Wearable apparatus providing exercise mode based on disease of user and operating method of wearable apparatus

Abstract

This wearable apparatus can: acquire information related to recognizing a disease of a user; recognize the disease of the user through the acquired information; determine an exercise mode of the wearable apparatus on the basis of the recognized disease; determine a first torque value on the basis of the values of parameters and a first angle value obtained by measuring the angle of a joint of the user in the determined exercise mode; generate a first torque corresponding to the determined first torque value through a driving module of the wearable apparatus and provide the first torque to the user; and when the start of a specified movement is detected in the determined exercise mode on the basis of a second angle value obtained by measuring the angle of the joint, perform a control operation for generating a second torque, to be generated by the driving module, so that the second torque acts as resistance to the specified movement.

Description

Wearable device providing exercise mode according to user's disease and operating method thereof

[0001] Certain embodiments relate to a wearable device and / or a method of operating the same that provides an exercise mode according to a user's disease and / or condition.

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

[0003] According to one embodiment, a wearable device may include an angle sensor for measuring an angle of a user's joint, a drive module including a motor and / or a circuit and generating a torque to provide the torque to the user, and at least one processor including a processing circuit and controlling the drive module. The at least one processor may obtain information regarding recognition of a disease of the user, and may recognize the disease of the user based on the obtained information. The at least one processor may determine an exercise mode of the wearable device based on the recognized disease. The at least one processor may receive a first angle value measured at the angle in the determined exercise mode from the angle sensor. The at least one processor may determine a first torque value based on the received first angle value and values ​​of parameters. The at least one processor may control the drive module so that a first torque corresponding to the determined first torque value is generated. When the at least one processor detects the start of a movement specified in the determined motion mode based on the second angle value measured at the angle, the at least one processor can perform a control operation for generating the second torque so that the second torque generated by the driving module acts as resistance to the specified movement.

[0004] According to one embodiment, a wearable device may include a communication module including a communication circuit and communicating with a user terminal, an angle sensor for measuring an angle of a joint of a user, a driving module including a motor and / or circuit and generating a torque to provide the torque to the user, and at least one processor including a processing circuit. The processor(s) may receive a control signal from the user terminal through the communication module, the control signal indicating an exercise mode of the wearable device. The processor(s) may determine an exercise mode of the wearable device based on the received control signal. The processor(s) may receive a first angle value measuring the angle in the determined exercise mode from the angle sensor. The processor(s) may determine a first torque value based on the received first angle value and values ​​of parameters. The processor(s) may control the driving module so that a first torque corresponding to the determined first torque value is generated. When the processor(s) detect the start of a specified movement in the determined motion mode based on the second angle value measured at the angle, the processor(s) can perform a control operation for generating the second torque so that the second torque generated by the driving module acts as resistance to the specified movement.

[0005] According to one embodiment, a method for operating a wearable device may include: an operation of acquiring information necessary or helpful for recognizing a user's disease and recognizing the user's disease through the acquired information; an operation of determining an exercise mode of the wearable device based on the recognized disease; an operation of determining a first torque value based on a first angle value measured from an angle of a joint of the user in the determined exercise mode and values ​​of parameters; an operation of generating a first torque corresponding to the determined first torque value through a driving module of the wearable device and providing the first torque to the user; and an operation of controlling the generation of the second torque so that the second torque to be generated by the driving module acts as resistance to the specified movement when detecting the start of a specified movement in the determined exercise mode based on a second angle value measured from an angle of the joint.

[0006] According to one implementation, the wearable device can provide an exercise mode according to the user's disease, and can determine whether the user can perform exercise through information that must be checked before starting exercise according to the disease (e.g., blood sugar data, blood pressure data, food intake, or pain status, etc.).

[0007] In one implementation, the wearable device could provide exercise guides or exercise schedules tailored to users with medical conditions.

[0008] The above-described aspects and other aspects, features, and advantages of specific embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0009] FIG. 1A is a drawing for explaining an outline of a wearable device worn on a user's body according to one embodiment.

[0010] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0011] Figure 2a shows a rear schematic diagram of a wearable device according to one embodiment.

[0012] Figure 2b shows a left side view of a wearable device according to one embodiment.

[0013] Figures 3a and 3b are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0014] FIG. 4 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0015] Figure 5 is a drawing showing an example of the configuration of an electronic device according to one embodiment.

[0016] Figure 6 is a drawing illustrating an example of a wearable device operating according to a user's disease according to one implementation.

[0017] FIG. 7 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one embodiment.

[0018] FIG. 8A and FIG. 8B are diagrams illustrating another example of a wearable device according to one embodiment operating according to a user's condition.

[0019] FIG. 9 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one embodiment.

[0020] FIG. 10 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one implementation.

[0021] FIGS. 11a, 11b, 11c, 12a, 12b, and 12c are drawings illustrating examples of a wearable device operating in a damping motion mode according to one embodiment(s).

[0022] FIGS. 13a, 13b, and 13c are diagrams illustrating examples of a wearable device operating in a damping motion mode according to one embodiment(s).

[0023] FIGS. 14a, 14b, 15a, and 15b are diagrams illustrating examples of a wearable device operating in a strength training mode according to one implementation(s).

[0024] FIG. 16 is a diagram illustrating an example of a wearable device operating in a strength training mode according to one embodiment.

[0025] Figure 17 is a drawing illustrating an example of a wearable device operating in a strength training mode according to one embodiment.

[0026] Figure 18 is a flowchart illustrating an example of a method for generating an exercise schedule of a wearable device according to one embodiment.

[0027] Figure 19 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0028] Figure 20 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0029] Figure 21 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0030] Figure 22 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0031] Figure 23 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0032] Figure 24 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0033] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0034] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0035] When a component is referred to as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least one third component(s) may be "connected," "coupled," or "joined" between the first component and the second component.

[0036] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" and / or "have" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] 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.

[0038] Hereinafter, the 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.

[0039]

[0040] FIG. 1A is a drawing for explaining an outline of a wearable device worn on a user's body according to one embodiment.

[0041] Referring to FIG. 1A, a wearable device (110) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with "wearable robot," "walking assistance device," or "exercise assistance device." The user may be a human or an animal, but is not limited thereto. The wearable device (110) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide external forces of assistance force and / or resistance force to the user's body movements. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0042] When the wearable device (110) performs a walking assistance function to assist the user's walking, the wearable device (110) can assist the user's walking by providing assistance to the user's body, thereby assisting part or all of the user's legs. The wearable device (110) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (110) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0043] When the wearable device (110) performs an exercise function to enhance the user's exercise effect, the wearable device (110) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (110) is, for example, a hip-type wearable device, the wearable device (110) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (110) for exercise, and in this case, the wearable device (110) may provide resistance to the leg movement of the user's walking motion.

[0044] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (110) worn on the waist and legs is described as an example. However, as described above, the wearable device (110) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device (110) may vary depending on the body part on which it is worn.

[0045]

[0046] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0047] Referring to FIG. 1B, an electronic device (120) can communicate with a wearable device (110) and remotely control the wearable device (110). The electronic device (120) may be of various forms. The electronic device (120) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0048] In one embodiment, the electronic device (120) and / or the wearable device (110) may be connected to another wearable device (130). For example, the wearable device (110), the electronic device (120), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may be, for example, wireless earphones (131), a smart watch (132), or smart glasses (133), but is not limited to the aforementioned devices. The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0049] In one embodiment, the smart watch (132) can control the wearable device (110). When the smart watch (132) is connected to the electronic device (120) via a wireless communication link, and the electronic device (120) is connected to the wearable device (110) via a wireless communication link, the smart watch (132) can control the wearable device (110) via the electronic device (120). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (110) and control the wearable device (110).

[0050] In one embodiment, the electronic device (120) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (110) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (110).

[0051] In one embodiment, the electronic device (120) can communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0052] In one implementation, the electronic device (120) may receive user profile information from the user. The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (120) may transmit the user profile information to the server (140).

[0053] In one embodiment, the electronic device (120) and / or the wearable device (110) may request the user to perform one or more target movements to determine (or check) the user's motor skills. The one or more target movements may include, for example, knee lifts, leg raises, etc. The knee lifts may be a posture in which the user starts in an upright position with both feet in contact with the ground, raises the legs as far back as possible without bending over, and then returns to the standing position. The leg raises may be a posture in which the user starts in an upright position with hands on a wall, raises the legs as far back as possible without bending over, and then returns to the standing position.

[0054] In one implementation, a wearable device (110) can obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (120). The electronic device (120) can transmit the obtained movement information to a server (140).

[0055] In one implementation, the server (140) can determine the target exercise amount for each user of each exercise type (e.g., strength training, balance training, aerobic exercise) based on the profile information and movement information received from the electronic device (120). The server (140) can transmit the target exercise amount for each exercise type to the electronic device (120).

[0056] In one implementation, the server (140) may include a database storing information about a plurality of exercise programs that may be provided to users. For example, the server (140) may manage user accounts for users of electronic devices (120) or wearable devices (110). The server (140) may store and manage exercise programs performed by users and the results of the exercise programs, etc., in association with the user accounts.

[0057] In one embodiment, at least one of the wearable device (110), the electronic device (120), or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, muscle strength enhancement, physical fitness enhancement, cardiopulmonary endurance enhancement, core stability enhancement, flexibility enhancement, and symmetry enhancement.

[0058] In one embodiment, at least one of the wearable device (110), the electronic device (120), or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may include one or more exercise types (e.g., running, lunging, etc.) to achieve the exercise goal. For example, running may be an exercise type for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise type for improving the user's core stability. Depending on the user's exercise goal, the combination of exercise types constituting each exercise program may vary. Even for the same exercise goal, the electronic device (120) may provide the user with various exercise programs based on combinations of multiple exercise types.

[0059] In one embodiment, a plurality of exercise types may be databased and stored in at least one of the wearable device (110), the electronic device (120), or the server (140). At least one of the wearable device (110), the electronic device (120), or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user in consideration of the user's exercise purpose or exercise performance status. For example, at least one of the wearable device (110), the electronic device (120), or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, the user may be recommended a new exercise program even when exercising daily under the same exercise goal, and the user may feel as if he or she is exercising differently from before by performing the new exercise program.

[0060] In one implementation, the server (140) may store at least one or all of the user's disease code, the user's medical record information, or the user's exercise history information.

[0061] For example, the server (140) may receive a user's disease code from a hospital and / or insurance company and store the user's disease code. Each disease may be assigned a disease code (or disease classification code) to classify the disease. If the user has a disease, the disease code for the user's disease may be recorded with the hospital and / or insurance company. The server (140) may receive and store the user's disease code in conjunction with the hospital and / or insurance company.

[0062] The medical record information may include, for example, at least one of the user's medical treatment history (e.g., remote treatment history and / or hospital visit treatment history), medication history, or medical check-up history. The medical treatment history may include, for example, the user's blood pressure data, blood sugar data, etc. measured when the user visited the hospital. The health check-up history may include, for example, at least one of the user's blood pressure data, blood sugar data, heart rate data, cholesterol level data, or triglyceride level data measured when the user was undergoing a health check-up. A healthcare application capable of managing medical record information may be installed on the electronic device (120) (or smartwatch (132)). The server of the healthcare application may store the user's medical record information, and the server (140) may be linked with the server of the healthcare application to store the user's medical record information.

[0063] Exercise history information may include, for example, evaluation results (e.g., exercise time, gait symmetry, etc.) of exercise previously performed by a user while wearing a wearable device (110). The server (140) may receive the evaluation results of the exercise from the wearable device (110) (or electronic device (120)) and store the evaluation results of the exercise.

[0064]

[0065] Figure 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. Figure 2b illustrates a left side view of the wearable device according to one embodiment.

[0066] The wearable device (200) illustrated in FIGS. 2a and 2b may be an example of a wearable device (110).

[0067] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a base body (10), a base frame (20), a driving module (30), thigh fastening parts (40a, 40b), a main belt (50), and a leg driving frame (70a, 70b). Here, each "driving module" may include a motor and / or a circuit.

[0068] According to one embodiment, the base body (10) can be positioned on the user's lumbar region (waist region) while the user wears the wearable device (200). The base body (10) can be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The base body (10) can be hung over the user's buttocks (hip region) so as to prevent or reduce the wearable device (200) from being pulled downward by gravity while the user wears the wearable device (200). The base body (10) can distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The base body (10) can be directly or indirectly connected to the base frame (20). Base frame connecting elements (not shown) that can be directly or indirectly connected to the base frame (20) can be formed at both ends of the base body (10).

[0069] According to one embodiment, the base body (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., a processor (310) of FIGS. 3A and 3B to be described later). According to one embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to the status of the wearable device (200) (e.g., booting status, sensing status, etc.) may be provided (or output) to the user through the lighting unit (60).

[0070] According to one embodiment, a base frame (20) may extend from both ends of a base body (10). A user's lower back may be accommodated on the inside of the base frame (20). The base frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be directly or indirectly connected to an end of the base frame (20). A drive module (30) may be mounted on the base frame (20). The base frame (20) may include a connector (not shown) for mounting the drive module (30).

[0071] According to one embodiment, the driving module (30) may include a first driving module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second driving module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0072] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring the user's left hip joint angle. The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring the user's right hip joint angle.

[0073] According to one embodiment, the first drive module (30a) may include a first actuator and a first reducer, and the second drive module (30b) may include a second actuator and a second reducer. An output terminal of the first actuator may be directly or indirectly connected to an input terminal of the first reducer, and an output terminal of the second actuator may be directly or indirectly connected to an input terminal of the second reducer.

[0074] According to one implementation, a processor (e.g., a processor (310) to be described later) generates a torque value (e.g., a torque value to be described later ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the first actuator can generate torque, and the generated torque can be reduced by the first reducer. The torque reduced by the first reducer can rotate the first leg drive frame (70a). The torque reduced by the first reducer can be provided to the user's left leg through the first leg drive frame (70a), for example. The processor (e.g., the processor (310) to be described later) can generate a torque value (e.g., the torque value to be described later) ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the second actuator can generate torque, and the generated torque can be reduced by the second reducer. The torque reduced by the second reducer can rotate the second leg drive frame (70b). The torque reduced by the second reducer can be provided to the user's right leg, for example, through the second leg drive frame (70b).

[0075] According to one embodiment, the leg drive frame (70a, 70b) can support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The leg drive frame (70a, 70b) can include a first leg drive frame (70a) for supporting the user's left leg and a second leg drive frame (70b) for supporting the user's right leg.

[0076] According to one embodiment, the leg drive frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 30b) (e.g., torque reduced by the reducer) to the user's thigh. One end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the drive module (30a, 30b) and can rotate, and the other end of the leg drive frame (70a, 70b) can be directly or indirectly connected to the thigh fastening portion (40a, 40b), so that the leg drive frame (70a, 70b) can support the user's thigh while transmitting the torque generated by the drive module (30a, 30b) to the user's thigh. For example, the leg drive frame (70a, 70b) can push or pull the user's thigh. The leg drive frame (70a, 70b) can extend along the length direction of the user's thigh. The leg drive frame (70a, 70b) can be bent to wrap around at least a portion of the user's thigh.

[0077] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the leg drive frame (70a, 70b) and can secure the leg drive frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first leg drive frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second leg drive frame (70b) to the user's right thigh.

[0078] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg drive frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0079] According to one embodiment, the first fastening frame and the second fastening frame are arranged to, for example, surround at least a portion of the user's thigh, thereby preventing or reducing the user's thigh from being dislodged from the leg drive frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0080] According to one embodiment, the first strap may encircle the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and the second strap may encircle the remaining portion of the user's right thigh that is 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).

[0081] According to one embodiment, the main belt (50) may be directly or indirectly connected to the base frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be directly or indirectly connected to both ends of the base frame (20), respectively. The main belt (50) may be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction in which the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) may be interconnected while the user is wearing the wearable device (200). The main belt (50) may distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0082] Referring to FIG. 2b, the base body (10) can be mounted on the back of the user's lower back and can support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first driving module (30a) can be placed on the user's left lower back. The base frame (20) can extend from an end of the base body (10) and be inclined in a direction toward the first driving module (30a). The first main belt (50a) mounted on the base frame (20) can be in a state of wrapping around the user's left abdomen.

[0083]

[0084] Figures 3a and 3b are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0085] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a PMIC (Power Management Integrated Circuit) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (380, 380-1) (e.g., the first and second actuators described with reference to FIG. 2A), and a communication module (390).

[0086] Although FIGS. 3A-3B illustrate a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), these are merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0087] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (110) of FIGS. 1a-1b and the wearable device (200) of FIGS. 2a-2b.

[0088] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0089] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0090] According to one embodiment, the angle sensor (320) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a first joint of the user (e.g., a left hip joint, etc.). The angle sensor (320) can transmit a measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the first joint) to the processor (310). For example, the angle sensor (320) can measure the angular acceleration of the angle of the left hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320) can measure the angle or angular velocity of the angle of the left hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate an angular acceleration value of the left hip joint angle through the angular value or angular velocity value received from the angle sensor (320).

[0091] According to one embodiment, the angle sensor (320-1) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a second joint of the user (e.g., a right hip joint). The angle sensor (320-1) can transmit a measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the second joint) to the processor (310). For example, the angle sensor (320-1) can measure the angular acceleration of the angle of the right hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320-1) can measure the angle or angular velocity of the angle of the right hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate the angular acceleration value of the right hip joint angle through the angular value or angular velocity value received from the angle sensor (320-1).

[0092] According to one implementation, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0093] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0094] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to one embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0095] In one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), angle sensors (320, 320-1), memory (350), IMU (360), motors (380, 380-1), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0096] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to a user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module, a vibration output module, or a display module, which will be described later. For example, the processor (310) can transmit the state information of the battery (330) to the electronic device (120) through the communication module (390), and the electronic device (120) can display the state information of the battery (330) on a display.

[0097] According to one embodiment, the IMU (360) can acquire or measure the user's movement information. For example, the IMU (360) can measure or acquire three-axis (e.g., x-axis, y-axis, z-axis) acceleration and rotation angle (e.g., roll, pitch, yaw) according to the user's walking motion. The IMU (360) can transmit the acquired movement information (e.g., measured three-axis acceleration and rotation angle) to the processor (310).

[0098] According to one implementation, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0099] Each "processor" herein may include a processing circuit and / or multiple processors. For example, the term "processor," as used herein, including in the claims, may include various processing circuits, including at least one processor, one or more of which may be configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, when "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms may include, for example, without limitation, a situation where one processor performs some of the functions and other processor(s) perform the remainder of the functions, and also a situation where a single processor may perform all of the functions. Additionally, the at least one processor may include a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0100] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350) and process instructions or data stored in the memory (350).

[0101] According to one embodiment, the processor (310) can determine a torque value for generating torque of each of the motors (380, 380-1) and control the drive module (30) (e.g., motor driver circuits (370, 370-1)) based on the determined torque value. For example, the processor (310) can use mathematical expressions A state factor that indicates the state of the user's movement according to can be decided. can represent the angle value of the first joint (e.g. left hip joint), can represent the angle value of the second joint (e.g., right hip joint). The processor (310) uses the mathematical formula Torque value according to can be determined. Gain κ may be a parameter indicating the magnitude and direction of the torque to be generated by each of the motors (380, 380-1). The larger the value of gain κ, the stronger the torque can be output. If gain κ is negative, torque acting as a resistance force to the user (or resistance torque) may be output, and if gain κ is positive, torque acting as an assist force to the user (or assist torque) may be output. Delay △t may be a parameter related to the output timing of the torque. The value of gain κ and the value of delay △t may be preset, for example, and may be adjustable by the user, the wearable device (300), or the electronic device (120) paired with the wearable device (300). The processor (310) may be configured to perform mathematical expressions Torque value for generating torque from motor (380-1) according to (or torque value for user's right leg) can decide, Torque value for generating torque from the motor (380) according to (or torque value for the user's left leg) can be decided.

[0102] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) based on the torque value received from the processor (310), and by this control, each of the motors (380, 380-1) can generate torque. As used herein, "based on" can cover at least based on.

[0103] According to one embodiment, a communication module (390) including a communication circuit can support establishment of a direct (e.g., wired) communication channel or a wireless communication channel between a wearable device (300, 300-1) and an external electronic device, and performance of communication through the established communication channel. The communication module (390) can include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (390) can include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0104] According to one embodiment, a wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0105] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, a speaker. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0106] According to one embodiment, a wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, a vibration motor. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to a user.

[0107] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the base body (10) of FIGS. 2a and 2b.

[0108] Each implementation herein may be used in combination with any other implementation(s) described herein.

[0109]

[0110] FIG. 4 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0111] Referring to FIG. 4, a wearable device (110) can communicate with an electronic device (120) (e.g., a smartphone or a smartwatch). For example, the electronic device (120) may be a user terminal of a user using the wearable device (110) or a dedicated controller device for the wearable device (110). According to one embodiment, the wearable device (110) and the electronic device (120) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0112] According to one embodiment, the electronic device (120) can execute an application for checking the status of the wearable device (110) or controlling or operating the wearable device (110). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (110) can be displayed on the display (410) of the electronic device (120). The UI can be, for example, a graphical user interface (GUI).

[0113] According to one embodiment, a user may input a command to control the operation of the wearable device (110) (e.g., a command to instruct to operate in an assist mode that generates assistive force or a command to instruct to operate in a resistance mode that generates resistive force) or change the settings of the wearable device (110) through a GUI screen on the display (410) of the electronic device (120). The electronic device (120) 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 (110). The wearable device (110) may operate according to the received control command, and may transmit a control result according to the control command and / or sensor data measured by a sensor of the wearable device (110) (e.g., an angle sensor (320, 320-1) and / or an IMU (360)) to the electronic device (120). The electronic device (120) can provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data through a GUI screen.

[0114]

[0115] Figure 5 is a drawing showing an example of the configuration of an electronic device according to one embodiment.

[0116] Referring to FIG. 5, the electronic device (120) may include a processor (510), a memory (520), a communication module (530), a display module (540), an audio output module (550), and an input module (560). In one embodiment, the electronic device (120) may omit at least one of these components (e.g., an audio output module (550)), or may have one or more other components (e.g., a sensor module, a haptic module, a battery) added.

[0117] The processor (510) may control at least one other component (e.g., hardware or software component) of the electronic device (120) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (510) may store commands or data received from another component (e.g., a communication module (530) including a communication circuit) in the memory (520), process the commands or data stored in the memory (520), and store the resulting data in the memory (520).

[0118] According to one embodiment, the processor (510) may include a main processor (e.g., a central processing unit and / or an application processor) or auxiliary processors (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, and / or a communication processor) that may operate independently or in conjunction therewith.

[0119] The memory (520) can store various data used by at least one component (e.g., the processor (510) or the communication module (530)) of the electronic device (120). The data can include, for example, input data or output data for a program (e.g., an application) and commands related thereto. The memory (520) can include at least one instruction executable by the processor (510). The memory (520) can include volatile memory or non-volatile memory.

[0120] The communication module (530) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (120) and another electronic device (e.g., wearable device (110), another wearable device (130), server (140)), and the performance of communication through the established communication channel. The communication module (530) may include a communication circuit for performing a communication function. The communication module (530) may operate independently from the processor (510) (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 (530) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) that performs wireless communication, or a wired communication module (e.g., a LAN communication module or a power line communication module). The communication module (530) may, for example, transmit a control command to the wearable device (110) and receive at least one of sensor data including body movement information of a user wearing the wearable device (110), status data of the wearable device (110), or control result data corresponding to the control command from the wearable device (110).

[0121] The display module (540) can visually provide information to an external party (e.g., a user) of the electronic device (120). The display module (540) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (540) can further include a control circuit for controlling display operation. In one embodiment, the display module (540) 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 (540) can output a user interface screen for controlling the wearable device (110) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (110).

[0122] The audio output module (550) can output an audio signal to the outside of the electronic device (120). 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 based on the status of the wearable device (110). For example, if it is determined that the wearable device (110) is not normally worn on the user's body, the audio output module (550) can output a guide voice to inform the user of the normal wearing of the wearable device (110) or to induce the user to wear the wearable device (110) normally.

[0123] The input module (560) can receive commands or data to be used in a component of the electronic device (120) (e.g., the processor (510)) from an external source (e.g., a user) of the electronic device (120). The input module (560) can include an input component circuit and can receive user input. The input module (560) can include, for example, a key (e.g., a button) and / or a touch recognition circuit for recognizing a touch on a screen.

[0124]

[0125] Figure 6 is a drawing illustrating an example of a wearable device operating according to a user's disease according to one implementation.

[0126] Referring to FIG. 6, in operation 611, the wearable device (110) (e.g., processor (310)) may obtain information necessary (or used) or helpful for recognizing a user's disease (e.g., chronic disease). The information necessary or helpful for recognizing a user's disease (e.g., chronic disease) may include, for example, at least one or all of the user's disease code (or disease classification code), user input information, user's biometric information, user's medical record information, or user's exercise history information.

[0127] For example, the wearable device (110) may request the user's disease code from the server (140). When the server (140) receives a request for the user's disease code from the wearable device (110), the server (140) may transmit the user's disease code to the wearable device (110). The wearable device (110) may receive the user's disease code from the server (140) and, through the received disease code, may recognize which disease (or which chronic disease) (e.g., high blood pressure, diabetes, arthritis, back pain, etc.) the user has.

[0128] The user input information may include, for example, a disease name entered by the user. The electronic device (120) (or smartwatch (132)) may request the user to input a disease the user has and may receive a disease name (e.g., high blood pressure, diabetes, back pain, leg pain, etc.) from the user. The wearable device (110) may receive the user input information (e.g., a disease name entered by the user) from the electronic device (120) (or smartwatch (132)) and, through the received user input information, may recognize which disease (e.g., high blood pressure, diabetes, hyperlipidemia, back pain, leg pain, etc.) the user has.

[0129] Biometric information may include, for example, at least one of the user's blood pressure data, blood sugar data, or heart rate data. The electronic device (120) (or smart watch (132)) may measure at least one of the user's blood pressure, blood sugar, or heart rate, and store the measurement result (e.g., at least one of the blood pressure data, blood sugar data, or heart rate data). The wearable device (110) may receive the user's biometric information from the electronic device (120) (or smart watch (132)), and may recognize whether the user has a disease (e.g., diabetes, high blood pressure) through the received biometric information.

[0130] For example, the wearable device (110) can receive the user's medical record information from the server (140), and can recognize whether the user has any disease (e.g., high blood pressure, diabetes, hyperlipidemia, arthritis, back pain, leg pain, etc.) through the received medical record information.

[0131] For example, the wearable device (110) may request a predetermined item (or specific item) (e.g., gait symmetry) of the user's exercise history information from the server (140), and may receive the predetermined item (e.g., gait symmetry) of the user's exercise history information from the server (140). The wearable device (110) may recognize the user's disease (e.g., knee pain, leg pain, etc.) through a change in the item (e.g., gait symmetry) received from the server (140).

[0132] In operation 613, the wearable device (110) (e.g., processor (310)) may recognize that the user has a cardiovascular disease (e.g., hypertension, diabetes, hyperlipidemia, etc.) through acquired information (e.g., at least one or all of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information).

[0133] In operation 615, the wearable device (110) (e.g., the processor (310)) may check the user's blood pressure data. For example, the processor (310) may check whether the wearable device (110) (or the electronic device (120)) is connected to a device capable of measuring the user's blood pressure (e.g., a smart watch (132) or a separate blood pressure measuring device). If the wearable device (110) (or the electronic device (120)) is connected to the smart watch (132) capable of measuring the user's blood pressure, the processor (310) may request the smart watch (132) to measure the user's blood pressure and receive the blood pressure data from the smart watch (132). If the wearable device (110) (or the electronic device (120)) is not connected to the device capable of measuring the user's blood pressure, the processor (310) may obtain the user's recent blood pressure data from the medical record information.

[0134] In operation 617, the wearable device (110) (e.g., the processor (310)) may determine whether the user is able to perform an exercise based on the user's blood pressure data (e.g., blood pressure data measured by the smartwatch (132) or blood pressure data obtained from medical record information). The processor (310) may determine that the user is not able to perform an exercise if the user's blood pressure data exceeds a predetermined level (or a certain level). The processor (310) may determine that the user is able to perform an exercise if the user's blood pressure data is below the predetermined level. For example, the processor (310) may determine that the user is not able to perform an exercise if the user's systolic blood pressure is equal to or greater than a first blood pressure value (e.g., 200 mmHg) and / or the user's diastolic blood pressure is equal to or greater than a second blood pressure value (e.g., 110 mmHg). The processor (310) may determine that the user is capable of performing exercise when the user's systolic blood pressure is less than the first blood pressure value (e.g., 200 mmHg) and the diastolic blood pressure is less than the second blood pressure value (e.g., 110 mmHg). Examples of each of the first and second blood pressure values ​​are not limited to those described above.

[0135] If the wearable device (110) (e.g., the processor (310)) determines that the user is unable to perform the exercise (operation 617 - No), the processor (310) may provide the user with guidance on not performing the exercise in operation 619. For example, the processor (310) may provide the user with guidance on not performing the exercise through voice output and / or visual output. The voice output may include, but is not limited to, voice output through a speaker of the wearable device (110) and / or voice output through wireless earphones (131), for example. The visual output may include, but is not limited to, at least one of a screen display of an electronic device (120), a screen display of a smartwatch (132), or a screen display of smartglasses (133).

[0136] If the wearable device (110) (e.g., processor (310)) determines that the user can perform exercise (operation 617 - Yes), the wearable device (110) may operate in an exercise mode for cardiovascular disease in operation 621. For example, the processor (310) may control the wearable device (110) to operate in an exercise mode for cardiovascular disease (e.g., interval walking exercise mode). The interval walking exercise may refer to an exercise in which the user repeats walking and resting. In the interval walking exercise mode, the processor (310) may control the driving module (30) to provide torque (e.g., assistive torque or resistance torque) to the user performing the interval walking exercise, and may provide the user with a guide for the interval walking exercise (e.g., exercise posture, remaining exercise time, etc.).

[0137]

[0138] FIG. 7 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one embodiment.

[0139] Referring to FIG. 7, in operation 711, the wearable device (110) (e.g., processor (310)) may obtain information necessary or helpful for recognizing a user's disease (e.g., at least one or all of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information). The description of operation 711 may be applied to the description of operation 611.

[0140] In operation 713, the wearable device (110) (e.g., processor (310)) may recognize that the user has a cardiovascular disease (e.g., hypertension, diabetes) through acquired information (e.g., at least one or all of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information).

[0141] If the wearable device (110) (e.g., processor (310)) recognizes that the user has high blood pressure, in operation 715, the processor (310) may check whether the user's blood pressure measurement is possible. For example, the processor (310) may check whether the wearable device (110) (or electronic device (120)) can be connected (or is already connected) to a device capable of measuring the user's blood pressure (e.g., a smart watch (132) or a separate blood pressure measuring device). If the wearable device (110) (or electronic device (120)) is connected to a smart watch (132) capable of measuring the user's blood pressure, the processor (310) may request the smart watch (132) to measure the user's blood pressure, and may receive blood pressure data from the smart watch (132). If the wearable device (110) (or electronic device (120)) is not connected to a device capable of measuring the user's blood pressure (action / query 715-No), the processor (310) may check (or obtain) the user's recent blood pressure data from the medical record information in operation 717.

[0142] In operation 719, the wearable device (110) (e.g., the processor (310)) may determine whether the user is able to perform an exercise based on the user's blood pressure data (e.g., blood pressure data measured by the smartwatch (132) or blood pressure data checked from medical record information). The processor (310) may determine that the user is not able to perform an exercise if the user's blood pressure data exceeds a predetermined level (or a certain level). The processor (310) may determine that the user is able to perform an exercise if the user's blood pressure data is below the predetermined level. For example, the processor (310) may determine that the user is not able to perform an exercise if the user's systolic blood pressure is equal to or greater than a first blood pressure value (e.g., 200 mmHg) and / or the user's diastolic blood pressure is equal to or greater than a second blood pressure value (e.g., 110 mmHg). The processor (310) may determine that the user is capable of performing exercise when the user's systolic blood pressure is less than the first blood pressure value and the diastolic blood pressure is less than the second blood pressure value.

[0143] If the wearable device (110) (e.g., the processor (310)) determines that the user is unable to perform exercise (operation 719-No), the processor (310) may provide the user with a guide not to perform exercise in operation 721. For example, the processor (310) may provide the user with a guide not to perform exercise due to high blood pressure through voice output and / or visual output. The voice output may include, but is not limited to, outputting a guide not to perform exercise in voice through the speaker of the wearable device (110) and / or outputting a guide not to perform exercise in voice through the wireless earphones (131). The visual output may include, but is not limited to, displaying a guide not to perform exercise on the screen of the electronic device (120), displaying a guide not to perform exercise on the screen of the smartwatch (132), or displaying a guide not to perform exercise on the screen of the smartglasses (133).

[0144] If the wearable device (110) (e.g., processor (310)) determines that the user can perform exercise (operation 719 - Yes), the wearable device (110) may operate in an exercise mode for hypertension in operation 723. For example, the processor (310) may control the wearable device (110) to operate in an exercise mode for hypertension (e.g., a first interval walking exercise mode). The first interval walking exercise mode may be, for example, an interval walking exercise mode set with exercise intensity (e.g., level 1) / exercise performance time (e.g., 15 minutes) / number of times (e.g., 2 times). In the first interval walking exercise mode, the processor (310) may control the driving module (30) to provide torque (e.g., assistive torque or resistance torque) to a user performing interval walking exercise, and may provide a guide for interval walking exercise (e.g., exercise posture, remaining exercise time, etc.) to the user.

[0145] If the wearable device (110) (e.g., processor (310)) recognizes that the user has diabetes in operation 713, it can check whether the user's blood sugar measurement is possible in operation 725. For example, the processor (310) can check whether the wearable device (110) (or electronic device (120)) can be connected (or is already connected) to a device capable of measuring the user's blood sugar (e.g., a smart watch (132) or a separate blood sugar meter). If the wearable device (110) (or electronic device (120)) is connected to a smart watch (132) (or blood sugar meter) capable of measuring the user's blood sugar, the processor (310) can request the smart watch (132) (or blood sugar meter) to measure the user's blood sugar, and can receive blood sugar data from the smart watch (132) (or blood sugar meter). If the wearable device (110) (or electronic device (120)) is not connected to a device capable of measuring the user's blood sugar level, the processor (310) may check (or obtain) the user's recent blood sugar level data from the medical record information at operation 727.

[0146] In operation 729, the wearable device (110) (e.g., processor (310)) may determine whether the user is able to perform an exercise based on the user's blood sugar data (e.g., blood sugar data measured by the smartwatch (132) (or blood sugar meter) or blood sugar data checked from medical record information). The processor (310) may determine that the user is not able to perform an exercise if the user's blood sugar data exceeds a predetermined level (or a certain level). The processor (310) may determine that the user is able to perform an exercise if the user's blood sugar data is below a predetermined level. For example, the processor (310) may determine that the user is able to perform an exercise if the user's blood sugar level is within a predetermined range (or a certain range) (e.g., 100 to 250 mg / dL). The processor (310) may determine that the user is not able to perform an exercise if the user's blood sugar level is outside the predetermined range (e.g., 100 to 250 mg / dL).

[0147] If the wearable device (110) (e.g., the processor (310)) determines that the user is unable to exercise (operation 729 - No), the processor (310) may provide the user with guidance on not exercising in operation 721. For example, the processor (310) may provide the user with guidance on not exercising due to high or low blood sugar levels through voice output and / or visual output. The voice output may include, but is not limited to, outputting a guide on not exercising in voice through the speaker of the wearable device (110) and / or outputting a guide on not exercising in voice through the wireless earphones (131). The visual output may include, but is not limited to, displaying a guide on not exercising in voice on the screen of the electronic device (120), displaying a guide on not exercising in voice on the screen of the smartwatch (132), or displaying a guide on not exercising in voice on the screen of the smartglasses (133).

[0148] If the wearable device (110) (e.g., processor (310)) determines that the user can perform exercise (operation 729 - Yes), it can check whether the user has consumed food in operation 731. For example, the processor (310) can provide the user with an inquiry as to whether the user has consumed food through voice output and / or visual output via the wearable device (110) (or electronic device (120), smart watch (132), smart glasses (133)). The voice output may include, but is not limited to, outputting a voice inquiry as to whether the user has consumed food through the speaker and / or wireless earphones (131) of the wearable device (110). The visual output may include, but is not limited to, displaying a message indicating an inquiry as to whether the user has consumed food on at least one of the screen of the electronic device (120), the screen of the smart watch (132), or the screen of the smart glasses (133), for example. The processor (310) may receive an audio response from the user as to whether the user has consumed food via the microphone and / or wireless earphones (131) of the wearable device (110). Alternatively, the user may input a response as to whether the user has consumed food into the electronic device (120) (or the smart watch (132), the smart glasses (133)), and the processor (310) may receive a response as to whether the user has consumed food from the electronic device (120) (or the smart watch (132), the smart glasses (133)).

[0149] The wearable device (110) (e.g., processor (310)) may provide guidance to the user about performing exercise after consuming food in operation 733 if the user has not consumed food (operation 731 - No). Such guidance may be provided to the user through voice output and / or visual output.

[0150] The wearable device (110) (e.g., processor (310)) may operate in an exercise mode for diabetes in operation 735 when the user has consumed food (operation 731 - Yes). The exercise mode for diabetes may differ from the exercise mode for hypertension in at least one of exercise intensity, exercise performance time, or number of times. For example, the processor (310) may control the wearable device (110) to operate in an exercise mode for diabetes (e.g., a second interval walking exercise mode). The second interval walking exercise mode may be, for example, an interval walking exercise mode set to exercise intensity (e.g., level 2) / exercise performance time (e.g., 20 to 30 minutes) / number of times (e.g., 1 time). In the second interval walking exercise mode, the processor (310) can control the driving module (30) to provide torque (e.g., assist torque or resistance torque) to a user performing the interval walking exercise, and can provide the user with guidance for the interval walking exercise (e.g., exercise posture, remaining exercise time, etc.).

[0151]

[0152] FIG. 8A and FIG. 8B are diagrams illustrating another example of a wearable device according to one embodiment operating according to a user's condition.

[0153] The wearable device (110) can perform the operations of FIG. 8a in the interval walking exercise mode described through FIG. 6 or the first interval walking exercise mode described through FIG. 7.

[0154] Referring to FIG. 8A, in operation 811, the wearable device (110) (e.g., the processor (310)) may determine whether the user is walking while swinging his or her arms (or performing an interval walking exercise). For example, the processor (310) may determine whether the user is walking while swinging his or her arms (or performing an interval walking exercise) through the smartwatch (132).

[0155] If the wearable device (110) (e.g., processor (310)) determines that the user is walking while swinging his arms (operation 811 - Yes), it may provide guidance to the user on performing the exercise without swinging his arms in operation 813. Such guidance may be provided to the user through voice output and / or visual output.

[0156] In operation 815, the wearable device (110) (e.g., processor (310)) may determine whether the heart rate is stable. For example, if the processor (310) determines that the user is not walking while swinging his or her arms, the processor (310) may request the smartwatch (132) to measure the heart rate and receive heart rate data of the user during exercise (e.g., interval walking exercise) from the smartwatch (132). If there is little change in the received heart rate data, the processor (310) may determine that the user's heart rate is stable.

[0157] If the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user who is exercising is stable (operation 815 - Yes), the wearable device (110) may maintain the exercise intensity of the interval walking exercise mode (or the first interval walking exercise mode) in operation 817. Without being limited thereto, if the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user who is exercising is stable, the exercise intensity of the interval walking exercise mode (or the first interval walking exercise mode) may be adjusted to be high.

[0158] If the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user who is exercising is not stable (operation 815-No), the wearable device (110) may adjust the exercise intensity of the interval walking exercise mode (or the first interval walking exercise mode) to a lower level in operation 819.

[0159] The user's interval walking workout may end.

[0160] In operation 823, the wearable device (110) (e.g., processor (310)) may provide exercise result data to the user after the end of exercise. The exercise result data may include, but is not limited to, exercise performance time, exercise ability indicators (e.g., gait symmetry, walking speed, etc.), etc. The processor (310) may transmit the exercise result data to the electronic device (120) (or smart watch (132)), and the electronic device (120) (or smart watch (132)) may display the exercise result data on a display. Depending on the implementation, the processor (310) may transmit the exercise result data to the server (140). As the exercise result data is accumulated in the server (140), the user's exercise history information may be generated.

[0161] Depending on the implementation, before operation 823, in operation 821, the wearable device (110) (e.g., processor (310)) may obtain blood pressure data after the end of exercise. For example, the processor (310) may determine whether the wearable device (110) can be connected (or is already connected) to a device capable of measuring the user's blood pressure. If the wearable device (110) is connected to a smart watch (132) (or a separate blood pressure measuring device), the processor (310) may request the smart watch (132) to measure blood pressure and receive blood pressure data of the user who has finished exercising from the smart watch (132) (or blood pressure measuring device). The processor (310) may include the blood pressure data obtained after the end of exercise in the exercise result data and provide it to the user.

[0162] The wearable device (110) can perform the operations of FIG. 8b in the interval walking exercise mode described through FIG. 6 or the second interval walking exercise mode described through FIG. 7.

[0163] Referring to FIG. 8B, in operation 851, the wearable device (110) (e.g., the processor (310)) may determine whether the heart rate of a user exercising (e.g., interval walking exercise) is stable. For example, the processor (310) may request a heart rate measurement from the smartwatch (132) and receive heart rate data from the smartwatch (132). If there is little change in the received heart rate data, the processor (310) may determine that the heart rate of the user exercising is stable.

[0164] If the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user exercising is stable (operation 851 - Yes), the wearable device (110) may maintain the exercise intensity of the interval walking exercise mode (or the second interval walking exercise mode) in operation 853. Without being limited thereto, if the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user exercising is stable, the exercise intensity of the interval walking exercise mode (or the second interval walking exercise mode) may be adjusted to be high.

[0165] If the wearable device (110) (e.g., processor (310)) determines that the heart rate of the user who is exercising is not stable (operation 851-No), the wearable device (110) may adjust the exercise intensity of the interval walking exercise mode (or the second interval walking exercise mode) to a lower level in operation 855.

[0166] The user's interval walking workout may end.

[0167] In operation 859, the wearable device (110) (e.g., processor (310)) may provide exercise result data to the user after the end of exercise. The exercise result data may include, but is not limited to, exercise performance time, exercise ability indicators (e.g., gait symmetry, walking speed, etc.), etc. The processor (310) may transmit the exercise result data to the electronic device (120) (or smart watch (132)), and the electronic device (120) (or smart watch (132)) may display the exercise result data on a display. In some embodiments, the processor (310) may transmit the exercise result data to the server (140).

[0168] Depending on the implementation, before operation 859, in operation 857, the wearable device (110) (e.g., processor (310)) may obtain blood glucose data after the end of exercise. For example, the processor (310) may determine whether the wearable device (110) can be connected (or is already connected) to a device capable of measuring the user's blood glucose after the end of exercise. If the wearable device (110) is directly or indirectly connected to the smart watch (132) (or a separate blood glucose meter), the processor (310) may request blood glucose measurement from the smart watch (132) (or a separate blood glucose meter) and receive blood glucose data of the user who has finished exercising from the smart watch (132) (or a separate blood glucose meter). The processor (310) may include the blood glucose data obtained after the end of exercise in the exercise result data and provide it to the user.

[0169]

[0170] FIG. 9 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one embodiment.

[0171] Referring to FIG. 9, in operation 911, the wearable device (110) (e.g., processor (310)) may obtain information necessary or helpful for recognizing a user's disease (e.g., at least one or all of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information). The description of operation 911 may be applied to the description of operation 611.

[0172] In operation 913, the wearable device (110) (e.g., processor (310)) may recognize that the user has a musculoskeletal disease (e.g., arthritis, back pain, etc.) through acquired information (e.g., at least one or all of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information).

[0173] In operation 915, the wearable device (110) (e.g., the processor (310)) can check the user's pain condition (e.g., the pain area and / or the pain intensity). For example, the processor (310) can ask the user about the pain area and / or the pain intensity by voice through the speaker or wireless earphones (131) of the wearable device (110). At this time, the processor (310) can ask the user what the pain intensity felt by the user is on a numeric rating scale (e.g., 1 to 10). The processor (310) can receive a voice signal from the user and process the voice signal to check a score corresponding to the pain area and / or the pain intensity felt by the user. As another example, the processor (310) can ask the user about the pain area and / or the pain intensity through the display of the electronic device (120) (or smart watch (132), smart glasses (133)). The electronic device (120) (or smart watch (132), smart glasses (133)) can receive a score corresponding to the pain area and / or the pain intensity felt by the user from the user. The processor (310) can receive a score corresponding to the pain area and / or the pain intensity felt by the user from the electronic device (120) (or smart watch (132), smart glasses (133)).

[0174] The processor (310) may determine that the user is experiencing mild pain intensity if the score corresponding to the pain intensity falls within, for example, a first score range (e.g., 1 to 4 points), and may determine that the user is experiencing moderate pain intensity if the score corresponding to the pain intensity falls within, for example, a second score range (e.g., 5 to 6 points). The processor (310) may determine that the user is experiencing severe pain intensity if the score corresponding to the pain intensity falls within, for example, a third score range (e.g., 7 to 10 points).

[0175] In operation 917, the wearable device (110) (e.g., processor (310)) may determine whether the user is able to perform an exercise based on the user's pain state (e.g., pain location and / or pain intensity). For example, if the processor (310) determines that the user is experiencing mild or moderate pain intensity, the processor (310) may determine that the user is able to perform an exercise. If the processor (310) determines that the user is experiencing severe pain intensity, the processor (310) may determine that the user is not able to perform an exercise.

[0176] If the wearable device (110) (e.g., the processor (310)) determines that the user is unable to perform the exercise (operation 917-No), the processor (310) may provide the user with a guide on not performing the exercise in operation 919. For example, the processor (310) may provide the user with a guide on not performing the exercise through voice output and / or visual output. The voice output may include, but is not limited to, outputting a guide on not performing the exercise in voice form through the speaker of the wearable device (110) and / or wireless earphones (131), for example. The visual output may include, but is not limited to, displaying a guide on not performing the exercise on at least one of the screen of the electronic device (120), the screen of the smartwatch (132), or the screen of the smartglasses (133), for example.

[0177] Depending on the implementation, if the processor (310) determines that the user is unable to perform the exercise, it may recommend that the user visit a hospital and receive treatment.

[0178] If the wearable device (110) (e.g., processor (310)) determines that the user can perform exercise (operation 917 - Yes), the processor (310) may determine an exercise mode (e.g., damping exercise mode or strength-strengthening exercise mode) of the wearable device (110) according to the user's painful area in operation 921. For example, if the user's painful area is a first body part (e.g., knee), the processor (310) may determine the exercise mode of the wearable device (110) as a damping exercise mode, and if the user's painful area is a second body part (e.g., waist), the processor (310) may determine the exercise mode of the wearable device (110) as a strength-strengthening exercise mode.

[0179] The damping exercise mode may be, for example, an exercise mode for alleviating shock to a first body part (e.g., a knee) of a user who is exercising, and may represent an exercise mode in which a torque control operation (e.g., an operation for multiplying a torque value by a predetermined value (or a constant value) or an operation for changing the value of a first parameter (e.g., a gain) among parameters for torque generation of the wearable device (110)) can be performed. When the user walks and the user's foot touches the ground, shock may occur to the user's knee. In addition, when the user bends or extends the knee in place, shock may occur to the user's knee. The wearable device (110) may operate in a damping exercise mode to alleviate shock generated to the first body part (e.g., a knee). The greater the strength of the resistance torque, the greater the shock alleviation strength that the wearable device (110) provides to the user.

[0180] The muscle strengthening exercise mode may be, for example, an exercise mode for strengthening the muscle strength of a second body part (e.g., waist) of a user exercising, and may represent an exercise mode in which a torque control operation (e.g., an operation of multiplying a torque value by a predetermined value (or a constant value) or an operation of changing the value of a first parameter (e.g., gain) among parameters (e.g., gain, delay, etc.) for torque generation of a wearable device (110)) can be performed.

[0181] According to one embodiment, the processor (310) may recommend an exercise according to the user's pain intensity in the damping exercise mode or adjust the shock relief intensity of the wearable device (110) according to the pain intensity. For example, if the processor (310) determines that the user is experiencing mild knee pain, the processor (310) may operate in the damping exercise mode and recommend a forward walking exercise to the user. If the processor (310) determines that the user is experiencing moderate knee pain, the processor (310) may operate in the damping exercise mode and recommend an in-place exercise (e.g., squats, lunges, in-place walking exercise, etc.) and / or a forward walking exercise to the user. The processor (310) may adjust the shock relief intensity (e.g., a predetermined value multiplied by a torque value or an absolute value of a gain) more significantly as the pain intensity increases.

[0182] According to one embodiment, the processor (310) may recommend an exercise according to the user's pain intensity in the muscle strengthening exercise mode or adjust the exercise intensity according to the pain intensity. For example, if the processor (310) determines that the user is feeling mild back pain, the processor (310) may operate in the muscle strengthening exercise mode and may recommend the user to perform stationary exercise (e.g., bird dog exercise and / or skating exercise described below) and / or walking exercise (e.g., forward walking exercise and / or incline walking exercise) for strengthening the back muscles. If the processor (310) determines that the user is feeling moderate back pain, the processor (310) may operate in the muscle strengthening exercise mode and may recommend that the user perform stationary exercise (e.g., bird dog exercise and / or skating exercise) for strengthening the back muscles with a reduced exercise intensity and / or number of repetitions.

[0183]

[0184] FIG. 10 is a diagram illustrating another example of a wearable device operating according to a user's condition according to one implementation.

[0185] The wearable device (110) can perform the operation of FIG. 10 in the damping exercise mode and / or muscle strengthening exercise mode described through FIG. 9.

[0186] Referring to FIG. 10, in operation 1011, the wearable device (110) (e.g., processor (310)) can check the pain state (e.g., pain area and / or pain intensity) of a user who is exercising. For example, the processor (310) can ask the user who is exercising about the pain area and / or pain intensity by voice through the speaker or wireless earphones (131) of the wearable device (110). At this time, the processor (310) can ask the user how many points of pain intensity the user feels from 1 to 10. The processor (310) can receive a voice signal from the user regarding a score corresponding to the pain intensity felt by the user, and can process the voice signal to check the pain area and / or the score corresponding to the pain intensity felt by the user. As another example, the processor (310) can ask the user about the pain area and / or pain intensity through the display of the electronic device (120) (or smart watch (132), smart glasses (133)). The electronic device (120) (or smart watch (132), smart glasses (133)) can receive a score corresponding to the pain area and / or the pain intensity felt by the user from the user. The processor (310) can receive a score corresponding to the pain area and / or the pain intensity felt by the user from the electronic device (120) (or smart watch (132), smart glasses (133)).

[0187] In operation 1013, the wearable device (110) (e.g., processor (310)) may adjust or maintain exercise intensity (and / or shock relief intensity) depending on the pain state of the user who is exercising.

[0188] For example, if there is no difference between the pain intensity of the user before exercise (e.g., the pain intensity checked in operation 915 of FIG. 9) and the pain intensity of the user during exercise (e.g., the pain intensity checked in operation 1011), the processor (310) may maintain the exercise intensity and / or the shock relief intensity. If the pain intensity of the user during exercise is greater than the pain intensity of the user before exercise, the processor (310) may adjust the exercise intensity to be lower and / or the shock relief intensity to be higher. The processor (310) may increase the shock relief intensity by increasing the value of the first parameter in a negative direction (or increasing the absolute value of the first parameter). If the pain intensity of the user during exercise is less than the pain intensity of the user before exercise, the processor (310) may increase the exercise intensity and / or adjust the shock relief intensity to be lower. The processor (310) may decrease the value of the first parameter in a negative direction (or decrease the absolute value of the first parameter) to decrease the shock relief intensity.

[0189] In accordance with the implementation, the wearable device (110) (e.g., processor (310)) may request heart rate measurement from the smartwatch (132) when directly or indirectly connected to the smartwatch (132) and may receive heart rate data of the user during exercise from the smartwatch (132). The processor (310) may determine whether the heart rate of the user during exercise is stable based on the heart rate data of the user during exercise. If the processor (310) determines that the heart rate of the user during exercise is stable, the processor (310) may adjust the exercise intensity to high and / or adjust the shock relief intensity to low. If the processor (310) determines that the heart rate of the user during exercise is not stable, the processor (310) may adjust the exercise intensity to low and / or adjust the shock relief intensity to high.

[0190] In operation 1015, the wearable device (110) (e.g., processor (310)) may check the user's pain status (e.g., pain area and / or pain intensity) after the end of exercise. The description of operation 1015 may be applied to the description of operation 1011.

[0191] In operation 1017, the wearable device (110) (e.g., processor (310)) may provide exercise result data. The exercise result data may include, but is not limited to, exercise performance time, exercise ability indicators (e.g., gait symmetry, gait speed, etc.), pain state changes, etc. The processor (310) may transmit the exercise result data to an electronic device (120) (or smart watch (132)), and the electronic device (120) (or smart watch (132)) may display the exercise result data on a display. In some embodiments, the processor (310) may transmit the exercise result data to a server (140).

[0192]

[0193] FIGS. 11a, 11b, 11c, 12a, 12b, and 12c are drawings illustrating examples of a wearable device operating in a damping motion mode according to one embodiment.

[0194] In the examples shown in FIGS. 11a, 11b, 11c, 12a, 12b, and 12c, a user wearing a wearable device (110) can perform a forward walking exercise.

[0195] FIG. 11A illustrates examples of user postures (1101 to 1107) during a forward walking motion of the user, and illustrates an action of performing torque control while the wearable device (110) provides a resistance torque to the user in a damping motion mode (e.g., an action of multiplying a torque value for one leg by a predetermined value (or constant value)).

[0196] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a damping exercise mode. For example, the wearable device (110) can provide a torque value for both legs (e.g., based on the difference between the angle values ​​of the user's both hip joint angles and the values ​​of each parameter) and ) can be determined. The wearable device (110) can determine the torque value for the right leg (1100) (e.g., ) can provide a resistance torque corresponding to the user's right leg (1100), and a torque value for the left leg (e.g. ) can provide a resistance torque corresponding to the user's left leg. At this time, the wearable device (110) can provide a torque value (e.g., a torque value of FIG. 11a) for the leg (e.g., the right leg (1100)) before the foot in the air (e.g., the right foot) contacts the ground. ) can be multiplied by a predetermined value (or constant value) (e.g., α in Fig. 11a) to provide a greater resistance torque to the leg (e.g., the right leg (1100)). Hereinafter, the implementation of torque control in the damping motion mode will be described with reference to the example shown in Fig. 11a.

[0197] In the example illustrated in FIG. 11A, posture (1101) may represent a posture in which the right foot touches the ground from the rear. In posture (1101), the rotation direction of the right hip joint may be forward (e.g., counterclockwise in FIG. 11A). Posture (1103) may represent a posture in which the right hip joint is spread forward after the right leg (1100) and the left leg cross. In posture (1103), the rotation direction of the right hip joint may be forward. Between postures (1103) and (1105), there may be a posture in which the right hip joint is spread forward to the maximum or greatest extent, and after the right hip joint is spread forward to the maximum or greatest extent, the rotation direction of the right hip joint may change from the forward direction to the rearward direction (e.g., clockwise in FIG. 11A). Posture (1105) is a posture before the right foot touches the ground, and the rotation direction of the right hip joint may be rearward. There may be a posture between posture (1105) and posture (1107) in which the right foot touches the ground. Posture (1107) may represent a posture in which the user's right foot touches the ground and then the left leg rotates forward.

[0198] During the movement of posture (1101) and posture (1103) of Fig. 11a, the processor (310) calculates torque values ​​for both legs (e.g., and ) can be determined. The processor (310) can control each of the drive modules (30a, 30b) based on each of the determined torque values ​​so that a resistance torque (or resistance force) corresponding to each of the determined torque values ​​is provided to the user (e.g., each of the user's two legs).

[0199] After the posture (1103), the processor (310) can detect the start of a specified movement of the right leg (1100) in the damping motion mode (e.g., a movement from when the rotation direction of the user's right hip joint changes until the user's right foot contacts the ground). For example, the processor (310) can detect that the right hip joint has rotated forward to the maximum or greatest extent (or that the rotation direction of the right hip joint has changed from the forward direction to the backward direction) through the angle values ​​and / or angular velocity values ​​of the right hip joint.

[0200] When the processor (310) detects the start of a specified movement of the right leg (1100), it generates a torque value (e.g., torque value) for the right leg (1100). )) can be multiplied by a predetermined value (or constant value) (e.g. α), and the torque value for the right leg (1100) can be multiplied by a predetermined value (e.g. α ) can be controlled to provide a resistance torque corresponding to the right leg (1100). When the processor (310) detects the start of a specified movement of the right leg (1100), the torque value for the left leg may not be multiplied by a predetermined value. The present invention is not limited thereto, and depending on the implementation, the processor (310) may multiply the torque value for the left leg by a predetermined value even when it detects the start of a specified movement of the right leg (1100).

[0201] According to one embodiment, the predetermined value (or constant value) may be a value that provides a greater resistance torque to the user during a specified movement of the right leg (1100). The predetermined value may be, for example, greater than 1. As the predetermined value becomes greater than 1, a greater resistance torque may be provided during the specified movement of the right leg (1100). The processor (310) may determine (or adjust) the predetermined value according to a control signal received from the electronic device (120) or another wearable device (130). For example, the processor (310) may receive a control signal from the electronic device (120) or another wearable device (130) that determines the predetermined value to be 1.2. The processor (310) may determine (or adjust) the predetermined value to be 1.2 according to the received control signal.

[0202] During a designated movement of the right leg (1100), the wearable device (110) can provide a resistive torque of greater magnitude and in the opposite direction to the rotation of the right leg (1100) to the user's right leg (1100), thereby mitigating the impact when the right foot touches the ground. The impact mitigation is described in detail with reference to FIG. 11c.

[0203] The processor (310) can detect the end of a specified movement of the right leg (1100) in the damping movement mode (e.g., movement from when the rotation direction of the user's right hip joint changes until the user's right foot touches the ground). For example, the processor (310) can check whether the user's right foot touches the ground through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360).

[0204] If the processor (310) checks that the right foot is in contact with the ground, the torque value for the right leg (1100) may not be multiplied by a predetermined value. The processor (310) may multiply the torque values ​​for both legs (e.g., and ) can control the drive modules (30a, 30b) so that the corresponding resistance torque is provided to the user (e.g., each of the user's two legs).

[0205] FIG. 11b illustrates examples of user postures (1101 to 1107) during a forward walking motion of the user, and illustrates an action of performing torque control (e.g., changing the value of a gain) while the wearable device (110) provides a resistance torque to the user in a damping motion mode.

[0206] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a damping exercise mode. For example, the wearable device (110) can provide a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter. and ) can be determined. The wearable device (110) can provide the user with a resistance torque corresponding to the determined torque value. At this time, the wearable device (110) can change the value of the gain to a larger value before the foot in the air (e.g., the right foot) contacts the ground. Hereinafter, the implementation of torque control in the damping motion mode will be described with reference to the example shown in FIG. 11b.

[0207] In the example shown in Fig. 11b, during the movement of posture (1101) and posture (1103), the processor (310) calculates a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined, and the drive module (30) can be controlled based on the determined torque value so that a resistance torque (or resistance force) corresponding to the determined torque value is provided to the user. The value of the gain can be k1, and k1 can be a negative number.

[0208] The processor (310) can detect the start of a specified movement of the right leg (1100) in the damping motion mode (e.g., movement from when the rotation direction of the user's right hip joint changes until the user's right foot contacts the ground). For example, the processor (310) can detect that the right hip joint has rotated forward to the maximum or greatest extent (or that the rotation direction of the right hip joint has changed from the forward direction to the backward direction) through the angle values ​​and / or angular velocity values ​​of the right hip joint. In this case, the processor (310) can change the value of the gain from k1 to k2. k2 can be a negative number, and the absolute value of k2 can be greater than the absolute value of k1. During the specified movement of the right leg (1100), the processor (310) can control the drive module (30) to provide a greater resistance torque by increasing the value of the gain. Accordingly, the shock when the right foot contacts the ground can be mitigated. Shock mitigation is described later in Figure 11c.

[0209] The processor (310) can detect the end of a specified movement of the right leg (1100) in the damping movement mode (e.g., the movement from when the rotation direction of the user's right hip joint changes until the user's right foot touches the ground). For example, the processor (310) can check whether the user's right foot touches the ground through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360). If the processor (310) checks that the right foot touches the ground, the changed value of the gain (= k2) can be restored to the original value (= k1). The processor (310) can control the driving module (30) so that a resistance torque having a gain value of k1 is provided to the user in the posture (1107).

[0210] According to the implementation, the processor (310) may determine (or calculate) the impact intensity when the right foot and the left foot touch the ground through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360) before operating in the damping exercise mode. The processor (310) may calculate the average stride length value of one step of the user through the previous exercise result data, and may set a length value equivalent to a predetermined ratio (or a certain ratio) (e.g., 0.9) of the stride length value as a reference value for changing the value of the gain. For example, when the average stride length value of one step of the user is 65 cm, the reference value may be 58.5 cm. The processor (310) may obtain angle values ​​of the right hip joint of the user exercising in the damping exercise mode, and may check whether the stride length of one step of the user reaches the reference value through the angle values ​​of the right hip joint. The processor (310) generates a torque value (e.g., a torque value for the right leg (1100)) when the user's stride reaches a reference value. ) can be multiplied by a predetermined value (e.g., α) or the value of the gain can be changed (e.g., from k1 to k2). The processor (310) can obtain motion information (e.g., 3-axis acceleration and rotation angle) from the IMU (360) and determine (or calculate) the impact intensity when the right foot touches the ground through at least some or all of the obtained motion information. The processor (310) can determine that the damping motion mode is operating properly when the impact intensity of the right foot when operating in the damping motion mode is less than the impact intensity of the right foot before operating in the damping motion mode.

[0211] Figure 11c shows a posture in which the user's right leg (1100) is in contact with the ground.

[0212] In the example shown in Fig. 11c, the rotation direction of the right leg (1100) may be clockwise.

[0213] If the processor (310) does not multiply the torque value by a predetermined value (or a constant value) at the start of the specified movement of the right leg (1100), the magnitude of the resistance torque provided to the user immediately before the right foot contacts the ground may be, for example, 1 Nm. As described through Fig. 11a, if the processor (310) detects the start of the specified movement of the right leg (1100) and then multiplies the predetermined value by the torque value (e.g., ), the magnitude of the resistance torque provided to the user just before the right foot contacts the ground is multiplied by a predetermined value (e.g., torque value). ) can be 1.2 to 1.5 Nm, which is 20 to 50% greater than the magnitude of the resistance torque (e.g. 1 Nm) when not multiplied by the predetermined value. The torque value (e.g. ) is not multiplied by a predetermined value, but rather by a torque value (e.g. ) can be provided in the direction opposite to the rotational direction of the right leg (1100) during the specified movement of the right leg (1100). Accordingly, the predetermined value is replaced by the torque value (e.g., ) is not multiplied by a predetermined value, but rather by a torque value (e.g. ), the rotational speed of the user's right leg (1100) during the specified movement of the right leg (1100) may decrease, and the speed at which the right foot touches the ground may decrease. This allows the shock when the right foot touches the ground to be alleviated in the case where the torque value is multiplied by a predetermined value, compared to the case where the torque value is not multiplied by a predetermined value.

[0214] When the processor (310) maintains the value of the gain as k1 at the start of the specified movement of the right leg (1100), the magnitude of the resistance torque provided to the user immediately before the right foot contacts the ground may be, for example, 1 Nm. When the processor (310) changes the value of the gain from k1 to k2 after detecting the start of the specified movement of the right leg (1100) as described through FIG. 11b, the magnitude of the resistance torque provided to the user immediately before the right foot contacts the ground may be 1.2 to 1.5 Nm, which is 20 to 50% greater than the magnitude of the resistance torque (e.g., 1 Nm) when the gain value is k1. A greater magnitude of the resistance torque may be provided in the direction opposite to the rotational direction of the right leg (1100) during the specified movement of the right leg (1100) when the gain value is k2 than when the gain value is k1. Accordingly, when the gain value is k2, the rotational speed of the user's right leg (1100) during a specified movement of the right leg (1100) may decrease, and the speed at which the right foot touches the ground may decrease, compared to when the gain value is k1. As a result, the impact when the right foot touches the ground may be alleviated when the gain value is k2, compared to when the gain value is k1.

[0215]

[0216] FIG. 12A illustrates examples of postures (1201 to 1207) during a user's forward walking motion, and illustrates an action of performing torque control (e.g., multiplying a torque value for the other leg by a predetermined value (or constant value)) while the wearable device (110) provides a resistance torque to the left leg (1200) in a damping motion mode.

[0217] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a damping exercise mode. For example, the wearable device (110) can provide a torque value for both legs (e.g., based on the difference between the angle values ​​of the user's both hip joint angles and the values ​​of each parameter) and ) can be determined. The wearable device (110) can determine the torque value for the right leg (e.g., ) can provide a resistance torque corresponding to the user's right leg, and a torque value for the left leg (e.g., ) can provide a resistance torque corresponding to the user's left leg (1200). At this time, the wearable device (110) can provide a torque value (e.g., a torque value of FIG. 12a) for the leg (e.g., the left leg (1200)) before the foot in the air (e.g., the left foot) contacts the ground. ) can be multiplied by a predetermined value (e.g., α in Fig. 12a) to provide a greater resistance torque to the leg (e.g., the left leg (1200)). Hereinafter, the implementation of torque control will be described with reference to the example shown in Fig. 12a.

[0218]

[0219] In the example illustrated in FIG. 12A, posture (1201) may represent a posture in which the left foot touches the ground from the rear. In posture (1201), the rotation direction of the left hip joint may be forward (e.g., counterclockwise in FIG. 12A). Posture (1203) may represent a posture in which the left hip joint is spread forward after the left leg (1200) and the right leg cross. In posture (1203), the rotation direction of the left hip joint may be forward. Between postures (1203) and (1205), there may be a posture in which the left hip joint is spread forward to the maximum or greatest extent, and after the left hip joint is spread forward to the maximum or greatest extent, the rotation direction of the left hip joint may change from the forward direction to the rearward direction (e.g., clockwise in FIG. 12A). Between postures (1205) and (1207), there may be a posture in which the left foot touches the ground. Posture (1207) may represent a posture in which the user's left foot touches the ground and then the right leg rotates forward.

[0220] During the movement of posture (1201) and posture (1203) of Fig. 12a, the processor (310) calculates torque values ​​for both legs (e.g., and ) can be determined. The processor (310) can control each of the drive modules (30a, 30b) based on each of the determined torque values ​​so that a resistance torque (or resistance force) corresponding to each of the determined torque values ​​is provided to the user (e.g., each of the user's two legs).

[0221] After the posture (1203), the processor (310) can detect the start of a specified movement of the left leg (1200) in the damping motion mode (e.g., a movement from when the rotation direction of the user's left hip joint changes until the user's right foot contacts the ground). For example, the processor (310) can detect that the left hip joint has rotated forward to the maximum or greatest extent (or that the rotation direction of the left hip joint has changed from the forward direction to the backward direction) through the angle values ​​and / or angular velocity values ​​of the left hip joint.

[0222] When the processor (310) detects the start of a specified movement of the left leg (1200), it calculates a torque value for the left leg (1200), e.g. ) can be multiplied by a predetermined value (or constant value), and the torque value for the left leg (1200) can be multiplied by a predetermined value (e.g. α ) can be controlled to provide a resistance torque corresponding to the left leg (1200). The predetermined value may be a value that provides a greater resistance torque to the user during the designated movement of the left leg (1200). The predetermined value may be, for example, greater than 1 and may be adjusted. When the processor (310) detects the start of the designated movement of the left leg (1200), the torque value for the right leg may not be multiplied by the predetermined value. However, the present invention is not limited thereto, and depending on the implementation, the processor (310) may multiply the torque value for the right leg by the predetermined value even when it detects the start of the designated movement of the left leg (1200).

[0223] During a designated movement of the left leg (1200), the wearable device (110) can provide a resistance torque of greater magnitude and in the opposite direction to the rotational direction of the left leg (1200) to the user's left leg (1200), thereby mitigating the impact when the left foot touches the ground. The impact mitigation is described in detail with reference to FIG. 12c.

[0224] The processor (310) can detect the end of a specified movement of the left leg (1200) in a damping motion mode (e.g., a movement from when the rotational direction of the user's left hip joint changes until the user's left foot touches the ground). For example, the processor (310) can check whether the user's left foot touches the ground through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360).

[0225] If the processor (310) checks that the left foot is in contact with the ground, the processor (310) may not multiply the torque value for the left leg by a predetermined value (or a constant value) (e.g., α). The processor (310) may multiply the torque values ​​for both legs (e.g., and ) can control the drive modules (30a, 30b) so that the corresponding resistance torque is provided to the user (e.g., each of the user's two legs).

[0226] FIG. 12B illustrates examples of user postures (1201 to 1207) during a user's forward walking motion and an example of an operation of performing torque control (e.g., changing the value of a gain) while the wearable device (110) provides a resistance torque to the user in a damping motion mode.

[0227] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a damping exercise mode. For example, the wearable device (110) can provide a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter. and ) can be determined. The wearable device (110) can provide the user with a resistance torque corresponding to the determined torque value. At this time, the wearable device (110) can provide a resistance torque of greater intensity by changing the value of the gain to a larger value before the foot in the air (e.g., the left foot) contacts the ground. Hereinafter, the implementation of torque control will be described with reference to the example illustrated in FIG. 12b.

[0228] In the example shown in Fig. 12, during the movement of posture (1201) and posture (1203), the processor (310) calculates a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined, and the drive module (30) can be controlled based on the determined torque value so that a resistance torque (or resistance force) corresponding to the determined torque value is provided to the user. The value of the gain can be k1, and k1 can be a negative number.

[0229] The processor (310) can detect the start of a specified movement of the left leg (1200) in the damping motion mode (e.g., a movement from when the rotation direction of the user's left hip joint changes until the user's left foot contacts the ground). For example, the processor (310) can detect that the left hip joint has rotated forward to the maximum or greatest extent (or that the rotation direction of the left hip joint has changed from the forward direction to the backward direction) through the angle values ​​and / or angular velocity values ​​of the left hip joint. In this case, the processor (310) can change the value of the gain from k1 to k2. k2 can be a negative number, and the absolute value of k2 can be greater than the absolute value of k1. During the specified movement of the left leg (1200), the processor (310) can control the drive module (30) to provide a greater resistance torque by increasing the value of the gain. Accordingly, the shock when the left foot contacts the ground can be mitigated. Shock mitigation is described later in Figure 12c.

[0230] The processor (310) can detect the end of a specified movement of the left leg (1200) (e.g., a movement from when the rotation direction of the user's left hip joint changes until the user's left foot touches the ground). For example, the processor (310) can check whether the user's left foot touches the ground through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360). If the processor (310) checks that the left foot touches the ground, the processor (310) can return the changed value of the gain (= k2) to the original value (= k1). The processor (310) can control the driving module (30) so that a resistance torque having a gain value of k1 is provided to the user in the posture (1207).

[0231] According to the implementation, the processor (310) can obtain the angle values ​​of the left hip joint of the user exercising in the damping exercise mode, and check whether the stride length of the user's one step reaches a reference value through the angle values ​​of the left hip joint. When the stride length of the user's one step reaches the reference value, the processor (310) can multiply the torque value for the left leg by a predetermined value (or a constant value) as described through FIG. 12A or change the value of the gain as described through FIG. 12B. The processor (310) can obtain movement information (e.g., 3-axis acceleration and rotation angle) from the IMU (360), and determine the impact intensity when the left foot touches the ground through at least some or all of the obtained movement information. The processor (310) can confirm that the damping exercise mode is operating properly when the impact intensity of the left foot when operating in the damping exercise mode is less than the impact intensity of the left foot before operating in the damping exercise mode.

[0232] Figure 12c shows a posture in which the user's left leg (1200) is in contact with the ground.

[0233] In the example shown in Fig. 12c, the rotation direction of the left leg (1200) may be clockwise.

[0234] If the processor (310) does not multiply the torque value by a predetermined value (or a constant value) at the start of the specified movement of the left leg (1200), the magnitude of the resistance torque provided to the user immediately before the left foot contacts the ground may be, for example, 1 Nm. As described through Fig. 12a, if the processor (310) detects the start of the specified movement of the left leg (1200) and then multiplies the predetermined value by the torque value for the left leg (e.g., ) is multiplied by the torque value (e.g., the magnitude of the resistance torque provided to the user just before the left foot contacts the ground) to obtain a predetermined value. ) can be 1.2 to 1.5 Nm, which is 20 to 50% greater than the magnitude of the resistance torque (e.g. 1 Nm) when not multiplied by the predetermined value. The torque value (e.g. ) is not multiplied by a predetermined value, but rather by a torque value (e.g. ) can be provided in the direction opposite to the rotational direction of the left leg (1200) during the specified movement of the left leg (1200). Accordingly, the predetermined value is replaced by the torque value (e.g., ) is not multiplied by a predetermined value, but rather by a torque value (e.g. ) may reduce the rotational speed of the user's left leg (1200) during the specified movement of the left leg (1200) and reduce the speed at which the left foot touches the ground. This may result in a torque value (e.g., a predetermined value) being ) is not multiplied by a predetermined value, but rather by a torque value (e.g. ) can alleviate the impact when the left foot touches the ground.

[0235] When the processor (310) maintains the value of the gain as k1 at the start of the specified movement of the left leg (1200), the magnitude of the resistance torque provided to the user immediately before the left foot contacts the ground may be, for example, 1 Nm. When the processor (310) changes the value of the gain from k1 to k2 after detecting the start of the specified movement of the left leg (1200) as described through FIG. 11b, the magnitude of the resistance torque provided to the user immediately before the left foot contacts the ground may be 1.2 to 1.5 Nm, which is 20 to 50% greater than the magnitude of the resistance torque (e.g., 1 Nm) when the gain value is k1. A greater magnitude of the resistance torque may be provided in the direction opposite to the rotational direction of the left leg (1200) during the specified movement of the left leg (1200) when the gain value is k2 than when the gain value is k1. Accordingly, the rotational speed of the user's left leg (1200) during a specified movement of the left leg (1200) may be reduced and the speed at which the left foot touches the ground may be reduced when the gain value is k2 compared to when the gain value is k1. As a result, the impact when the right foot touches the ground may be mitigated when the gain value is k2 compared to when the gain value is k1.

[0236] Although examples of providing a resistance torque to a user during a movement other than a movement designated in a damping motion mode have been described with reference to FIGS. 11A to 12C, the present invention is not limited thereto. The processor (310) may control the drive module (30) to provide an assistive torque to the user during a movement other than a movement designated in the damping motion mode (e.g., the designated movement of the right leg (1100) and / or the designated movement of the left leg (1200) described above). When the processor (310) detects the start of a designated movement, the processor (310) may multiply the torque value for the leg performing the designated movement by a predetermined value (or a constant value) (e.g., a negative value less than -1) and control the drive module (30) to provide a resistance torque to the leg performing the designated movement. When the processor (310) detects the end of a designated movement, the processor (310) may not multiply the torque value by a negative value and control the drive module (30) to provide an assistive torque to the user. In accordance with the implementation, the processor (310) may change the value of the gain (e.g., change from a positive gain value to a negative gain value) when detecting the start of a specified movement and control the drive module (30) so that a resistance torque is provided to the user during the specified movement. The processor (310) may return the changed value of the gain (e.g., a negative gain value) to the original value (e.g., a positive gain value) when detecting the end of the specified movement and control the drive module (30) so that an assist torque is provided to the user.

[0237]

[0238] FIGS. 13a, 13b, and 13c are diagrams illustrating examples of a wearable device operating in a damping motion mode according to one embodiment.

[0239] In the example illustrated in FIG. 13a, a user wearing a wearable device (110) can perform a stationary exercise (e.g., squats). The implementation described in FIG. 13a can also be applied when the user performs other stationary exercises (e.g., lunges, walking in place, etc.).

[0240] FIG. 13A illustrates examples of postures (1301 to 1305) of a user's squat exercise and an implementation of an operation for performing torque control of a wearable device (110) in a damping exercise mode (e.g., an operation for changing a gain value).

[0241] In the example illustrated in FIG. 13A, posture (1301) may represent a posture in which the user is standing, posture (1303) may represent a posture in which the user has both knees bent as much as possible or greatly in a squat exercise, and posture (1305) may represent a posture in which the user is standing.

[0242] In one embodiment, the wearable device (110) (e.g., processor (310)) may provide a resistive torque to the user when the user begins to bend the knee in a damping exercise mode, and may provide an assistive torque to the user when the user begins to straighten the knee while the knee is maximally or greatly bent.

[0243] For example, the processor (310) can detect that a joint (e.g., a hip joint or a knee joint) is bent through angle values ​​of the joint (e.g., a hip joint or a knee joint). When the processor (310) detects that a joint (e.g., a hip joint or a knee joint) is bent, the processor (310) can determine a torque value based on the difference between the angle values ​​of both hip joints and the respective values ​​of parameters (e.g., gain and delay), and can provide the user with a resistance torque (or resistance force) corresponding to the determined torque value. As in the example illustrated in FIG. 13B, the processor (310) can control the driving module (30) to provide the user with a resistance torque in the opposite direction to the movement direction of the thigh while the user's thigh (or hip joint) is lowered in the damping motion mode (e.g., during the movement from posture (1301) to posture (1303), thereby causing the user's thigh (or hip joint) to slowly lower. As a result, less load can be applied to the user's knee and shock to the knee can be alleviated.

[0244] The processor (310) can detect that the user's knee starts to rise through the angle values ​​(or angular velocity values) of the joint (e.g., hip joint or knee joint). The processor (310) can detect that the rotation direction of the joint changes through the angular velocity values ​​of the joint. In this case, the processor (310) can change the value of the gain from a negative value to a positive value and control the driving module (30) so that an assistive torque is provided to the user. When the user's thigh (or hip joint) starts to rise in the posture (1303), the processor (310) can determine a torque value based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each of the parameters (e.g., gain and delay), and control the driving module (30) so that an assistive torque (or assistive force) corresponding to the determined torque value is provided. As illustrated in the example in FIG. 13c, the processor (310) may control the drive module (30) to provide the user with an assist torque in the same direction as the movement direction of the thigh while the user's thigh is raised in the damping motion mode (e.g., during the movement from posture (1303) to posture (1305). This may result in less load being applied to the user's knee, and may alleviate the impact on the user's knee.

[0245]

[0246] FIGS. 14a, 14b, 15a, and 15b are drawings illustrating examples of a wearable device operating in a strength training mode according to one embodiment.

[0247] FIG. 14A illustrates examples of user postures (1401 to 1407) during a forward walking exercise, and illustrates an action of performing torque control while the wearable device (110) provides a resistance torque to the user in a strength training mode (e.g., an action of multiplying a torque value for one leg by a predetermined value (or constant value).

[0248] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a muscle strengthening exercise mode. For example, the wearable device (110) can provide a torque value for both legs (e.g., based on the difference between the angle values ​​of the angles of the user's both hip joints and the values ​​of each parameter) and ) can be determined. At this time, the wearable device (110) can multiply the torque value for the right leg (1400) by a predetermined value (or a constant value) when the right hip joint of the user rotates backward and the right hip joint angle has the first value. The wearable device (110) can multiply the torque value for the right leg (1400) by a predetermined value (or a constant value) so that a greater resistance torque is provided to the motion of pushing the right leg (1400) backward. Hereinafter, the implementation of torque control in the muscle strengthening exercise mode will be described with reference to the example illustrated in FIG. 14A.

[0249] In the example illustrated in FIG. 14A, posture (1401) may be a posture before the right foot touches the ground, and the rotation direction of the right hip joint may be posterior (e.g., clockwise in FIG. 14A). Posture (1403) may represent a posture in which the left leg rotates forward (e.g., counterclockwise in FIG. 14A) after the user's right foot touches the ground. In posture (1403), the angular value of the right hip joint angle may be a first value (e.g., 0 degrees), and the rotation direction of the right hip joint may be posterior. Posture (1405) may represent a posture in which the user's right hip joint is maximally or greatly spread posteriorly. The rotation direction of the right hip joint may change from posterior to anterior before and after posture (1405). Posture (1407) may represent a posture in which the right leg (1400) rotates forward after the left foot touches the ground.

[0250] In the posture (1401) of Fig. 14a, the processor (310) provides torque values ​​for both legs (e.g., and ) can be determined. The processor (310) can control each of the drive modules (30a, 30b) based on each of the determined torque values ​​so that a resistance torque (or resistance force) corresponding to each of the determined torque values ​​is provided to the user (e.g., each of the user's two legs).

[0251] The processor (310) can detect the start of a specified movement of the right leg (1400) in a muscle strengthening exercise mode (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from a rearward direction to a forward direction) through the angle values ​​(or angular velocity values) of the right hip joint angle. The processor (310) can detect that the rotation direction of the right hip joint is a rearward direction through the angle values ​​(or angular velocity values) of the right hip joint angle and can detect that the angle value of the right hip joint angle is a first value (e.g., 0 degrees).

[0252] When the processor (310) detects the start of a specified movement of the right leg (1400), it generates a torque value for the right leg (1400), e.g. ) can be multiplied by a predetermined value (or constant value) (e.g., α). The predetermined value may be a value that provides a greater resistance torque to the user during a designated movement of the right leg (1400). The predetermined value may be, for example, greater than 1 and may be adjusted. During the designated movement of the right leg (1400), the magnitude of the resistance torque when the torque value for the right leg (1400) is multiplied by the predetermined value may be greater than the magnitude of the resistance torque when the torque value for the right leg (1400) is not multiplied by the predetermined value. During the designated movement of the right leg (1400), the processor (310) may multiply the torque value for the right leg (1400) by the predetermined value (e.g., α) so that a greater resistance torque is provided to the user when the user pushes the right leg (1400) backward. Accordingly, the processor (310) may strengthen the user's muscle strength (e.g., lower back muscle strength).

[0253] The processor (310) may not multiply the torque value for the left leg by the predetermined value when it detects the start of a specified movement of the right leg (1400). This is not limited to this, and depending on the implementation, the processor (310) may multiply the torque value for the left leg by the predetermined value even when it detects the start of a specified movement of the right leg (1400).

[0254] The processor (310) can detect the end of a specified movement of the right leg (1400) (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from the rearward direction to the forward direction). The processor (310) can detect, through the angle values ​​(or angular velocity values) of the right hip joint, that the right hip joint is narrowed from the state where it is maximally or greatly spread backward (or that the rotation direction of the right hip joint is changed from the rearward direction to the forward direction). In this case, the processor (310) may not multiply the torque value for the right leg (1400) by a predetermined value. The processor (310) may multiply the torque values ​​for both legs (e.g., and ) can control the drive modules (30a, 30b) so that the corresponding resistance torque is provided to each of the user's two legs.

[0255] FIG. 14b illustrates examples of user postures (1401 to 1407) during a forward walking exercise and an implementation of an action (e.g., an action of changing a gain value) in which a wearable device (110) performs torque control while providing a resistance torque to the user in a strength training mode.

[0256] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a muscle strengthening exercise mode. For example, the wearable device (110) can provide a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined. The wearable device (110) can provide the user with a resistance torque corresponding to the determined torque value. At this time, the wearable device (110) can change the value of the gain when the user's right hip joint rotates backward and the right hip joint angle has the first value. The wearable device (110) can greatly change the value of the gain so that a greater resistance torque is provided to the motion of pushing the right leg (1400) backward. Hereinafter, the implementation of torque control in the muscle strengthening exercise mode will be described with reference to the example illustrated in FIG. 14b.

[0257] In the posture (1401) of Fig. 14b, the processor (310) calculates a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined, and the drive module (30) can be controlled based on the determined torque value so that a resistance torque (or resistance force) corresponding to the determined torque value is provided to the user. The value of the gain can be k1, and k1 can be a negative number.

[0258] The processor (310) can detect the start of a specified movement of the right leg (1400) in a muscle strengthening exercise mode (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from a rearward direction to a forward direction) through the angle values ​​(or angular velocity values) of the right hip joint angle. The processor (310) can detect that the rotation direction of the right hip joint is rearward and can detect that the angle value of the right hip joint angle is a first value (e.g., 0 degrees) through the angle values ​​(or angular velocity values) of the right hip joint angle. In this case, the processor (310) can change the value of the gain from k1 to k2. k2 can be a negative number, and the absolute value of k2 can be greater than the absolute value of k1. During a specified movement of the right leg (1400) (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from a rearward direction to a forward direction), the processor (310) can control the drive module (30) to provide a greater resistance torque by increasing the value of the gain. By changing the value of the gain, the processor (310) can provide a greater resistance torque to the motion of the user pushing the right leg (1400) backward, thereby strengthening the user's muscle strength (e.g., lower back muscle strength).

[0259] The processor (310) can detect the end of a specified movement of the right leg (1400) (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from the rearward direction to the forward direction). The processor (310) can detect, through the angle values ​​(or angular velocity values) of the right hip joint, that the right hip joint narrows from a state in which it is maximally or greatly spread backward (or that the rotation direction of the right hip joint changes from the rearward direction to the forward direction). In this case, the processor (310) can return the changed value of the gain (=k2) to the original value (=k1). The processor (310) can control the driving module (30) so that a resistance torque having a gain value of k1 is provided to the user in the posture (1407).

[0260]

[0261] FIG. 15A illustrates examples of user postures (1501 to 1507) during a forward walking exercise and an implementation of an action of performing torque control while the wearable device (110) provides a resistance torque to the user in a strength training mode (e.g., an action of multiplying a torque value for the other leg by a predetermined value (or constant value)).

[0262] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a muscle strengthening exercise mode. For example, the wearable device (110) can provide a torque value for both legs (e.g., based on the difference between the angle values ​​of the angles of the user's both hip joints and the values ​​of each parameter) and ) can be determined. At this time, the wearable device (110) can multiply the torque value for the left leg (1500) by a predetermined value when the left hip joint of the user rotates backward and the left hip joint angle has the first value. The wearable device (110) can multiply the torque value for the left leg (1500) by a predetermined value so that a greater resistance torque is provided to the motion of pushing the left leg (1500) backward. Hereinafter, the implementation of torque control in the muscle strengthening exercise mode will be described with reference to the example illustrated in FIG. 15A.

[0263] In the example illustrated in FIG. 15A, posture (1501) may be a posture before the left foot touches the ground, and the rotation direction of the left hip joint may be posterior (e.g., clockwise in FIG. 15A). Posture (1503) may represent a posture in which the right leg rotates forward (e.g., counterclockwise in FIG. 15A) after the user's left foot touches the ground. In posture (1503), the angular value of the left hip joint angle may be a first value (e.g., 0 degrees), and the rotation direction of the left hip joint may be posterior. Posture (1505) may represent a posture in which the user's left hip joint is maximally or greatly spread posteriorly. The rotation direction of the left hip joint may change from posterior to anterior before and after posture (1505). Posture (1507) may represent a posture in which the left leg (1500) rotates forward after the right foot touches the ground.

[0264] In the posture (1501) of Fig. 15a, the processor (310) provides torque values ​​for both legs (e.g., and ) can be determined. The processor (310) can control each of the drive modules (30a, 30b) based on each of the determined torque values ​​so that a resistance torque (or resistance force) corresponding to each of the determined torque values ​​is provided to the user (e.g., each of the user's two legs).

[0265] The processor (310) can detect the start of a specified movement of the left leg (1500) in a muscle strengthening exercise mode (e.g., a movement from when the angle value of the left hip joint angle is a first value until the rotation direction of the left hip joint changes from a rearward direction to a forward direction) through the angle values ​​(or angular velocity values) of the left hip joint angle. The processor (310) can detect that the rotation direction of the left hip joint is a rearward direction through the angle values ​​(or angular velocity values) of the left hip joint angle and can detect that the angle value of the left hip joint angle is a first value (e.g., 0 degrees).

[0266] When the processor (310) detects the start of a specified movement of the left leg (1500), it generates a torque value for the left leg (1500), e.g. ) can be multiplied by a predetermined value (or constant value) (e.g., α). The predetermined value may be a value that provides a greater resistance torque to the user during a designated movement of the left leg (1500). The predetermined value may be, for example, greater than 1 and may be adjusted. During the designated movement of the left leg (1500), the magnitude of the resistance torque when the torque value for the left leg (1500) is multiplied by the predetermined value may be greater than the magnitude of the resistance torque when the torque value for the left leg (1500) is not multiplied by the predetermined value. During the designated movement of the left leg (1500), the processor (310) may multiply the torque value for the left leg (1500) by the predetermined value (e.g., α) so that a greater resistance torque is provided to the user when the user pushes the left leg (1500) backward. Accordingly, the processor (310) may strengthen the user's muscle strength (e.g., lower back muscle strength).

[0267] The processor (310) may not multiply the torque value for the right leg by a predetermined value when it detects the start of a specified movement of the left leg (1500). This is not limited to this, and depending on the implementation, the processor (310) may multiply the torque value for the right leg by a predetermined value even when it detects the start of a specified movement of the left leg (1500).

[0268] The processor (310) can detect the end of a specified movement of the left leg (1500) (e.g., a movement from when the angle value of the right hip joint angle is a first value until the rotation direction of the right hip joint changes from the rearward direction to the forward direction). The processor (310) can detect, through the angle values ​​(or angular velocity values) of the left hip joint, that the left hip joint narrows from a state where it is maximally or significantly spread backward (or that the rotation direction of the left hip joint changes from the rearward direction to the forward direction). In this case, the processor (310) may not multiply the torque value for the left leg (1500) by a predetermined value. The processor (310) may multiply the torque values ​​for both legs (e.g., and ) can control the drive modules (30a, 30b) so that the corresponding resistance torque is provided to each of the user's two legs.

[0269] FIG. 15b illustrates examples of user postures (1501 to 1507) during a forward walking exercise and an implementation of an action (e.g., an action of changing a gain value) in which a wearable device (110) performs torque control while providing a resistance torque to the user in a strength training mode.

[0270] According to one embodiment, the wearable device (110) can provide a resistance torque (or resistance force) to the user's movement in a muscle strengthening exercise mode. For example, the wearable device (110) can provide a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined. The wearable device (110) can provide the user with a resistance torque corresponding to the determined torque value. At this time, the wearable device (110) can change the value of the gain when the user's left hip joint rotates backward and the left hip joint angle has the first value. The wearable device (110) can greatly change the value of the gain so that a greater resistance torque is provided to the motion of pushing the left leg (1500) backward. Hereinafter, the implementation of torque control in the muscle strengthening exercise mode will be described with reference to the example illustrated in FIG. 15b.

[0271] In the posture (1501) of FIG. 15b, the processor (310) calculates a torque value (e.g., based on the difference between the angle values ​​of the user's two hip joints and the values ​​of each parameter) and ) can be determined, and the drive module (30) can be controlled based on the determined torque value so that a resistance torque (or resistance force) corresponding to the determined torque value is provided to the user. The value of the gain can be k1, and k1 can be a negative number.

[0272] The processor (310) can detect the start of a specified movement of the left leg (1500) in a muscle strengthening exercise mode (e.g., a movement from when the angle value of the left hip joint angle is a first value until the rotation direction of the left hip joint changes from a rearward direction to a forward direction) through the angle values ​​(or angular velocity values) of the left hip joint angle. The processor (310) can detect that the rotation direction of the left hip joint is rearward through the angle values ​​(or angular velocity values) of the left hip joint angle and can detect that the angle value of the left hip joint angle is a first value (e.g., 0 degrees). In this case, the processor (310) can change the value of the gain from k1 to k2. k2 can be a negative number, and the absolute value of k2 can be greater than the absolute value of k1. During a specified movement of the left leg (1500) (e.g., a movement from when the angle value of the left hip joint angle is a first value until the rotation direction of the left hip joint changes from a rearward direction to a forward direction), the processor (310) can control the drive module (30) to provide a greater resistance torque by increasing the value of the gain. By changing the value of the gain, the processor (310) can provide a greater resistance torque to the motion of the user pushing the left leg (1500) backward, thereby strengthening the user's muscle strength (e.g., lower back muscle strength).

[0273] The processor (310) can detect the end of a specified movement of the left leg (1500) (e.g., a movement from when the angle value of the left hip joint angle is a first value until the rotation direction of the left hip joint changes from the rearward direction to the forward direction). The processor (310) can detect, through the angle values ​​(or angular velocity values) of the left hip joint, that the left hip joint narrows from a state where it is maximally or significantly spread backward (or that the rotation direction of the left hip joint changes from the rearward direction to the forward direction). In this case, the processor (310) can return the changed value of the gain (=k2) to the original value (=k1). The processor (310) can control the driving module (30) so that a resistance torque having a gain value of k1 is provided to the user in the posture (1507).

[0274] Although examples of providing a resistance torque to a user during a movement other than a movement designated in a strength-enhancing exercise mode have been described with reference to FIGS. 14A to 15B , the present invention is not limited thereto. The processor (310) may control the drive module (30) to provide an assistive torque to the user during a movement other than a movement designated in the strength-enhancing exercise mode (e.g., the designated movement of the right leg (1400) and / or the designated movement of the left leg (1500) described above). When the processor (310) detects the start of a designated movement, the processor (310) may multiply a torque value for a leg performing the designated movement by a predetermined value (or a constant value) (e.g., a negative value less than -1) and control the drive module (30) to provide a resistance torque to the leg performing the designated movement. When the processor (310) detects the end of a designated movement, the processor (310) may not multiply the torque value by a predetermined value (e.g., a negative value less than -1) and control the drive module (30) to provide an assistive torque to the user. In accordance with the implementation, the processor (310) may change the value of the gain (e.g., change from a positive gain value to a negative gain value) when detecting the start of a specified movement and control the drive module (30) so that a resistance torque is provided to the user during the specified movement. The processor (310) may return the changed value of the gain (e.g., a negative gain value) to the original value (e.g., a positive gain value) when detecting the end of the specified movement and control the drive module (30) so that an assist torque is provided to the user.

[0275] According to one embodiment, a wearable device (110) can be wirelessly connected to a user's treadmill. In a strength-strengthening exercise mode, the wearable device (110) can adjust the incline of the treadmill to a higher level to strengthen the user's lower back muscles. The user can perform a walking exercise on the treadmill with the adjusted incline. The wearable device (110) can provide a torque (e.g., an assistive torque or a resistance torque) to the user performing a walking exercise on the treadmill with the adjusted incline. At this time, the wearable device (110) can multiply the torque value by a predetermined value or change the gain value. The present invention is not limited thereto, and when providing a torque to a user performing a walking exercise on the treadmill with the adjusted incline, the wearable device (110) may not multiply the torque value by a predetermined value or may not change the gain value.

[0276]

[0277] FIG. 16 is a diagram illustrating an example of a wearable device operating in a strength training mode according to one embodiment.

[0278] An example of a posture (1600) for a stationary exercise (e.g., bird dog exercise) for strengthening the lower back muscles is illustrated in FIG. 16. The wearable device (110) may provide the user with guidance and / or torque for the bird dog exercise in a muscle strengthening exercise mode so that the user can perform the bird dog exercise.

[0279] In the example illustrated in FIG. 16, a user can perform bird dog exercise while wearing a wearable device (110) and a smartwatch (132). The wearable device (110) can perform wireless communication with the smartwatch (132). Without being limited thereto, the wearable device (110) can perform wireless communication with the smartwatch (132) via an electronic device (120).

[0280] According to one embodiment, the processor (310) of the wearable device (110) can determine whether the user's body is parallel to the floor through at least some or all of the movement information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360). The processor (310) can receive angle values ​​from each of the angle sensors (320, 320-1). The processor (310) can receive sensing data of a sensor (e.g., a gyro sensor) of the smart watch (132) from the smart watch (132).

[0281] According to one embodiment, the processor (310) of the wearable device (110) can determine whether the arm wearing the smartwatch (132) and the opposite knee touch the ground through at least some of the movement information acquired by the IMU (360), the angle values ​​acquired by the angle sensors (320, 320-1), or the sensing data received from the smartwatch (132). In the example illustrated in FIG. 16, when the user wears the smartwatch (132) on the left arm, the processor (310) can determine whether the left arm and the right knee touch the ground through at least some of the movement information acquired by the IMU (360), the angle values ​​acquired by the angle sensors (320, 320-1), or the sensing data received from the smartwatch (132).

[0282] According to one embodiment, the processor (310) of the wearable device (110) may provide guidance to the user regarding posture for the bird dog exercise. For example, in the example illustrated in FIG. 16, the processor (310) may provide guidance to the user regarding maintaining a C-shaped curve in the user's waist, extending the right arm forward, and extending the left leg backward. The processor (310) may determine whether the user's body is tilted or moving based on movement information acquired by the IMU (360), and may provide a notification if the user's body is tilted or moving.

[0283] In one implementation, the processor (310) can determine whether the user maintains the posture (1600) for a predetermined time (or a certain period of time) (e.g., 5 seconds).

[0284] The user may assume a contralateral posture (e.g., a posture with the right arm and left knee on the ground, the left arm extended forward, and the right leg extended backward). The processor (310) may determine whether the user's body is tilted or moved when the user assumes the contralateral posture, and may provide a notification if the user's body is tilted or moved.

[0285] In one embodiment, the processor (310) may control the drive module (30) to provide torque (e.g., assist torque or resistance torque) to the user while the user performs the bird dog exercise. For example, the wearable device (110) may provide torque to the user when the user raises his or her leg, and may provide torque to the user to maintain the leg-raised posture.

[0286] In one embodiment, the processor (310) may not change the value of the gain while the user performs the bird dog exercise. However, this is not limited to the above, and the processor (310) may maintain the value of the gain when the user's legs are raised, and may change the value of the gain (e.g., change the value of the gain significantly or slightly) when the user maintains the leg-raised posture. In another example, the processor (310) may change the value of the gain (e.g., change the value of the gain significantly or slightly) when the user's legs are raised, and may return the changed value of the gain to its original value when the user maintains the leg-raised posture.

[0287] According to one implementation, the processor (310) may provide a guide to the user indicating to lift one of the arms and legs when the user has difficulty lifting both arms and legs simultaneously.

[0288] According to one implementation, the processor (310) may provide a guide to the user indicating that the user should stop exercising if pain occurs during the bird dog exercise.

[0289]

[0290] Figure 17 is a drawing illustrating an example of a wearable device operating in a strength training mode according to one embodiment.

[0291] Figure 17 illustrates examples of postures (1701, 1702, 1703) for in-situ exercises (e.g., skating exercises) to strengthen the lower back muscles. The wearable device (110) may provide guidance and / or torque to the user in a strength-strengthening exercise mode so that the user can perform the skating exercises.

[0292] In the example illustrated in FIG. 17, a user can perform skating exercise while wearing a wearable device (110).

[0293] The user can perform a standing posture (1702).

[0294] A user may perform a posture (1703) by lifting one leg (e.g., the right leg) and bending the knee of the other leg (e.g., the left leg). The processor (310) of the wearable device (110) may determine whether the user maintains the posture (1703) for a predetermined time (or a certain time) (e.g., 2 seconds) based on at least some or all of the motion information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360). The processor (310) may determine whether the user maintains balance without falling in the posture (1703) based on at least some or all of the motion information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360).

[0295] The user's posture can change from posture (1703) to posture (1702), and the user can perform posture (1701) by bending the knee of one leg (e.g., the right leg) and lifting the other leg (e.g., the left leg). The processor (310) of the wearable device (110) can determine whether the user maintains the posture (1701) for a predetermined time (or a certain time) (e.g., 2 seconds) through at least some or all of the motion information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360). The processor (310) can determine whether the user maintains balance without falling in the posture (1701) through at least some or all of the motion information (e.g., 3-axis acceleration and rotation angle) acquired by the IMU (360).

[0296] According to one implementation, the processor (310) of the wearable device (110) can provide guidance to the user not to bend the waist when the user performs a skating exercise.

[0297] According to one embodiment, the processor (310) may control the drive module (30) to provide torque to the user while the user performs a skating motion. At this time, the processor (310) may not change the value of the gain. However, the present invention is not limited thereto, and the processor (310) may maintain the value of the gain when the user bends one knee, and may change the value of the gain (e.g., change the value of the gain to a large value or a small value) when the user straightens the bent knee. In another example, the processor (310) may change the value of the gain (e.g., change the value of the gain to a large value or a small value) when the user bends one knee, and may return the changed value of the gain to its original value when the user straightens the bent knee.

[0298]

[0299] Figure 18 is a flowchart illustrating an example of a method for generating an exercise schedule of a wearable device according to one embodiment.

[0300] Referring to FIG. 18, in operation 1801, the wearable device (110) (e.g., processor (310)) can recognize a user's disease. The processor (310) can obtain information necessary or helpful for recognizing the user's disease (e.g., at least one of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information), and can recognize the user's disease through the obtained information. For example, the processor (310) can recognize that the user has a cardiovascular disease and / or a musculoskeletal disease through at least one or a combination of two or more of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information.

[0301] In operation 1803, the wearable device (110) (e.g., the processor (310)) may measure (or estimate) the user's physical strength. The processor (310) may control the wearable device (110) to operate in a physical ability measurement mode that may measure the user's physical strength (or physical ability) (e.g., walking ability, muscle strength, balance, fall probability, etc.). For example, the processor (310) can obtain sensor data according to the user's movement (e.g., angle values ​​obtained by the angle sensor (320, 320-1) and / or movement information obtained by the IMU (360). The processor (310) can analyze the sensor data to measure or estimate the user's physical strength (or physical ability). As another example, the processor (310) can allow the user to perform a TUG test. In the TUG test, the time taken for the user to sit on a chair while wearing the wearable device (110), walk a predetermined distance (or a certain distance) (e.g., 3 meters) from the chair, and then sit back down on the chair can be measured. The processor (310) can measure or estimate the user's physical ability (e.g., mobility, walking ability, fall risk, etc.) based on the measured time. As another example, the processor (310) can allow the user to perform a 5xSTS test. The 5xSTS test can measure the time it takes for a user to sit on a chair, stand up, and sit down a predetermined number of times (or a certain number of times) (e.g., 5 times) while wearing a wearable device (110). The processor (310) can measure or estimate the user's physical ability (e.g., leg muscle strength) based on the measured time. Examples of measuring the user's physical ability are not limited to the examples described above.

[0302] In operation 1805, the wearable device (110) (e.g., the processor (310)) may determine the user's exercise schedule (or exercise program) based on the user's disease and physical fitness measurement results. The processor (310) may generate and provide a user-customized exercise schedule based on the user's disease and physical fitness measurement results. The processor (310) may further consider the user's age when determining the exercise schedule (or exercise program).

[0303] Tables 1 through 4 below provide examples of exercise schedules for different conditions.

[0304] Period 1 (e.g., 1-2 weeks) Wearable device Disease Number of times Time Distance Speed ​​Exercise mode Exercise intensity Hypertension 320 minutes 1.6 km 80 m / min Interval walking Exercise mode 1 Diabetes 310 minutes 1 km 100 m / min Interval walking Exercise mode 2 Hyperlipidemia 320 minutes 1.6 km 80 m / min Interval walking Exercise mode 2 Arthritis 320 minutes 1.6 km 80 m / min Damping exercise mode 1 Back pain 320 minutes 1.6 km 80 m / min Strengthening exercise mode 1

[0305] Period 2 (e.g., 3-6 weeks) Wearable device Disease Frequency Time Distance Speed ​​Exercise mode Exercise intensity Hypertension 420 minutes 2 km 100 m / minute Interval walking Exercise mode 1 Diabetes 420 minutes 2 km 100 m / minute Interval walking Exercise mode 2 Hyperlipidemia 430 minutes 2.4 km 80 m / minute Interval walking Exercise mode 2 Arthritis 430 minutes 2.4 km 80 m / minute Damping Exercise mode 1 Back pain 430 minutes 2.4 km 80 m / minute Strengthening Exercise mode 1

[0306] Period 3 (e.g., 7-10 weeks) Wearable device Disease Frequency Time Distance Speed ​​Exercise mode Exercise intensity Hypertension 430 minutes 3 km 100 m / minute Interval walking Exercise mode 2 Diabetes 530 minutes 3 km 100 m / minute Interval walking Exercise mode 2 Hyperlipidemia 540 minutes 4 km 100 m / minute Interval walking Exercise mode 3 Arthritis 540 minutes 4 km 100 m / minute Damping Exercise mode 2 Back pain 540 minutes 3 km 70 m / minute Muscle strengthening Exercise mode 2

[0307] Period 4 (e.g., weeks 11-12) Wearable device Disease Frequency Time Distance Speed ​​Exercise mode Exercise intensity Hypertension 540 minutes 4 km 100 m / minute Interval walking Exercise mode 3 Diabetes 540 minutes 4 km 100 m / minute Interval walking Exercise mode 2 Hyperlipidemia 550 minutes 5 km 100 m / minute Interval walking Exercise mode 3 Arthritis 550 minutes 5 km 100 m / minute Damping exercise mode 3 Back pain 550 minutes 5 km 80 m / minute Strengthening exercise mode 3

[0308] The processor (310) can generate a schedule for interval walking exercise and provide it to the user when the user's disease is hypertension, diabetes, and / or hyperlipidemia, and can operate in an interval walking exercise mode when the user performs the interval walking exercise.

[0309] The processor (310) can generate a walking exercise schedule and provide it to the user when the user's condition is arthritis (e.g., knee pain), and can operate in a damping exercise mode when the user performs the walking exercise.

[0310] If the user's condition is back pain, the processor (310) can generate a walking exercise schedule and provide it to the user, and can operate in a muscle strengthening exercise mode when the user performs the walking exercise.

[0311] Although the embodiment of a wearable device generating an exercise schedule is described through FIG. 18, the present invention is not limited thereto, and the user's exercise schedule may be generated by the electronic device (120) and / or the server (140). For example, the electronic device (120) (or server (140)) may obtain information necessary or helpful for recognizing the user's disease (e.g., at least one of the user's disease code, user input information, user's biometric information, user's medical record information, or user's exercise history information), and may recognize the user's disease using the obtained information. The electronic device (120) (or server (140)) may obtain physical fitness measurement information (or physical ability information) that measures the user's physical fitness by linking with the wearable device (110). The electronic device (120) (or server (140)) can request the wearable device (110) to measure the user's physical strength, and the wearable device (110) can perform the above-described operation 1803 to transmit the physical strength measurement result to the electronic device (120) (or server (140)). The electronic device (120) (or server (140)) can receive sensor data according to the user's movement from the wearable device (110), and can measure or estimate the user's physical strength (or physical ability) by analyzing the received sensor data. The electronic device (120) (or server (140)) can determine the user's exercise schedule (or exercise program) based on the recognized disease and the physical strength measurement result. The electronic device (120) (or server (140)) can control the wearable device (110) to operate in an exercise mode according to the exercise schedule when the user performs exercise according to the exercise schedule.

[0312]

[0313] Figure 19 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0314] Referring to FIG. 19, in operation 1901, the wearable device (110) may recognize that the user has diabetes. For example, the wearable device (110) may recognize that the user has diabetes based on at least one of the user's diabetes code received from the server (140), the disease name (e.g., diabetes) entered by the user, or the user's medical record information.

[0315] In operation 1903, the wearable device (110) may acquire the user's blood sugar data. For example, the wearable device (110) may check whether it can be connected to a smartwatch (132) (or blood sugar meter) capable of measuring blood sugar. The wearable device (110) may be connected to the smartwatch (132) (or blood sugar meter), request blood sugar measurement from the smartwatch (132) (or blood sugar meter), and receive the user's blood sugar data from the smartwatch (132) (or blood sugar meter) before starting exercise. If the wearable device (110) is not connected to a smartwatch (132) (or blood sugar meter) capable of measuring blood sugar, the wearable device (110) may check the user's recent blood sugar data from medical record information.

[0316] In operation 1905, the wearable device (110) may determine whether the user is able to exercise. For example, the wearable device (110) may check whether the user has consumed food, and if the user has not consumed food, the wearable device (110) may provide the user with guidance on exercising after consuming food. The wearable device (110) may determine that the user is able to exercise if the blood sugar data checked in operation 1903 is within a predetermined range (or a certain range) (e.g., 100 to 250 mg / d). The wearable device (110) may determine that the user is not able to exercise if the blood sugar data checked in operation 1903 is outside a predetermined range (or a certain range) (e.g., 100 to 250 mg / d). The wearable device (110) may determine that the user is in a hypoglycemic state if the blood sugar data checked in operation 1903 is lower than the predetermined range. In this case, the wearable device (110) may determine that the user's exercise is not possible.

[0317] If the wearable device (110) determines that the user is capable of exercising, the wearable device (110) may operate in an interval walking exercise mode at operation 1907. For example, the wearable device (110) may recommend an exercise (e.g., interval walking exercise) according to the user's diabetes, and may operate in an interval walking exercise mode that may provide torque (e.g., assistive torque or resistance torque) to the user's interval walking exercise. The interval walking exercise mode at operation 1907 may be, for example, an interval walking exercise mode set to exercise intensity (e.g., level 1) / exercise performance time (e.g., 15 minutes per session) / number of sessions (e.g., 2 sessions). The wearable device (110) may provide the user with a torque corresponding to the exercise intensity (e.g., level 1), and may provide the user with the remaining exercise time and the remaining number of sessions.

[0318] In operation 1907, the wearable device (110) may provide guidance to the user for an interval walking exercise (e.g., guidance to walk while applying force to the hips and thighs). Such guidance may include at least one of, for example, guidance in an auditory manner (e.g., voice output), a visual manner (e.g., visual output), or a tactile manner (e.g., vibration output).

[0319] For example, when connected to wireless earphones (131), the wearable device (110) can generate a voice signal for guidance on interval walking exercise and transmit the generated voice signal to the wireless earphones (131). The wireless earphones (131) can output the received voice signal. As a result, the user can receive guidance on interval walking exercise in an auditory manner.

[0320] For example, if the wearable device (110) is connected to a smartwatch (132) and / or smart glasses (133), it can generate a message for guidance on interval walking exercise and transmit the generated message to the smartwatch (132) and / or smart glasses (133). The smartwatch (132) and / or smart glasses (133) can display the received message on a display. As a result, the user can be provided with guidance on interval walking exercise in a visual manner.

[0321] For example, the wearable device (110) may include a vibration module (or haptic module). The wearable device (110) may generate a vibration pattern (or haptic pattern) for guidance of interval walking exercise, and may control the vibration module (or haptic module) so that the vibration module (or haptic module) outputs vibration according to the vibration pattern (or haptic pattern). As a result, the user may be provided with guidance of the interval walking exercise in a tactile manner.

[0322] In operation 1909, the wearable device (110) may obtain the user's heart rate data during exercise. For example, the wearable device (110) may request a connected smartwatch (132) to measure the user's heart rate and receive the user's heart rate data during exercise from the smartwatch (132).

[0323] In operation 1911, the wearable device (110) may maintain or adjust the exercise intensity. For example, if the heart rate data acquired in operation 1909 is stable, the wearable device (110) may increase the exercise intensity (e.g., adjust the exercise intensity from level 1 to level 2). If the exercise intensity is adjusted to level 2, the intensity of the torque (e.g., resistance torque) provided to the user may increase to an intensity corresponding to level 2. If the heart rate data acquired in operation 1909 is not stable, the wearable device (110) may maintain the exercise intensity.

[0324] The wearable device (110) may provide the user with guidance on rest. For example, the wearable device (110) may provide the user with guidance on rest when one interval walking exercise is completed.

[0325] In operation 1913, the wearable device (110) may obtain the user's heart rate data and / or blood sugar data while the user is resting. During the user's rest, the wearable device (110) may pause providing torque to the user.

[0326] In operation 1915, the wearable device (110) may operate in an interval walking exercise mode. The number of interval walking exercises may be set to, for example, two. In this case, the wearable device (110) may provide the user with guidance regarding the last interval walking exercise. If the exercise intensity is adjusted to a high level in operation 1911, the wearable device (110) may operate in an interval walking exercise mode with the adjusted exercise intensity.

[0327] The description for Action 1915 may apply to the description for Action 1907.

[0328] The wearable device (110) can obtain heart rate data of a user exercising, and if the heart rate data is stable, can adjust the exercise intensity to a higher level, and if the heart rate data is not stable, can maintain the exercise intensity.

[0329] The user's interval walking exercise may end. In this case, the wearable device (110) may obtain blood sugar data (and / or heart rate data) of the user who completed the exercise in operation 1917.

[0330] The wearable device (110) can transmit evaluation results of the user's interval walking exercise, blood sugar data (e.g., blood sugar data before exercise, during rest, and after exercise), and heart rate data (e.g., heart rate data during exercise, during rest, and after exercise) to the server (140).

[0331] In operation 1919, the wearable device (110) can generate a user's exercise schedule and provide the user with the exercise schedule. For example, the wearable device (110) can determine the user's physical strength (or physical ability) through the evaluation results of the user's interval walking exercise, and can generate and provide the user with an exercise schedule based on the user's physical strength and diabetes (e.g., an exercise schedule for diabetes in Tables 1 to 4). The wearable device (110) can guide the user to perform exercise according to the user's exercise schedule.

[0332]

[0333] Figure 20 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0334] Referring to FIG. 20, in operation 2001, the wearable device (110) may operate in an exercise mode (e.g., an assistive mode or a resistance mode). The wearable device (110) may provide a torque (e.g., an assistive torque or a resistance torque) to a user performing an exercise (e.g., a walking exercise). The exercise intensity may be, for example, level 4. The wearable device (110) can calculate the walking time of the user's left stride and the walking time of the right stride using sensor data according to the user's walking motion (e.g., sensor data measured by the angle sensor (320, 320-1) and / or IMU (360), and can calculate the walking symmetry based on the difference between the respective walking times. Depending on the implementation, the wearable device (110) can transmit sensor data according to the user's walking motion (e.g., sensor data measured by the angle sensor (320, 320-1) and / or IMU (360)) to the electronic device (120) and / or the server (140). The electronic device (120) and / or the server (140) can calculate the walking time of the user's left stride and the walking time of the right stride using the received sensor data, and can calculate the walking symmetry based on the difference between the respective walking times. The wearable device (110) can transmit the sensor data according to the user's walking motion (e.g., sensor data measured by the angle sensor (320, 320-1) and / or IMU (360)) to the electronic device (120) and / or the server (140). The electronic device (120) and / or the server (140) can calculate the walking time of the user's left stride and the walking time of the right stride using the received sensor data, and can calculate the walking symmetry based on the difference between the respective walking times. Walking symmetry can be received from the server (140).

[0335] A calculated gait symmetry might be, for example, "Right 2%." A gait symmetry of Right 2% might indicate that the right foot's gait time is 2% longer than the left foot's. "Right 2%" might fall within the balance range (e.g., 0-6%).

[0336] In operation 2003, the wearable device (110) can detect an abnormality in gait symmetry. For example, the wearable device (110) can check that the user's gait symmetry changes from "right 2%" to "right 5%", and can check that the gait symmetry changes out of the balance range to "right 10%". The wearable device (110) can determine that there is an abnormality in the gait symmetry if the user's gait symmetry is out of the balance range (or if the time that the user's gait symmetry is out of the balance range is maintained for a predetermined time (or a certain time)).

[0337] If the wearable device (110) detects an abnormality in gait symmetry, it can ask the user if there is any discomfort in operation 2005, and receive a response that the knee is uncomfortable in operation 2007.

[0338] For example, the wearable device (110) may be wirelessly connected to wireless earphones (131). When the wearable device (110) detects an abnormality in gait symmetry, the wearable device (110) may generate a voice signal asking the user if there is any discomfort, and transmit the generated voice signal to the wireless earphones (131). The wireless earphones (131) may output the received voice signal. After hearing the output voice signal, the user may say that his or her knees are uncomfortable. In other words, the user may make an utterance that his or her knees are uncomfortable. The wireless earphones (131) may obtain the user's voice signal by receiving the user's utterance that his or her knees are uncomfortable, and transmit the user's voice signal to the wearable device (110). The wearable device (110) may process the user's voice signal received from the wireless earphones (131), and through the processing result, the user may recognize that his or her knees are uncomfortable.

[0339] For example, the wearable device (110) may not be connected to the wireless earphones (131). In this case, the wearable device (110) may output a voice signal through the speaker to inquire whether the user is experiencing any discomfort. The user may utter a statement indicating that their knees are uncomfortable. The wearable device (110) may acquire the user's voice signal by receiving the user's statement indicating that their knees are uncomfortable through the microphone. The wearable device (110) may process the user's voice signal, and the user may recognize that their knees are uncomfortable based on the processing result.

[0340] For example, the wearable device (110) may be wirelessly connected to at least one of the electronic device (120), the smart watch (132), or the smart glasses (133). When the wearable device (110) detects an abnormality in gait symmetry, the wearable device (110) may generate a message asking the user if there is any discomfort, and may transmit the generated message to at least one of the electronic device (120), the smart watch (132), or the smart glasses (133). At least one of the electronic device (120), the smart watch (132), or the smart glasses (133) may display the received message on a display. The user may input that he or she has discomfort in his or her knee to at least one of the electronic device (120), the smart watch (132), or the smart glasses (133), and at least one of the electronic device (120), the smart watch (132), or the smart glasses (133) may transmit an input indicating that the user has discomfort in his or her knee to the wearable device (110). The wearable device (110) can recognize that the user has knee discomfort by receiving an input indicating that the user has knee discomfort.

[0341] In Action 2009, the wearable device (110) can check the pain intensity.

[0342] For example, the wearable device (110) can ask the user about the pain area and / or pain intensity through the speaker or wireless earphones (131) of the wearable device (110). At this time, the wearable device (110) can ask the user what the pain intensity felt by the user is on a numeric rating scale (e.g., 1 to 10). The wearable device (110) can receive a voice signal from the user that utters a score corresponding to the pain intensity felt by the user, and can check the score corresponding to the pain intensity felt by the user by processing the voice signal. As another example, the wearable device (110) can ask the user about the pain intensity through the display of the electronic device (120) (or the smart watch (132), the smart glasses (133)). The electronic device (120) (or the smart watch (132), the smart glasses (133)) can receive a score corresponding to the pain intensity felt by the user from the user. The wearable device (110) can receive a score corresponding to the pain intensity felt by the user from the electronic device (120) (or smart watch (132), smart glasses (133)).

[0343] The wearable device (110) can determine that the user is feeling a mild pain intensity if the score corresponding to the pain intensity falls within, for example, a first score range (e.g., 1 to 4 points), and can determine that the user is feeling a moderate pain intensity if the score corresponding to the pain intensity falls within, for example, a second score range (e.g., 5 to 6 points). The processor (310) can determine that the user is feeling a severe pain intensity if the score corresponding to the pain intensity falls within, for example, a third score range (e.g., 7 to 10 points).

[0344] The wearable device (110) can provide guidance to the user that hospital treatment is necessary if it is determined that the user is experiencing severe pain intensity.

[0345] In operation 2011, if the user's pain intensity is not severe, the wearable device (110) may change the exercise mode (e.g., assistance mode or resistance mode) to a damping exercise mode. The wearable device (110) may operate in the damping exercise mode during the remaining exercise interval so that the user can perform the exercise with less pain. If the user's pain intensity is mild, the wearable device (110) may recommend a walking exercise to the user. If the user's pain intensity is moderate, the wearable device (110) may recommend an in-place exercise (e.g., squat exercise, in-place walking exercise, etc.) to the user. Depending on the implementation, the wearable device (110) may determine the exercise intensity when the user's pain intensity is mild to be higher than the exercise intensity when the user's pain intensity is moderate.

[0346] In operation 2013, the wearable device (110) can check the pain intensity and heart rate of the user while exercising. The description of operation 2009 can be applied to the pain intensity check in operation 2013. The wearable device (110) can transmit a heart rate measurement request to the smartwatch (132) and receive the user's heart rate data during the exercise from the smartwatch (132). Depending on the implementation, the wearable device (110) can increase the exercise intensity if the user's heart rate data is stable, and can maintain the exercise intensity if the user's heart rate data is not stable.

[0347] The user's exercise may end. In operation 2015, the wearable device (110) may check the user's pain intensity when the user's exercise is completed. The description of operation 2009 may apply to the pain intensity check in operation 2015.

[0348] In operation 2017, the wearable device (110) may provide exercise result data (e.g., exercise evaluation results) to the user. The wearable device (110) may store the exercise result data (e.g., exercise evaluation results) in the memory (350) and / or a cloud server (e.g., server (140)). The user's exercise result data may be accumulated in the memory (350) and / or the cloud server (e.g., server (140)), so that a history of the exercise performed by the user may be recorded. The wearable device (110) may store the user's pain state (e.g., pain area and / or pain intensity) during exercise and the pain state after exercise ends in the memory (350) and / or the cloud server (e.g., server (140)).

[0349] In operation 2019, the wearable device (110) can check previous exercise result data and the user's hospital records (or treatment history) from the memory (350) and / or a cloud server (e.g., server (140)). For example, the wearable device (110) can access the server (140) to check previous exercise result data. When the user visits a hospital, the server (140) can link with the hospital the user visited and store the user's hospital records (or treatment history) on the server (140). The wearable device (110) can access the server (140) to check the user's hospital records (or treatment history).

[0350] In operation 2021, the wearable device (110) can check the user's pain status (e.g., pain area and / or pain intensity).

[0351] In operation 2023, the wearable device (110) may operate in a damping motion mode if the user's pain intensity is not severe. The wearable device (110) may perform operations 2013 to 2017.

[0352]

[0353] Figure 21 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0354] Referring to FIG. 21, in operation 2101, the wearable device (110) may provide a user with a notification of a scheduled exercise time (i.e., an exercise time notification). The exercise time notification may be performed by an electronic device (120) and / or a smartwatch (132).

[0355] In operation 2103, the wearable device (110) may check the user's medical data (or medical record information). For example, the wearable device (110) may check the server (140) for recent medical records (or updated medical record information) from a recent hospital visit. The wearable device (110) may then identify the user's disease and prescribed medication through the medical records.

[0356] In operation 2105, the wearable device (110) may check the pain state (e.g., pain location and / or pain intensity). The descriptions of operations 915 and 2009 may be applied to operation 2105. In the example illustrated in FIG. 21, the wearable device (110) may check that the user's pain location is the lower back and the pain intensity is "2" on the numeric rating scale.

[0357] In operation 2107, the wearable device (110) can determine whether the user is able to perform the exercise. The wearable device (110) can recognize that the user's pain intensity is "2", which means that the pain intensity is not severe, and can determine that the user is able to perform the exercise.

[0358] In operation 2109, the wearable device (110) may recommend an exercise that can strengthen the muscles of the lower back (e.g., stationary muscle strengthening exercise and / or walking exercise). In the example illustrated in FIG. 21, the wearable device (110) may recommend a skating exercise (e.g., the skating exercise of FIG. 17) to the user.

[0359] In operation 2111, the wearable device (110) may determine the exercise mode as a muscle strengthening exercise mode, as the user's pain area is the lower back. The wearable device (110) may provide torque to the user's skating movement. At this time, the wearable device (110) may provide torque of an appropriate intensity so that the user can maintain the posture during the skating movement.

[0360] In operation 2113, the wearable device (110) may provide guidance for exercise (e.g., skating exercise). The guidance may include, for example, at least one of auditory, visual, or tactile guidance. In operation 2113, the wearable device (110) may check at least one of the number of exercise sessions, exercise posture, or exercise time. If the user's exercise posture is incorrect, the wearable device (110) may provide guidance on the exercise posture to the user.

[0361] In action 2115, the wearable device (110) may provide guidance to the user about taking a short break.

[0362] In operation 2117, the wearable device (110) may recommend a walking exercise (e.g., forward walking exercise) that can strengthen the muscles of the lower back. The wearable device (110) may operate in a muscle strengthening exercise mode that can strengthen the muscles of the back of the thighs and lower back of the user.

[0363] In operation 2119, the wearable device (110) can check the user's pain condition and heart rate during exercise.

[0364] The user's forward walking movement may end.

[0365] In operation 2121, the wearable device (110) may provide the user with exercise result data (e.g., evaluation results for each of the skating exercise and the forward walking exercise) and store the exercise result data in the memory (350) and / or the cloud (e.g., server (140)). The wearable device (110) may check gait symmetry when the user performs the forward walking exercise.

[0366] In operation 2123, the wearable device (110) can check the pain state of the user when the exercise is completed. The wearable device (110) can check that the pain intensity checked in operation 2123 is the same as the pain intensity checked during the exercise (e.g., the pain intensity checked in operation 2119) and the pain intensity checked before the start of the exercise (e.g., the pain intensity checked in operation 2105). In this case, the wearable device (110) can adjust the exercise intensity in operation 2125. For example, the wearable device (110) can provide a low exercise intensity to the user when the user performs lower back muscle strengthening exercise next. Depending on the implementation, the pain intensity checked after the end of the exercise may be lower than the pain intensity checked during the exercise (e.g., the pain intensity checked in operation 2119) and the pain intensity checked before the start of the exercise (e.g., the pain intensity checked in operation 2105). In this case, the wearable device (110) can maintain the exercise intensity or provide a high exercise intensity to the user. The pain intensity checked after the end of the exercise may be higher than the pain intensity checked during the exercise (e.g., the pain intensity checked in operation 2119) and the pain intensity checked before the start of the exercise (e.g., the pain intensity checked in operation 2105). In this case, the wearable device (110) can provide a low exercise intensity to the user or request the user to visit a hospital.

[0367]

[0368] Figure 22 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0369] Referring to FIG. 22, in operation 2201, the wearable device (110) can operate in a resistance mode (or an assist mode), and in operation 2203, can detect an anomaly in gait symmetry. The descriptions for operations 2001 and 2003 can be applied to operations 2201 and 2203, respectively.

[0370] In operation 2205, if the wearable device (110) detects that there is no device connected to the wearable device (110), the wearable device (110) can ask the user through a speaker whether there is anything uncomfortable.

[0371] In operation 2207, the wearable device (110) may receive a response from the user indicating that their knee is uncomfortable. For example, the user may utter a statement indicating that their knee is uncomfortable. The wearable device (110) may acquire the user's voice signal by receiving the user's statement of knee discomfort through a microphone. The wearable device (110) may process the user's voice signal, and the user may recognize that their knee is uncomfortable based on the processing result.

[0372] In operation 2209, the wearable device (110) may check the user's pain intensity. In the example illustrated in FIG. 22, the wearable device (110) may check that the user's pain intensity is "3" on the numeric rating scale.

[0373] In operation 2211, if the wearable device (110) determines that the user can perform exercise based on the pain intensity, it may switch the exercise mode in operation 2201 to a damping exercise mode. The description of operation 2011 may be applied to operation 2211.

[0374] In operation 2213, the wearable device (110) can check the pain intensity and heart rate of the user while exercising. The description of operation 2013 can be applied to operation 2213.

[0375] The user's exercise may end. In operation 2215, the wearable device (110) may check the user's pain intensity when the user's exercise is completed. The description of operation 2015 may be applied to operation 2215.

[0376] In operation 2217, the wearable device (110) may provide exercise result data (e.g., exercise evaluation results) to the user. The description of operation 2017 may apply to operation 2217.

[0377]

[0378] Figure 23 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0379] Referring to FIG. 23, in operation 2310, the wearable device (110) can obtain information necessary or helpful for recognizing a user's disease.

[0380] In operation 2320, the wearable device (110) can recognize the user's disease through the acquired information.

[0381] In operation 2330, the wearable device (110) may determine an exercise mode of the wearable device based on the recognized disease.

[0382] In operation 2340, the wearable device (110) can determine a first torque value based on the values ​​of the first angle value and parameters that measure the angle of the user's joint (e.g., hip joint or knee joint) in the determined exercise mode.

[0383] In operation 2350, the wearable device (110) can generate a first torque corresponding to the first torque value through the driving module (30) and provide it to the user.

[0384] In operation 2360, when the wearable device (110) detects the start of a movement specified in the exercise mode based on a second angle value measured from the angle of the joint, the wearable device (110) can perform a control operation for generating a second torque so that the second torque generated by the driving module (30) acts as resistance to the specified movement.

[0385] According to one embodiment, the exercise mode may include a first exercise mode (e.g., a damping exercise mode) in which control (or a control operation) is performed for shock relief of a user's body part and generation of a second torque, and a second exercise mode (e.g., a strength-strengthening exercise mode) in which control (or a control operation) is performed for muscle strengthening of the user and generation of a second torque.

[0386] In one embodiment, the control action may include an action of multiplying a torque value determined upon detecting the start of a specified movement by a predetermined value (or a constant value) or an action of changing the value of a first parameter among the parameters.

[0387] In one embodiment, a movement specified in a first motion mode may include, for example, a first movement from when a rotation direction of a joint changes from a first direction (e.g., forward direction) to a second direction (e.g., backward direction) until the user's foot contacts the ground. A movement specified in a second motion mode may include, for example, a second movement from when a joint angle has a first value (e.g., 0 degrees) until the rotation direction of the joint changes from the second direction to the first direction.

[0388] According to one embodiment, the processor (310) of the wearable device (110) may determine the exercise mode as the first exercise mode based on the recognized disease and the user's pain state. When the processor (310) checks that the rotation direction of the user's joint changes from the first direction to the second direction in the first exercise mode, the processor (310) may perform an operation of multiplying a second torque value (e.g., a torque value when the processor (310) checks that the rotation direction of the joint changes from the first direction to the second direction) by a predetermined value (or a constant value) or an operation of changing the value of a first parameter among the parameters.

[0389] According to one implementation, when the processor (310) checks that the user's foot is in contact with the ground, the processor (310) may perform an operation of not multiplying a third torque value (e.g., a torque value when the processor (310) checks that the foot is in contact with the ground) by a predetermined value (or a constant value) or an operation of returning a changed value of the first parameter to its original value.

[0390] According to one implementation, the processor (310) can check (or detect) that the rotation direction of the joint changes from the first direction to the second direction through the angular velocity value of the joint.

[0391] According to one embodiment, the processor (310) may determine the exercise mode as the second exercise mode based on the recognized disease and the user's pain state. When the processor (310) checks that the angle of the joint has the first value while the joint rotates in the second direction in the determined second exercise mode, the processor (310) may perform an operation of multiplying a fourth torque value (e.g., a torque value when the processor (310) checks that the angle of the joint has the first value while the joint rotates in the second direction) by a predetermined value (or a constant value) or an operation of changing the value of the first parameter among the parameters.

[0392] According to one implementation, when the processor (310) checks that the rotation direction of the joint is changed from the second direction to the first direction, the processor (310) may perform an operation of not multiplying the fifth torque value (e.g., the torque value when the processor (310) checks that the rotation direction of the joint is changed from the second direction to the first direction) by a predetermined value (or a constant value) or an operation of returning the value of the changed first parameter to the original value.

[0393] According to one implementation, the processor (310) can check (or detect) that the rotation direction of the joint changes from the first direction to the second direction through the angular velocity value of the joint.

[0394] According to one embodiment, the processor (310) can determine the gait symmetry of a user performing a walking exercise. If the determined gait symmetry is above a predetermined level (or a certain level) (e.g., if the determined gait symmetry is outside the balance range), the processor (310) can control the user to be asked about the pain status of a body part. In response to the inquiry, the processor (310) can obtain the user's pain status and determine the exercise mode as the first exercise mode based on the obtained pain status.

[0395] According to one embodiment, if the processor (310) recognizes that the user has a musculoskeletal disease and pain in a body part through information necessary or helpful for recognizing the user's disease, the processor (310) may determine the exercise mode as the first exercise mode or the second exercise mode. If the processor (310) recognizes that the user has a cardiovascular disease through information necessary or helpful for recognizing the user's disease, the processor (310) may obtain the user's biometric information (e.g., at least one of blood sugar data, blood pressure data, or heart rate data) and determine whether the user can perform the exercise based on the obtained biometric information, and if it is determined that the user can perform the exercise, the processor may control the user to be provided with a guide for the first exercise (e.g., interval walking exercise suitable for cardiovascular disease).

[0396] According to one implementation, when the processor (310) recognizes that the user has pain in a first body part (e.g., knee), it can determine the exercise mode as a first exercise mode, and when it recognizes that the user has pain in a second body part (e.g., waist), it can determine the exercise mode as a second exercise mode.

[0397] According to one embodiment, the processor (310) can obtain the user's heart rate information while the user performs the first exercise (e.g., interval walking exercise), and can adjust the exercise intensity when the obtained heart rate information satisfies a predetermined level (or a certain level) (e.g., when the heart rate is stable).

[0398] According to one embodiment, the wearable device (110) may further include a communication module that communicates with at least one of a server (140) or a user terminal (e.g., an electronic device (120) and / or another wearable device (130)). The processor (310) may receive information necessary or helpful for recognizing a user's disease from at least one of the server or the user terminal through the communication module.

[0399] The implementations described through FIGS. 1 to 22 can be applied to the operating method of the wearable device (110) of FIG. 23.

[0400]

[0401] Figure 24 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0402] Referring to FIG. 24, in operation 2410, the wearable device (110) (e.g., the processor (310)) may receive a control signal from a user terminal (e.g., an electronic device (120) and / or another wearable device (130)) (or a server (140)) via a communication module (390) to instruct the user terminal to set an exercise mode of the wearable device (110). For example, the user terminal (or the server (140)) may obtain information necessary or helpful for recognizing a disease of the user, recognize the disease of the user (e.g., cardiovascular disease, musculoskeletal disease, etc.) through the obtained information, and determine the exercise mode of the wearable device (110) based on the recognized disease.

[0403] In operation 2420, the wearable device (110) (e.g., processor (310)) may determine an exercise mode (e.g., a first exercise mode or a second exercise mode) of the wearable device (110) based on the received control signal.

[0404] In operation 2430, the wearable device (110) can determine a first torque value based on the first angle value and the values ​​of the parameters measured at the angle of the user's joint in the determined exercise mode.

[0405] In operation 2440, the wearable device (110) can generate a first torque corresponding to the first torque value through the driving module (30) and provide it to the user.

[0406] In operation 2450, when the wearable device (110) detects the start of a movement specified in the exercise mode based on a second angle value measured from the angle of the joint, the wearable device (110) can perform a control operation for generating a second torque so that the second torque generated by the driving module (30) acts as resistance to the specified movement.

[0407] According to one embodiment, when the control signal indicates the first movement mode, the processor (310) can determine the movement mode as the first movement mode, and when it is checked that the rotation direction of the user's joint changes from the first direction to the second direction in the determined first movement mode, it can perform an operation of multiplying a second torque value (e.g., a torque value when it is checked that the rotation direction of the joint changes from the first direction to the second direction) by a predetermined value (or a constant value) or an operation of changing the value of a first parameter among the parameters.

[0408] According to one embodiment, when the control signal indicates the second movement mode, the processor (310) can determine the movement mode as the second movement mode, and when it is checked that the angle of the joint has the first value while the joint rotates in the second direction in the determined second movement mode, it can perform an operation of multiplying a third torque value (e.g., a torque value when it is checked that the angle of the joint has the first value while the joint rotates in the second direction) by a predetermined value (or a constant value) or an operation of changing the value of the first parameter among the parameters.

[0409] The implementations described through FIGS. 1 to 22 can be applied to the operating method of the wearable device (110) of FIG. 24.

[0410]

[0411] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing unit may execute an operating system (OS) and software applications running on the operating system. The processing unit may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0412] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0413] The method according to the embodiment can be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium can store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the implementation or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0414] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0415] Although the embodiments have been described with reference to limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be made thereon. For example, suitable results can still be achieved even if the described techniques are performed in a different order from the described method, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner from the described method, or are replaced or substituted by other components or equivalents. While the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are intended to be illustrative rather than limiting. Those skilled in the art will appreciate that various changes in form and detail can be made therein without departing from the true spirit and full scope of the present disclosure, including the appended claims and their equivalents. It will also be appreciated that any embodiment(s) described herein can be used in conjunction with any other embodiment(s) described herein.

[0416] Therefore, other implementations, other implementations and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In a wearable device (110), An angle sensor (320, 320-1) that measures the angle of the user's joints; A drive module (30) including a motor and / or circuit and generating torque to provide it to the user; and At least one processor (310) comprising a processing circuit Including, At least one of the processors, individually and / or collectively, Acquire information about the user's disease recognition, recognize the user's disease based on the acquired information, determine an exercise mode of the wearable device based on the recognized disease, receive a first angle value based on the angle in the determined exercise mode from the angle sensor, determine a first torque value based on the received first angle value and values ​​of parameters, control the driving module so that the first torque is generated based on the determined first torque value, and when detecting the start of a specified movement in the determined exercise mode based on a second angle value measured from the angle, perform a control operation for the generation of the second torque so that the second torque to be generated by the driving module acts as resistance to the specified movement. Wearable devices.

2. In paragraph 1, The above exercise mode is, Including a first exercise mode in which shock relief of the user's body part and the control movement are performed, and a second exercise mode in which muscle strength of the user are strengthened and the control movement is performed. Wearable devices.

3. In paragraph 2, The movement specified in the first movement mode includes a first movement from when the rotation direction of the joint changes from the first direction to the second direction until the user's foot contacts the ground, The movement specified in the second movement mode includes a second movement from when the angle of the joint has a first value until the rotation direction of the joint changes from the second direction to the first direction. Wearable devices.

4. In any one of paragraphs 1 to 3, At least one processor including a processing circuit, individually and / or collectively, The exercise mode is determined as the first exercise mode through the above-described recognized disease and the pain state of the user, and when it is determined that the rotation direction of the joint of the user changes from the first direction to the second direction in the determined first exercise mode, an operation of multiplying the second torque value by a predetermined value and / or an operation of changing the value of the first parameter among the parameters is performed. Wearable devices.

5. In paragraph 4, At least one processor including a processing circuit, individually and / or collectively, When it is determined that the user's foot is in contact with the ground, an action is performed that does not multiply the third torque value by the predetermined value and / or an action is performed that returns the changed value of the first parameter to the original value. Wearable devices.

6. In paragraph 4, At least one processor including a processing circuit, individually and / or collectively, It is determined that the rotation direction changes from the first direction to the second direction through the angular velocity value of the above joint. Wearable devices.

7. In any one of paragraphs 1 to 6, At least one processor including a processing circuit, individually and / or collectively, The exercise mode is determined as a second exercise mode through the above-described recognized disease and the pain state of the user, and when it is determined that the angle of the joint has a first value while the joint rotates in the second direction in the determined second exercise mode, an action of multiplying a fourth torque value by a predetermined value and / or an action of changing the value of the first parameter among the parameters is performed. Wearable devices.

8. In paragraph 7, At least one processor including a processing circuit, individually and / or collectively, When it is determined that the rotation direction of the above joint changes from the second direction to the first direction, an operation of not multiplying the fifth torque value by the predetermined value and / or an operation of returning the value of the changed first parameter to the original value is performed. Wearable devices.

9. In paragraph 8, At least one processor including a processing circuit, individually and / or collectively, It is determined that the rotation direction of the joint changes from the second direction to the first direction through the angular velocity value of the joint. Wearable devices.

10. In any one of paragraphs 1 to 9, At least one processor including a processing circuit, individually and / or collectively, Determine the gait symmetry of the user performing the walking exercise, and if the determined gait symmetry is equal to or greater than a predetermined level, control to provide the user with an inquiry about the pain state of the user's body part, acquire the pain state in response to the inquiry, and determine the exercise mode as the first exercise mode based on the acquired pain state. Wearable devices.

11. In any one of paragraphs 1 to 10, At least one processor including a processing circuit, individually and / or collectively, If it is recognized through the acquired information that the user has a musculoskeletal disease and pain in a body part, the exercise mode is determined as the first exercise mode and / or the second exercise mode, and if it is recognized through the acquired information that the user has a cardiovascular disease, the user's biometric information is acquired and whether the user can perform the exercise is determined based on the acquired biometric information, and if it is determined that the user can perform the exercise, a guide for the first exercise is provided to the user. Wearable devices.

12. In paragraph 11, At least one processor including a processing circuit, individually and / or collectively, If it is recognized that the user has pain in the first body part, the exercise mode is determined as the first exercise mode, and if it is recognized that the user has pain in the second body part, the exercise mode is determined as the second exercise mode. Wearable devices.

13. In paragraph 11, At least one processor including a processing circuit, individually and / or collectively, Obtaining heart rate information of the user while the user performs the first exercise, and adjusting exercise intensity when the acquired heart rate information satisfies a predetermined level. Wearable devices.

14. In any one of paragraphs 1 to 13, A communication module comprising a communication circuit and communicating with at least one of a server and a user terminal Including more, At least one processor including a processing circuit, individually and / or collectively, receives information regarding the user's disease recognition from at least one of the server or the user terminal via the communication module. Wearable devices.

15. In the operating method of a wearable device (110), An operation of receiving a control signal from a user terminal, the user terminal instructing the exercise mode of the wearable device; An operation of determining an exercise mode of the wearable device based on the received control signal; An operation of determining a first torque value based on the first angle value and parameter values ​​obtained by measuring the angle of the user's joint in the determined exercise mode; An operation for generating a first torque based on the first torque value determined above; and An operation of performing a control operation for generating a second torque so that the second torque acts as resistance to the specified movement when detecting the start of a specified movement in the determined movement mode based on the second angle value obtained by measuring the above angle. Including, Method of operation of a wearable device.

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