When the wearable device (100) operates in the safe mode, the wearable device (100) may reduce the torque intensity or not generate torque in addition to adjusting the target exercise speed.

[0109] In one embodiment, if the processor (710) determines that the user is climbing or descending stairs based on the ground slope, the processor (710) may adjust the current target exercise speed set in the exercise program to a predetermined minimum exercise speed and adjust the current exercise intensity set in the exercise program to 0. If the exercise intensity is adjusted to 0, no torque is generated from the wearable device (100), and the user performs the exercise without receiving external force from the wearable device (100).

[0110] In one embodiment, the display module (740) may include a display that provides map data (e.g., map data (1410) of FIG. 14) showing a user's exercise path according to the execution of an exercise program, and a section of the exercise path in which a target exercise speed is adjusted based on a ground slope. The display module (740) may show the exercise path that the user has moved in the course of executing the exercise program on the map data. The display module (740) may provide the user with a display of a section of the user's exercise path in which a ground slope was present, a section in which a target exercise speed was adjusted based on the ground slope, and a section in which the user exercised without adjusting the target exercise speed on the map data.

[0111] FIG. 8 is a flowchart illustrating the operations of a motion assistance method for assisting a user's motion based on ground slope 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. Furthermore, at least one of the operations may be omitted, and another operation may be additionally performed.

[0112] Referring to FIG. 8, in operation (810), the ground slope in the direction in which the wearable device (100) worn by the user moves (corresponding to the direction in which the user moves) can be determined based on sensor data. In one embodiment, the ground slope may be expressed as a percentage of the tangent value of the angle (degree) that the ground slope has with respect to a flat surface. For example, a magnitude of the ground slope of 100% may correspond to an angle of the ground slope of 45 degrees. When walking, the higher the ground slope and the faster the walking speed, the more energy the user consumes.

[0113] Ground slope can be measured or determined by several entities.

[0114] In one embodiment, when the electronic device (210) and / or the smartwatch (224) determines the ground slope, the electronic device (210) and / or the smartwatch (224) may determine the ground slope based on sensor data measured by a sensor included in the electronic device (210) and / or map data indicating elevation information of the terrain. The sensor may include, for example, a location sensor (e.g., a GPS sensor) for measuring the user's location, an inertial sensor for measuring the user's movement, a barometric pressure sensor for measuring the barometric pressure of the location where the user is located, a geomagnetic sensor for measuring the direction in which the user is facing, etc. In one embodiment, the electronic device (210) and / or the smartwatch (224) may estimate the shape of the surrounding terrain where the user is located based on the user's location and map data measured by the location sensor, and may estimate the direction in which the user is facing through the geomagnetic sensor. The electronic device (210) and / or the smartwatch (224) may estimate the ground slope from the user's location to the direction in which the user is moving based on the estimation result. In one embodiment, the electronic device (210) and / or the smartwatch (224) can estimate the change in altitude (corresponding to the slope angle of the ground) relative to the distance traveled based on the distance traveled measured by the inertial sensor (or position sensor) during the user's walking exercise and the change in air pressure measured by the air pressure sensor when moving the corresponding distance, and can estimate the ground slope based on the estimation result.

[0115] In one embodiment, when the wearable device (100) determines the ground slope, the wearable device (100) may estimate the user's walking pattern based on the user's movement information measured through sensors (e.g., the inertial sensor (522), the first angle sensor (524), and the second angle sensor (524-1) of FIG. 5B), and estimate the ground slope based on the estimated walking pattern. The wearable device (100) may determine information about the ground slope based on the angular difference between the angle of the first torque transfer frame (corresponding to the hip joint angle of the user's right leg) and the angle of the second torque transfer frame (corresponding to the hip joint angle of the user's left leg) and the point of contact of the foot with the ground through analysis of the user's walking cycle. Information about ground slope may include ground slope properties (e.g., whether it is an uphill slope, a downhill slope, a flat surface, or stairs) and ground slope. Information about ground slope determined by the wearable device (100) may be transmitted to the electronic device (210).

[0116] In one embodiment, the ground slope can be determined using smart glasses (226) equipped with a vision sensor. Point cloud data representing the shape of the terrain in the forward direction in which the user moves can be acquired through the vision sensor, and the smart glasses (226) can estimate the ground slope of the road in the forward direction of the user based on the point cloud data. The smart glasses (226) can recognize a plane in the point cloud data and estimate the ground slope of the terrain in front based on the recognized plane. Information about the estimated ground slope can be transmitted to the electronic device (210). Alternatively, the point cloud data acquired by the smart glasses (226) can be transmitted to the electronic device (210), and the electronic device (210) can estimate the ground slope based on the point cloud data.

[0117] In operation (820), the electronic device (210) may determine whether the ground in the direction in which the wearable device (100) moves is a downhill slope or an uphill slope based on the ground slope. If the ground slope is determined based on the tangent value of the angle that the ground makes with the flat ground, the ground slope may have a positive value if the ground slope is uphill, and may have a negative value if the ground slope is downhill. The electronic device (210) may determine that the ground is an uphill slope if the sign of the ground slope is positive, and may determine that the ground is a downhill slope if the sign of the ground slope is negative.

[0118] In operation (830), the electronic device (210) may determine whether the safe mode operation condition is met based on the ground slope. If the ground is determined to be a downhill slope and the magnitude of the ground slope is greater than a threshold value, the electronic device (210) may determine that the safe mode operation condition is met. For example, if the ground is a downhill slope and the magnitude of the ground slope is greater than 30% (e.g., if the ground slope is -35%), the electronic device (210) may determine that the ground is a steep downhill slope and may activate the safe mode. If the ground is not a downhill slope or the magnitude of the ground slope is less than 30%, the safe mode operation condition may be determined not to be met.

[0119] If the ground slope corresponds to the safe mode operation condition ('Yes' in operation (830)), the electronic device (210) may operate the wearable device (100) in the safe mode for the user's safe walking. In operation (840), if the electronic device (210) determines that the ground is a downhill slope and the magnitude of the ground slope is greater than a threshold value, thus corresponding to the safe mode operation condition, the electronic device (210) may adjust the current target exercise speed set in the exercise program to a predetermined minimum exercise speed. When the safe mode is executed, the electronic device (210) may lower the current exercise intensity set in the exercise program or adjust it to a reference exercise intensity (e.g., a predetermined exercise intensity or 0). If the reference exercise intensity becomes 0, torque may not be generated from the wearable device (100).

[0120] If the ground slope does not correspond to the safe mode operating condition (if 'No' in operation (830)), the electronic device (210) can determine whether it corresponds to the basic mode operating condition in operation (850). The electronic device (210) can determine that it corresponds to the basic mode operating condition if the ground slope is 0 or if the sign of the ground slope has a positive or negative value but the ground slope is included in a specific range (e.g., a range between -5% and +5%). The basic mode can be applied to a range where the magnitude of the ground slope is not large and thus there is no need to adjust the target exercise speed and / or exercise intensity.

[0121] If the ground slope corresponds to the basic mode operating condition ('yes' in operation (850)), the electronic device (210) can maintain the current target exercise speed without adjusting the target exercise speed in operation (860). The current exercise intensity applied to the wearable device (100) can also be maintained as is without adjusting the current exercise intensity.

[0122] In one embodiment, at least one of operations (830) to (850) may be omitted. For example, after operation (820) determines whether the slope is downhill or uphill, a target movement speed may be determined based on the ground slope in operation (870).

[0123] If the ground slope does not correspond to the basic mode operating condition ('No' in operation (850)), the electronic device (210) may determine a target exercise speed based on the ground slope in operation (870). In one embodiment, if the electronic device (210) determines that the ground is a downhill slope or an uphill slope, the electronic device (210) may determine a target exercise speed to achieve a target exercise amount of an exercise program being performed on the wearable device based on the ground slope.

[0124] In one embodiment, the electronic device (210) may determine whether to operate in uphill mode or downhill mode based on the sign of the ground slope and the magnitude of the ground slope. If it is determined that the ground is uphill and the magnitude of the ground slope is greater than or equal to a first threshold value, the electronic device (210) may operate in uphill mode. If the sign of the ground slope is positive and the magnitude of the ground slope is greater than a specific value, the electronic device (210) may determine to operate in uphill mode. For example, if the ground slope is +5% or greater (e.g., +5%, +6%, ...), the electronic device (210) may determine to operate in uphill mode. In uphill mode, the electronic device (210) may determine a target exercise speed that is lower than the current target exercise speed of the exercise program.

[0125] In one embodiment, the electronic device (210) may determine to operate in downhill mode when the sign of the ground slope is negative and the magnitude of the ground slope is within a specific section. If the ground in the direction in which the wearable device (100) moves is determined to be a downhill slope and the magnitude of the ground slope is determined to be within a critical section, the electronic device (210) may determine to operate in downhill mode. For example, if the ground slope is within a section of -5% to -30%, the electronic device (210) may determine to operate in downhill mode. In downhill mode, the electronic device (210) may determine a target exercise speed that is higher than the current target exercise speed of the exercise program. In one embodiment, when operating in downhill mode, the target exercise speed may be adjusted differently depending on the exercise section of the exercise program. For example, in an exercise concentration section, the target exercise speed may be adjusted higher to maintain or enhance the exercise effect, and in a recovery section, the current target exercise speed may be maintained as is without adjusting the target exercise speed to recover the user's physical strength.

[0126] In one embodiment, the target exercise speed may be determined based on the assumption that the same amount of momentum is generated as an increase in exercise speed of 1 to 1.5 km / h for every 5% (approximately 3 degrees) of ground slope. Under this assumption, for example, the exercise amount when walking at a speed of 4.5 km / h on a road with a ground slope of 5% may be the same as the exercise amount when walking at a speed of 5.5 km / h on a road with a ground slope of 0% (flat). The exercise amount when walking at a speed of 4.5 km / h on a road with a ground slope of 10% may be the same as the exercise amount when walking at a speed of 6.5 km / h on a road with a ground slope of 0% (flat). In the case of an uphill slope, the electronic device (210) may reduce the target exercise speed to compensate for the increase in exercise amount due to the ground slope, thereby helping to achieve the planned target exercise amount. For example, if the target exercise speed of the current section set in the exercise program is 5.5 km / h and the ground slope of the walking surface is determined to be 5%, the target exercise speed of the current section can be determined to be 4 km / h, which generates the same amount of exercise as when walking on flat ground at the target exercise speed of 5.5 km / h.

[0127] In one embodiment, a target exercise speed may be determined to change when a ground slope is greater than or equal to 5%. When a target exercise speed is determined to change, a new target exercise speed may be calculated, for example, by decreasing or increasing the existing target exercise speed by 0.2 km / h per ±1% of the ground slope. For example, when the existing target exercise speed is 5 km / h, if the current ground slope is 5% (uphill), the new target exercise speed may be determined to be 4 km / h, and if the current ground slope is 10%, the new target exercise speed may be determined to be 3 km / h. When the existing target exercise speed is 5 km / h, if the current ground slope is -5% (downhill), the new target exercise speed may be determined to be 6 km / h, and if the current ground slope is -10%, the new target exercise speed may be determined to be 7 km / h. If the determined new target exercise speed is less than a minimum exercise speed set in the exercise program, the new target exercise speed may be determined to be the minimum exercise speed. If you lower your target exercise speed in proportion to the slope on an uphill path, the exercise effect may be minimal. For example, if you walk at a speed of 2 km / h, the exercise effect may decrease depending on the slope. To ensure exercise effect, it is necessary to adjust the target exercise speed so that it does not decrease below a certain level or is unlikely to decrease. If the determined new target exercise speed is greater than the maximum exercise speed set in the exercise program, the new target exercise speed can be determined as the maximum exercise speed. Increasing the target exercise speed in proportion to the slope on a downhill path may cause safety issues such as falls. Therefore, it is necessary to adjust the target exercise speed so that it does not increase above a certain level or is unlikely to increase above a certain level.

[0128] In operation (880), the electronic device (210) can adjust at least one of the current target exercise speed set in the exercise program and the current exercise intensity set in the exercise program based on the target exercise speed determined in operation (870). The electronic device (210) can change the current target exercise speed set in the exercise program to the target exercise speed determined in operation (870).

[0129] If the determined target exercise speed is not within the appropriate target exercise speed range (e.g., if the determined target exercise speed is too high or too low), the electronic device (100) may adjust the current target exercise speed as well as the currently applied exercise intensity to achieve the exercise amount (or exercise effect) targeted by the exercise program. For example, if the target exercise speed reaches the minimum exercise speed or maximum exercise speed set in the exercise program, the exercise intensity adjustment process may be performed. Depending on the adjustment of the exercise intensity, the magnitude of the force provided to the user from the wearable device (100) may vary.

[0130] In one embodiment, if the ground is an uphill slope and the target exercise speed determined in operation (870) is lower than or equal to a predetermined minimum exercise speed, the electronic device (210) may adjust the current target exercise speed to the minimum exercise speed and lower the exercise intensity set in the exercise program. If the target exercise speed is adjusted by the ground slope and the current target exercise speed is reduced to the minimum exercise speed, but it is determined that more exercise amount than the planned exercise amount will be achieved due to the minimum exercise speed, the electronic device (210) may lower the exercise intensity to reduce the magnitude of the resistance output from the wearable device (100). The current target exercise speed cannot be adjusted to a value lower than the minimum exercise speed, and therefore, adjusting the target exercise speed to the minimum exercise speed may result in more exercise amount than planned. In such a case, the excess exercise amount due to the adjustment of the target exercise speed can be compensated for by lowering the exercise intensity. For example, if the slope of an uphill path is 17%, and the additional exercise volume achieved due to the 12% slope is offset by adjusting the current target exercise speed to the minimum exercise speed, the remaining 5% additional exercise volume achieved due to the ground slope can be offset by lowering the exercise intensity. By adjusting the target exercise speed and exercise intensity in this way, the user can achieve an appropriate amount of exercise volume even on an uphill path.

[0131] In one embodiment, if the ground is a downhill slope and the target exercise speed determined in operation (870) is higher than the predetermined maximum exercise speed, the electronic device (210) may adjust the current target exercise speed to the maximum exercise speed and increase the exercise intensity set in the exercise program. If the target exercise speed is adjusted by the ground slope and the current target exercise speed increases to the maximum exercise speed, but it is determined that the maximum exercise speed will achieve less exercise than the planned exercise amount, the electronic device (210) may increase the exercise intensity to increase the magnitude of the resistance output from the wearable device (100). The current target exercise speed cannot be adjusted to a value higher than the maximum exercise speed, and therefore, adjusting the target exercise speed to the maximum exercise speed may result in achieving less exercise than planned. In such a case, the insufficient exercise amount due to the adjustment of the target exercise speed can be compensated for by increasing the exercise intensity. For example, if the slope of a downhill road is -17%, and the shortfall in exercise volume due to the -12% slope is compensated for by adjusting the current target exercise speed to the maximum exercise speed, the remaining shortfall in exercise volume due to the remaining 5% slope can be compensated for by increasing the exercise intensity. By adjusting the target exercise speed and exercise intensity in this way, the user can achieve an appropriate amount of exercise volume even on a downhill road.

[0132] The electronic device (210) compensates for the change in the amount of exercise achieved by adjusting the target exercise speed as described above by adjusting the exercise intensity, thereby reducing the large change in the amount of exercise performed by the user depending on the ground slope, and providing the user with an appropriate exercise intensity according to the ground slope. The adjusted target exercise speed and / or the adjusted exercise intensity can be guided to the user, and the user can perform exercise according to the adjusted target exercise speed. For example, a guide voice or guide screen can be provided to the user to inform the fact that the target exercise speed and / or exercise intensity has been adjusted through wireless earphones (e.g., wireless earphones (222) of FIG. 2) and / or a smartwatch (e.g., smartwatch (224) of FIG. 2) connected to the electronic device (210).

[0133] FIG. 9 is a flowchart illustrating the operations of a motion assistance method for assisting a user's motion based on ground slope according to one embodiment. In one embodiment, at least one of the operations in FIG. 9 may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and another operation may be additionally performed.

[0134] Referring to FIG. 9, in operation (910), the ground slope in the direction in which the wearable device (100) worn by the user moves can be determined based on sensor data. Operation (910) corresponds to operation (810) of FIG. 8, and redundancy is omitted.

[0135] In operation (920), the electronic device (210) may determine whether the current ground is a steep downhill slope based on the ground slope. For example, if the ground slope attribute is a downhill slope and the magnitude of the ground slope is greater than or equal to a first threshold value, the electronic device (210) may determine that the current ground is a steep downhill slope. If the current ground is determined to be a steep downhill slope ('Yes' in operation (920)), the electronic device (210) may switch the operation mode of the wearable device (100) to a safe mode in operation (930). When operating in the safe mode, the wearable device (100) may adjust the target exercise speed of the exercise mode to a preset minimum exercise speed.

[0136] If it is determined that the current ground is not a steep downhill slope (if 'No' in operation (920)), in operation (940), the electronic device (210) can determine whether the current ground is a downhill slope or an uphill slope based on the ground slope. If the sign of the ground slope is positive, the electronic device (210) can determine that the ground is an uphill slope, and if the sign of the ground slope is negative, the electronic device (210) can determine that the ground is a downhill slope.

[0137] If the current ground is determined to be neither a downhill nor an uphill slope (if 'No' in operation (940)), the electronic device (210) may maintain the current target motion speed and perform the operation of determining the ground slope again.

[0138] If the current ground is determined to be a downhill or uphill slope (if 'yes' in operation (940)), the electronic device (210) may determine a target movement speed based on the ground slope in operation (950). For example, in an uphill slope, the target movement speed may be determined to be lower as the ground slope increases, and in a downhill slope, the target movement speed may be determined to be higher as the ground slope decreases.

[0139] In one embodiment, the electronic device (210) may determine a target exercise speed based on the ground slope and the current exercise section of the exercise program. For example, when the current exercise section is a focused exercise section, the target exercise speed may be set high, and when the current exercise section is a recovery section, the current target exercise speed may be maintained without adjusting the target exercise speed.

[0140] In operation (960), the electronic device (210) can determine whether the target exercise speed determined in operation (950) is included in the reference exercise speed range. If it is determined that the target exercise speed determined in operation (950) is included in the reference exercise speed range (if 'Yes' in operation (960)), in operation (970), the electronic device (210) can adjust the current target exercise speed set in the exercise program to the target exercise speed determined in operation (950). If the target exercise speed determined in operation (950) is included in the preset reference exercise speed range, the electronic device (210) can adjust the target exercise speed to the target exercise speed determined in operation (950) without adjusting the exercise intensity.

[0141] If the target exercise speed determined in operation (950) is determined not to be within the reference exercise speed range (if operation (960) is 'No'), in operation (980), the electronic device (210) may adjust the current target exercise speed and current exercise intensity set in the exercise program based on the target exercise speed determined in operation (950). For example, if the current target exercise speed is lower than or equal to the preset minimum exercise speed due to the adjustment of the target exercise speed, the electronic device (210) may adjust the current target exercise speed to the minimum exercise speed and adjust the current exercise intensity to compensate for the amount of exercise. If the current target exercise speed is higher than or equal to the preset maximum exercise speed due to the adjustment of the target exercise speed, the electronic device (210) may adjust the current target exercise speed to the maximum exercise speed so that the user's exercise is not difficult or is less likely to become difficult due to the target exercise speed becoming too high, and adjust the current exercise intensity to compensate for the amount of exercise.

[0142] In operation (990), the electronic device (210) may provide a guide notification to the user. If a ground slope attribute (e.g., downhill slope, uphill slope, steep downhill slope, stairs) is detected based on the ground slope, the electronic device (210) may control a guide notification to be provided to the user regarding the ground slope attribute. If a target exercise speed and / or exercise intensity are adjusted based on the ground slope, the electronic device (210) may control a guide notification to be provided to the user regarding the adjustment of the target exercise speed and / or exercise intensity. The guide notification may be provided to the user through, for example, a wearable device (100), the electronic device (210), wireless earphones (e.g., wireless earphones (222) of FIG. 2), or a smartwatch (e.g., smartwatch (224) of FIG. 2).

[0143] In the embodiments of FIGS. 8 and 9, the subject determining whether to adjust the target exercise speed and / or exercise intensity according to the ground slope may be performed by a subject other than the electronic device (210). For example, the processes of operation (820) to operation (880) may be performed by the wearable device (100) or a server (e.g., the server (230) of FIG. 2). As described above, the subject determining the ground slope or acquiring sensor data for determining the ground slope may also vary. The subject determining the ground slope and the subject determining whether to adjust the target exercise speed and / or exercise intensity may be the same or different.

[0144] FIGS. 10A, 10B, and 10C are drawings illustrating adjusting target exercise speed and / or exercise intensity at different slope sections according to one embodiment.

[0145] When a user (110) wears a wearable device (100) and performs an exercise such as walking outdoors, the wearable device (100) and / or an electronic device (e.g., the electronic device (210) of FIG. 2) recognizes the ground slope in the direction in which the user (110) is moving (corresponding to the direction in which the wearable device (100) is moving) and adjusts a target exercise speed and / or exercise intensity according to the recognized ground slope, thereby providing the user (110) with the intended exercise amount in the exercise program and increasing walking safety. In one embodiment, the target exercise speed may be set based on the ground slope of the path on which the user (110) is walking and the current exercise section. After the target exercise speed is set, the exercise intensity may be adjusted based on a change in the exercise amount according to the set target exercise speed.

[0146] FIG. 10A illustrates a case where a user (110) encounters an uphill slope during exercise according to one embodiment. In one embodiment, when the user (110) encounters an uphill slope during an exercise concentration section or a recovery section, the target exercise speed may be adjusted lower to prevent the user (110) from exercising excessively compared to the plan in consideration of the increase in exercise volume due to the ground slope. The exercise concentration section may refer to an exercise section in which the wearable device (100) operates in a resistance mode in which resistance is provided to the user (110), and the recovery section may refer to an exercise section in which the wearable device (100) operates in an assistance mode in which assistance is provided to the user (110). The user (110) is guided to achieve an appropriate amount of exercise per time during exercise. If the exercise is performed on an uphill slope and the exercise volume is expected to increase more than planned, the target exercise speed may be lowered so that the user (110) can be guided to achieve an appropriate amount of exercise even on an uphill slope. When the target exercise speed adjusted according to the ground slope reaches the preset minimum exercise speed (e.g., 4.0 km / h), the target exercise speed cannot decrease below the minimum exercise speed and can be maintained at the minimum exercise speed. Accordingly, the exercise amount may be achieved in excess of the planned amount. However, when the target exercise speed reaches the minimum exercise speed, the exercise intensity may be lowered to help the user (110) achieve an appropriate amount of exercise on an uphill slope.

[0147] In one embodiment, even for uphill slopes with the same ground incline, the adjustment ratio of the target exercise speed and / or exercise intensity in the exercise focus section and the adjustment ratio of the target exercise speed and / or exercise intensity in the recovery section may be different. For example, when the target exercise speed is adjusted by the ground incline, it may be determined that the target exercise speed is reduced more in the exercise focus section than in the recovery section, and when the exercise intensity is adjusted, it may be determined that the exercise intensity is reduced more in the recovery section than in the exercise focus section.

[0148] FIG. 10B illustrates a case where a user (110) encounters a downhill slope during exercise according to one embodiment. In one embodiment, when the user (110) encounters a downhill slope during the exercise concentration section, the target exercise speed may be adjusted higher to allow the user (110) to achieve the planned exercise amount, taking into account the decrease in exercise amount due to the ground slope. If the exercise is performed on the downhill slope and the exercise amount is expected to be lower than the planned amount, the target exercise speed may be increased to guide the user (110) to achieve an appropriate amount of exercise even on the downhill slope. If the target exercise speed adjusted according to the ground slope reaches a preset maximum exercise speed (e.g., 6.5 km / h), the target exercise speed may not increase above the maximum exercise speed and may be maintained at the maximum exercise speed. Accordingly, the exercise amount may be less than planned. However, if the target exercise speed reaches the maximum exercise speed, increasing the exercise intensity may help the user (110) achieve an appropriate amount of exercise on the uphill slope.

[0149] In one embodiment, if the user (110) encounters a downhill slope during the recovery section, the target exercise speed may be maintained without adjustment. For example, when an interval walking exercise program is performed, if a downhill slope is detected during the recovery section, the target exercise speed may be maintained without adjustment. Since the recovery section requires the user's (110) physical recovery rather than exercise effect, the target exercise speed may be maintained without increasing. If the target exercise speed is maintained, the exercise intensity may also be maintained. Alternatively, depending on the type of exercise program being performed, the target exercise speed may be adjusted higher when the user (110) encounters a downhill slope during the recovery section. For example, when a power walking exercise program is performed, the target exercise speed may be adjusted higher on a downhill slope because exercise effect is important.

[0150] FIG. 10C illustrates a case where a user (110) encounters a steep downhill slope during exercise according to one embodiment. If the user (110) encounters a steep downhill slope during an exercise focus or recovery section, the system may operate in a safety mode for the safety of the user (110). For example, the safety mode may be operated when the ground slope exceeds -30%. When operating in the safety mode, the current target exercise speed may be adjusted to a predetermined minimum exercise speed (e.g., 4.0 km / h), and the current exercise intensity set in the exercise program may be lowered or adjusted to a reference exercise intensity. Regardless of the type of exercise program and exercise section, the current target exercise speed may be adjusted to the minimum exercise speed in the safety mode. When the current exercise intensity is adjusted in the safety mode, the exercise intensity may be gradually changed over time to reduce the possibility of an accident due to a sudden adjustment of the exercise intensity.

[0151] FIGS. 11A and 11B are drawings for explaining adjusting a target exercise speed and / or exercise intensity in a stair section according to one embodiment.

[0152] When a user (110) wears a wearable device (100) and exercises while climbing or descending stairs, the target exercise speed and / or exercise intensity may be adjusted depending on the situation. In the case of stairs, since the ground incline increases or decreases rapidly, it is desirable to adjust the target exercise speed and / or exercise intensity taking into account the physical strength and safety of the user (110).

[0153] FIG. 11A illustrates a situation in which a user (110) climbs stairs according to one embodiment. In one embodiment, if it is determined that the user is climbing stairs based on the ground slope during an exercise concentration section or a recovery section, the current target exercise speed may be adjusted to a predetermined minimum exercise speed (e.g., 4 km / h). In order to avoid straining the user (110) or to reduce the possibility of straining the user, the current exercise intensity set in the exercise program may be adjusted to 0 in the situation of climbing stairs. If the current exercise intensity is adjusted to 0, no torque is generated from the wearable device (100) (torque off state), and thus the user (110) climbs the stairs without receiving external force from the wearable device (100).

[0154] FIG. 11B illustrates an example of a situation in which a user (110) descends stairs according to one embodiment. In one embodiment, if it is determined that the user is descending stairs based on the ground incline during an exercise concentration section or a recovery section, the current target exercise speed may be adjusted to a predetermined minimum exercise speed (e.g., 4 km / h). For the safety of the user (110), the current exercise intensity set in the exercise program may be adjusted to 0 or a reference exercise intensity when descending stairs. If the current exercise intensity is adjusted to 0, the user (110) descends the stairs without receiving external force from the wearable device (100). If the stairs have a steep ground incline (e.g., stairs with a ground incline greater than -30%), the current exercise intensity may be adjusted to a reference exercise intensity (e.g., a preset exercise intensity greater than 0). In this case, a resistance corresponding to the reference exercise intensity can be generated from the wearable device (100), and the user (110) can descend the stairs more stably based on the resistance provided from the wearable device (100).

[0155] FIG. 12 is a diagram showing a user setting screen for adjusting target movement speed according to ground slope detection according to one embodiment.

[0156] Referring to FIG. 12, the user can select an automatic adjustment mode of the target exercise speed according to the detection of the ground slope through a user setting screen (1210) output through a display module of the electronic device (210) (e.g., a display module (740) of FIG. 7 including a display). The user can select, through settings via the user setting screen (1210), whether to automatically adjust the target exercise speed set in the exercise program according to the ground slope when the ground slope is detected. When the user executes the automatic adjustment mode of the target exercise speed through the user setting screen (1210), when the ground slope is detected during the user's exercise, a guide notification (e.g., a ground slope detection notification, an operation mode change notification, a target exercise speed adjustment notification, an exercise intensity adjustment notification) according to the detection of the ground slope can be provided to the user through a smartwatch (224) or wireless earphones (e.g., a wireless earphone (222) of FIG. 2). For example, when the ground slope is detected, the current target exercise speed and exercise intensity set in the exercise program according to the detection of the ground slope A guidance message may be provided through the guide screen (1220) of the smartwatch (224) to inform the user that the analysis is underway to determine whether the intensity is appropriate. In one embodiment, a guidance voice corresponding to the guidance message displayed on the guide screen (1220) may be provided to the user through wireless earphones.

[0157] FIGS. 13A and 13B are drawings showing guide screens displayed on a smartwatch according to an operation mode according to one embodiment.

[0158] Referring to FIG. 13A, a series of guide screens (1305, 1310, 1315, 1320, 1325) displayed on the display of the smartwatch (224) are illustrated when the safety mode is executed as a result of detecting the ground slope. In one embodiment, guide voices corresponding to the guide phrases displayed on the guide screens (1305, 1310, 1315, 1320, 1325) may be provided to the user through wireless earphones.

[0159] When a ground slope is detected, a guide screen (1305) may be provided to guide switching to an appropriate operation mode. The guide screen (1305) may include guidance content indicating that a ground slope has been detected and that analysis is underway to determine whether the current target exercise speed and exercise intensity set in the exercise program are appropriate based on the detection of the ground slope.

[0160] When a steep downhill is detected as a result of detecting the ground slope, a guide screen (1310) may be provided to notify the user that a steep downhill is detected and to ask whether to adjust the target exercise speed. If the user selects to adjust the target exercise speed, a guide screen (1315) may be provided to guide the user to switch to a safe mode according to the detection of the steep downhill and the changed target exercise speed. In the safe mode, the exercise intensity may be adjusted to a reference exercise intensity for the user's walking stability, and when the exercise intensity is adjusted, a guide screen (1320) may be provided to guide the user about the adjustment of the exercise intensity. Thereafter, a guide screen (1325) may be provided to ask the user whether the adjusted exercise intensity is appropriate, and the exercise intensity may be additionally adjusted according to the user's selection. The current exercise intensity may be increased or decreased according to the user's selection.

[0161] Referring to FIG. 13B, a series of guide screens (1305, 1332, 1334, 1336, 1342, 1344, 1346, 1350) displayed on the display of the smartwatch (224) when the uphill mode or downhill mode is executed as a result of detecting the ground slope are illustrated. In one embodiment, guide voices corresponding to the guide phrases displayed on the guide screens (1305, 1332, 1334, 1336, 1342, 1344, 1346, 1350) may be provided to the user through wireless earphones. The guide screens (1332, 1334, 1336) are guide screens (1330) provided in the downhill mode, and the guide screens (1342, 1344, 1346) are guide screens (1340) provided in the uphill mode.

[0162] When a ground slope is detected, a guide screen (1305) may be provided to guide that the ground slope has been detected and that the current target exercise speed and exercise intensity set in the exercise program are being analyzed to determine whether they are appropriate based on the detection of the ground slope.

[0163] In one embodiment, when the downhill mode is activated as a result of detecting the ground slope, a guide screen (1332) may be provided to notify the user that a downhill slope has been detected and to ask whether to adjust the target exercise speed. If the user chooses to adjust the target exercise speed, a guide screen (1334) may be provided to guide the user to switch to the downhill mode and the changed target exercise speed. If it is determined that the target amount of exercise is difficult to achieve due to the adjusted target exercise speed, the exercise intensity may also be adjusted. If the exercise intensity is adjusted, a guide screen (1336) may be provided to guide the user about the adjustment of the exercise intensity.

[0164] In one embodiment, when the uphill mode is activated as a result of detecting the ground slope, a guide screen (1342) may be provided to notify the user that an uphill slope has been detected and to ask whether to adjust the target exercise speed. If the user chooses to adjust the target exercise speed, a guide screen (1344) may be provided to guide the user to switch to the uphill mode and the changed target exercise speed. If it is determined that the target amount of exercise is difficult to achieve due to the adjusted target exercise speed, the exercise intensity may also be adjusted. If the exercise intensity is adjusted, a guide screen (1346) may be provided to guide the user about the adjustment of the exercise intensity.

[0165] When the exercise intensity is adjusted in downhill mode or uphill mode, a guide screen (1350) may be provided to ask the user whether the adjusted exercise intensity is appropriate, and the exercise intensity may be additionally adjusted according to the user's selection.

[0166] In this disclosure, “based on ~” includes “based at least on ~.”

[0167] FIG. 14 is a diagram showing map data showing a section in which a target movement speed is adjusted based on a ground slope according to one embodiment.

[0168] Referring to FIG. 14, the map data (1410) shows an exercise path (1420) along which a user performed a walking exercise outdoors while wearing a wearable device (100). In one embodiment, the map data (1410) may be provided to the user through the display of an electronic device (210) or a smartwatch (224).

[0169] When a user exercises outdoors, the ground slope is recognized, and based on the recognized ground slope, a target exercise speed can be adjusted to achieve a target amount of exercise intended for an exercise program. Map data (1410) may display a user's exercise path (1420) according to the execution of the exercise program, a section (1430) of the exercise path (1420) in which the ground slope is recognized but the target exercise speed is not adjusted, and a section (1440) of the exercise path (1420) in which the target exercise speed is adjusted based on the ground slope. Through the map data (1410), the user can effectively recognize the exercise path and the section in which the target exercise speed is adjusted.

[0170] FIG. 15 is a diagram for explaining automatic adjustment of exercise mode according to detection of a previous exercise path according to one embodiment.

[0171] In one embodiment, the electronic device (210) may collect the exercise path, the ground slope measured on the exercise path, and the result of adjusting the target exercise speed and / or exercise intensity according to the ground slope each time the user wears the wearable device (100) and exercises. If the current exercise path corresponds to a previously performed exercise path, a guide screen (1510) may be provided through a smartwatch or the like to detect that the current exercise path is the same as the previously performed exercise path and to guide switching to an appropriate operation mode. Thereafter, an automatic exercise mode adjustment may be executed to automatically adjust the target exercise speed and / or exercise intensity in the current exercise path based on the adjustment history of the target exercise speed and / or exercise intensity according to the ground slope in the previously performed exercise path. When the automatic adjustment of the exercise mode is executed, a guide screen (1520) guiding that the automatic adjustment of the exercise mode is executed may be provided through the display of the electronic device (210) and / or the smartwatch (224), and the target exercise speed and / or exercise intensity may be adjusted in the current exercise path in the same manner as the adjustment history in the previously performed exercise path.

[0172] Each embodiment of the present disclosure may be used in combination with other embodiment(s) described in the present disclosure.

[0173] 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 one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) 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).

[0174] 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 the present disclosure may include a circuit.

[0175] 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 may command the processing device, independently or collectively. 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 (e.g., memory 514) 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 according to at least one command called above. The one or more commands may include code generated by a compiler or code executable by an interpreter. The device-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.

[0176] 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.

[0177] 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.

[0178] While this disclosure has been illustrated and described with reference to various embodiments, it is to 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 in this disclosure may be used in conjunction with any other embodiment(s) described in this disclosure.

Claims

1. In an exercise assistance method for a wearable device (100) based on ground slope, An operation (810) of determining a ground slope in the direction in which the wearable device (100) worn by the user is moving based on sensor data; An operation (820) of determining whether the ground in the direction in which the wearable device (100) moves is a downhill slope or an uphill slope based on the ground slope; When the ground is determined to be the downhill slope or the uphill slope, an operation (870) of determining a target exercise speed for achieving the target exercise amount of the exercise program based on the ground slope; and An operation (880) of adjusting at least one of the current target exercise speed set in the exercise program and the current exercise intensity set in the exercise program based on the determined target exercise speed. An exercise assistance method comprising:

2. In paragraph 1, The operation (870) for determining the above target exercise speed is: If the above ground is an uphill slope and the size of the above ground slope is determined to be greater than a threshold value, an action of determining a target exercise speed that is lower than the current target exercise speed of the exercise program An exercise assistance method comprising:

3. In paragraph 1 or 2, The operation (870) for determining the above target exercise speed is: An operation of determining a target exercise speed that is higher than the current target exercise speed of the exercise program when the ground in the direction in which the wearable device (100) moves is a downhill slope and the size of the ground slope is determined to be included in a critical section. An exercise assistance method comprising:

4. In any one of paragraphs 1 to 3, The operation (880) of adjusting at least one of the current target exercise speed and the current exercise intensity is: An action to change the current target exercise speed set in the above exercise program to the above determined target exercise speed. An exercise assistance method comprising:

5. In any one of paragraphs 1 to 4, The operation (880) of adjusting at least one of the current target exercise speed and the current exercise intensity is: If the above ground is an uphill slope and the determined target exercise speed is lower than a predetermined low exercise speed, an operation of adjusting the current target exercise speed set in the exercise program to the lower exercise speed and lowering the exercise intensity set in the exercise program. An exercise assistance method comprising:

6. In any one of paragraphs 1 to 5, The operation (880) of adjusting at least one of the current target exercise speed and the current exercise intensity is: If the above ground is a downhill slope and the determined target exercise speed is higher than a predetermined high exercise speed, an action of adjusting the current target exercise speed set in the exercise program to the high exercise speed and increasing the exercise intensity set in the exercise program. An exercise assistance method comprising:

7. In any one of paragraphs 1 to 6, If the above ground is a downhill slope and the size of the above ground slope is determined to be greater than a threshold value, an action of adjusting the current target exercise speed set in the above exercise program to a predetermined lower exercise speed. An exercise assist method further comprising:

8. In paragraph 7, If the above ground is a downhill slope and the magnitude of the above ground slope is determined to be greater than the above threshold value, an action of lowering the current exercise intensity set in the above exercise program and / or adjusting it to a reference exercise intensity. An exercise assist method further comprising:

9. In the 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, When the wearable device (100) operates in an exercise mode that assists the user's exercise, a target exercise speed for achieving the target exercise amount of the exercise program is determined based on the ground slope in the direction in which the wearable device (100) moves, Adjusting at least one of the current target exercise speed of the wearable device (100) and the exercise intensity currently set to the wearable device (100) based on the determined target exercise speed. Electronic device (210).

10. In paragraph 9, The above at least one processor (710) individually and / or collectively, If the above ground is an uphill slope and the magnitude of the above ground slope is determined to be greater than a threshold value, a target exercise speed is determined that is lower than the current target exercise speed of the exercise program, and / or If the above ground is an uphill slope and the determined target exercise speed is lower than a predetermined low exercise speed, the current target exercise speed set in the exercise program is adjusted to the lower exercise speed, and the exercise intensity set in the exercise program is lowered. Electronic device (210).

11. In clause 9 or 10, The above at least one processor (710) individually and / or collectively, If the ground in the direction in which the wearable device (100) moves is a downhill slope and the size of the ground slope is determined to be included in a critical section, a target exercise speed of a value higher than the current target exercise speed of the exercise program is determined, and / or If the above ground is a downhill slope and the determined target exercise speed is higher than a predetermined high exercise speed, the current target exercise speed set in the exercise program is adjusted to the high exercise speed, and the exercise intensity set in the exercise program is increased. Electronic device (210).

12. In any one of paragraphs 9 to 11, The above at least one processor (710) individually and / or collectively, If the above ground is a downhill slope and the size of the above ground slope is determined to be greater than a threshold value, the current target exercise speed set in the above exercise program is adjusted to a predetermined lower exercise speed. Electronic device (210).

13. In any one of paragraphs 9 to 12, The above at least one processor (710) individually and / or collectively, If it is determined that the user is climbing or descending stairs based on the above ground slope, the current target exercise speed set in the exercise program is adjusted to a predetermined low exercise speed, and the current exercise intensity set in the exercise program is adjusted to 0. Electronic device (210).

14. 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; and At least one processor (512) comprising a processing circuit, wherein the at least one processor (512) individually and / or collectively, When the wearable device (100) operates in an exercise mode that assists the user's exercise, a target exercise speed is determined to achieve a target exercise amount of an exercise program being performed on the wearable device (100) based on the ground slope in the direction in which the wearable device (100) moves, Adjusting at least one of the current target exercise speed set in the exercise program and the current exercise intensity set in the exercise program based on the determined target exercise speed. Wearable device (100).

15. In paragraph 14, The above at least one processor (512) individually and / or collectively, If the above ground is an uphill slope and the determined target exercise speed is lower than a predetermined low exercise speed, the current target exercise speed set in the exercise program is adjusted to the lower exercise speed, the exercise intensity set in the exercise program is lowered, and the intensity of the torque generated from the motor is reduced by the lowering of the exercise intensity; and / or If the above ground is a downhill slope and the determined target exercise speed is higher than a predetermined high exercise speed, the current target exercise speed set in the exercise program is adjusted to the high exercise speed, the exercise intensity set in the exercise program is increased, and the strength of the torque generated from the motor is increased by the increase in the exercise intensity. Wearable device (100).

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