Wearable device and exercise assistance method using wearable device

Abstract

A wearable device may comprise: an actuator including a motor and / or a circuit; a sensor that generates movement data corresponding to movement of the hand of a user; at least one processor that controls the actuator; a cable connected to the actuator; and a body coupling component connected to the cable and connected or fixed to a part of the body of the user, wherein the processor: estimates a position of the hand of the user on the basis of the movement data corresponding to the movement of the hand of the user, individually and / or collectively; on the basis of the position of the hand of the user, and a tension control model defined with respect to the surrounding space of the user, determines, at the position of the hand of the user, a tension value to be applied to the cable; and controls the actuator so that tension of the determined tension value is generated in the cable.

Description

Wearable device and exercise assistance method using wearable device

[0001] Certain embodiments relate to a wearable device and a method for assisting exercise using a wearable device.

[0002] As we enter an aging society, the number of people complaining of difficulty and pain in walking due to muscle weakness or joint problems caused by aging is increasing. This has led to a growing interest in assistive devices that help the elderly with weakened muscles, patients with muscle and joint problems, and those who simply want to exercise more conveniently. Known examples of such devices are those worn around the user's waist to assist with walking and leg movements.

[0003] A wearable device according to an embodiment may include an actuator including a motor and / or a circuit, a sensor for measuring a movement of a user's hand and generating movement data corresponding to the movement of the user's hand, one or more processors including processing circuitry, a cable directly or indirectly connected to the actuator, and a body coupling component directly or indirectly connected to the cable and directly or indirectly connected or fixed to a body part. The one or more processors may individually and / or collectively estimate a position of the user's hand based on the movement data corresponding to the movement of the user's hand, determine a tension value to be applied to the cable at the position of the user's hand based on a tension control model defined for the position of the user's hand and the surrounding space of the user, and control the actuator so that tension of the determined tension value is generated in the cable.

[0004] A wearable device according to an embodiment may include an actuator, a sensor for measuring movement of a user's leg and generating movement data corresponding to the movement of the user's leg, one or more processors for controlling the actuator, a cable connected to the actuator, and a body coupling component connected to the cable and connected or fixed to a part of the user's body. The one or more processors may estimate a position of the leg based on the movement data corresponding to the movement of the user's leg, determine a tension value to be applied to the cable at the position of the leg based on a tension control model defined for the position of the user's leg and the surrounding space of the user, and control the actuator so that tension of the determined tension value is generated in the cable.

[0005] A method for assisting exercise using a wearable device including an actuator, a sensor, a cable connected to the actuator, and a body coupling component connected to the cable and connected or fixed to a part of a user's body according to an embodiment may include an operation of obtaining movement data corresponding to movement of a user's hand using the sensor, an operation of estimating a position of the user's hand based on the movement data, an operation of determining a tension value to be applied to the cable at the position of the user's hand based on a tension control model defined for the position of the user's hand and the surrounding space of the user, and an operation of controlling the actuator so that tension of the determined tension value is generated in the cable.

[0006] FIG. 1A and FIG. 1B are drawings for explaining an overview of a wearable device according to an embodiment.

[0007] FIG. 1c and FIG. 1d are drawings for explaining an application using a wearable device according to an embodiment.

[0008] FIG. 2 is a drawing for explaining a system including a wearable device and an electronic device according to an embodiment.

[0009] FIG. 3 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.

[0010] FIG. 4 is a drawing for explaining the configurations of the main body module of a wearable device according to an embodiment.

[0011] Figure 5 is a drawing for explaining the configurations of a wearable device according to an embodiment.

[0012] Figure 6 is a flowchart illustrating a process for generating a tension control model according to an embodiment.

[0013] Fig. 7 is a drawing for explaining an example of generating a tension control model according to an embodiment.

[0014] FIG. 8 is a flowchart for explaining the operations of a method for assisting exercise using a wearable device according to an embodiment.

[0015] FIG. 9 is a drawing for explaining the change in the target tension value of the tension control model according to the position of the user's hand in the exercise motion guide mode according to the embodiment.

[0016] Fig. 10 is a drawing for explaining elements that determine the target tension value of the tension control model according to the embodiment.

[0017] Fig. 11 is a drawing for explaining changes in a tension control model according to an operation mode of a wearable device according to an embodiment.

[0018] Fig. 12 is a drawing for explaining a tension control model and changes in tension values ​​according to the position of the user's hand in a shoulder press exercise according to an embodiment.

[0019] Fig. 13 is a diagram for explaining a tension control model and changes in tension values ​​according to the position of the user's hand in a rowing exercise according to an embodiment.

[0020] Fig. 14 is a drawing for explaining a wearable device for assisting leg movement according to an embodiment.

[0021] Fig. 15 is a drawing for explaining tension control of a cable by an actuator according to an embodiment.

[0022] Unless otherwise stated or provided throughout the drawings and detailed description, identical drawing reference numbers will be understood to refer to identical elements, features, and structures. The drawings may not be to scale, and the relative sizes, proportions, and depictions of components within the drawings may be exaggerated for clarity, explanation, and convenience.

[0023] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0024] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "has" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

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

[0027]

[0028] FIG. 1A and FIG. 1B are drawings for explaining an overview of a wearable device according to an embodiment.

[0029] Referring to FIGS. 1A and 1B , a wearable device (100) may be worn on a user's (110) body to assist exercise and / or rehabilitation treatment of the user. The wearable device (100) may be used to measure the user's (110) physical ability (e.g., exercise ability, exercise posture) or may be used to play content such as a game. In an embodiment, the wearable device (100) may be used to strengthen the user's (110) muscle strength, guide exercise movements, and / or provide an exergame. In the present disclosure, the term 'wearable device' may be replaced with 'wearable robot', 'exercise assistance device', or 'gaming gear'. A wearable device (100) may be worn on a user's (110) body (e.g., upper body (torso, waist, arms, wrists, hands, etc.) or lower body (legs)) to apply an external force of resistance force to the body movement of the user (110). The resistance force is a force applied in a direction opposite to the direction of the body movement of the user (110), and represents a force that impedes the body movement of the user (110). The term 'resistance force' may also be referred to as 'exercise load'. In an embodiment, the wearable device (100) may apply a resistance force to the body movement of the user (110) by adjusting the tension of a cable (30, 35) directly or indirectly connected to a body coupling component (40, 45) held by a hand of the user (110). The tension of the cable (30, 35) represents the force (e.g., torque) generated by the driver of the wearable device (100) (e.g., actuator (440, 445) of FIG. 4) applied to the cable (30, 35).

[0030] In an embodiment, the wearable device (100) may operate in a motion guide mode that guides a motion of a user (110). In the motion guide mode, the wearable device (100) may estimate the position of the body coupling component (40, 45) of the wearable device (100) and adjust the tension of the cable (30, 35) based on the position of the body coupling component (40, 45). The wearable device (100) may estimate the position of the body coupling component (40, 45) as the position of the hand of the user (110) and determine whether the position of the user's hand (or a change in the position of the user's hand over time) corresponds to a desired motion. The body coupling component (40, 45) is a component for connecting or fixing the cable (30, 35) to a part of the body of the user (110). The body coupling component (40, 45) may have, for example, but is not limited to, a handle, a band, a frame, a bracelet, a ring, a string, a glove, etc. In some embodiments, for convenience of explanation, the body coupling component (40, 45) is described as having a handle shape as an example, but the scope of the embodiment should not be understood to be limited thereto.

[0031] A desired exercise motion can be defined as a path along which a hand or arm must move, or a specific exercise posture. The wearable device (100) can induce the user (110) to move the user's hand in the desired exercise motion by adjusting the tension of the cable (30, 35) to a low value when the change in the position of the user's hand over time corresponds to the desired exercise motion, and by adjusting the tension of the cable (30, 35) to a high value when the change in the position of the user's hand over time does not correspond to the desired exercise motion. A low value of tension causes the user (110) to feel little or no resistance from the cable (30, 35), and a high value of tension causes the user (110) to feel relatively great resistance from the cable (30, 35). The low and high values ​​of tension are relative relationships, and can indicate a value lower than a specific reference value and a value higher than the reference value, respectively.

[0032] In an embodiment, the wearable device (100) may operate in a strength training assistance mode to strengthen the muscle strength of the user (110). In the strength training assistance mode, the wearable device / apparatus (100) may impede the body movement of the user (110) or provide resistance to the body movement of the user (110) by applying resistance to the body of the user (110) through the cables (30, 35). In an embodiment, the wearable device (100) may provide exercise load to the arm movement of the user (110) to further enhance the exercise effect. The wearable device (100) may set the resistance of the cables (30, 35) to be high when the user (110) moves in a desired exercise motion, and may set the resistance of the cables (30, 35) to be low when the user (110) moves in a direction different from the desired exercise motion. Through this, the user (110) may perform strength training with a desired exercise motion.

[0033] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using sensors (e.g., inertial sensors, force sensors, angle sensors) included in the wearable device (100) while the user (110) is exercising, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the exercise ability index (e.g., muscle strength, endurance, balance, exercise posture) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100).

[0034] In the embodiments of the present disclosure, for convenience of explanation, an upper body-worn wearable device (100) as illustrated in FIGS. 1A and 1B is described as an example, but is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts, and the shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn. For example, the wearable device (100) may be modified and used to assist leg movement, as illustrated in FIG. 14.

[0035] A wearable device (100) according to an embodiment may include a first wearing part (10), a main body module (20), a cable (30, 35) directly or indirectly connected to an actuator of the main body module (20), a body coupling component (40, 45) connected to the cable (30, 35) and directly or indirectly connected or fixed to a body part (e.g., hand, wrist, arm, finger) of a user (110), and a second wearing part (50, 55). The wearable device (100) may further include a sensor (not shown) that measures a movement of a user's (110) hand and generates movement data corresponding to the movement of the user's hand. Some of these components (e.g., the second wearing part (50, 55)) may be omitted, and other components (e.g., a third wearing part worn on an upper limb) may be added to the wearable device (100).

[0036] The first wearable part (10) can be worn on the body of the user (110). For example, the first wearable part (10) can be worn on the upper body of the user (110). The first wearable part (10) can be in close contact with the upper body of the user (110) and support a portion of the upper body of the user (110). The first wearable part (10) can close the main body module (20) fixed to the first wearable part (10) to the upper body of the user (110) so that the main body module (20) does not shake due to the movement of the user (110) or so that the possibility of the main body module (20) shaking is reduced. In an embodiment, the first wearable part (10) can include an elastic material.

[0037] The body module (20) may include an actuator (e.g., actuators (440, 445) of FIG. 4) that is directly or indirectly connected to the cables (30, 35) to control the tension applied to the cables (30, 35), a processor (e.g., processor (510) of FIG. 5) that controls the actuators, and a battery (e.g., battery (430) of FIG. 4). In an embodiment, the body module (20) may guide a desirable exercise motion for the user (110) or assist in muscle strength training of the user (110) by controlling the magnitude of the tension transmitted to the body coupling component (40, 45) of the user (110) through the cables (30, 35). The body module (20) may control the tension applied to the cables (30, 35) by controlling the actuator based on the position of the hand (or arm) of the user (110). The tension applied to the cable (30, 35) can be transmitted to the body coupling component (40, 45) held by the user (110). The main body module (20) can obtain sensor data related to the position of the hand of the user (110) through one or more sensors (not shown) and estimate the position of the hand and the posture of the arm of the user (110) based on the sensor data. The sensor data can include data measured about the movement and / or rotation of the user's hand. The one or more sensors can include, for example, an inertial measurement unit (IMU). The one or more sensors can be included in, for example, the second wearable part (50, 55), the body coupling component (40, 45), the third wearable part (not shown) worn on the upper arm, and / or another wearable device (e.g., a watch-type wearable device). The main body module (20) and the one or more sensors can be connected to each other wiredly or wirelessly.

[0038] When the first wearable part (10) is worn on the upper body of the user (110), the main body module (20) may be located on the back (e.g., back) of the upper body of the user (110), but is not limited thereto. For example, the main body module (20) may also be located on the front (e.g., chest) of the upper body. The main body module (20) may include a display (not shown) for visually displaying information such as the current operating status of the wearable device (100). The display may include a light module (e.g., a light module (570) of FIG. 5) capable of outputting light of various colors, intensities, and / or patterns. The light module may include an LED, and may provide information related to the wearable device (100) through the color and / or output pattern of the LED.

[0039] One end of the cable (30, 35) may be directly or indirectly connected to the body coupling component (40, 45). In an embodiment, the body coupling component (40, 45) and the second wearable portion (50, 55) may be worn on the hand and wrist of the user (110), respectively. The body coupling component (40, 45) may be in a form that can be grasped by the hand of the user (110), but the form of the body coupling component (40, 45) is not limited to the described embodiment. The body coupling component (40, 45) may have a form that can be fixed to any part of the hand or arm of the user (110). The cables (30, 35) are directly or indirectly connected to an actuator (e.g., actuator (440) and / or actuator (445) of FIG. 4) within the main body module (20), and their tension and / or length can be changed according to the movement of the hand (or arm) of the user (110). The cables (30, 35) can be elastic cables, inelastic cables, or a combination thereof.

[0040] The second wearable part (50, 55) can allow one end of the cable (30, 35) to be positioned closely to the body of the user (110) even when the user (110) does not hold the body coupling component (40, 45). The second wearable part (50, 55) can include, for example, a sensor such as an inertial sensor and a biosensor, a communication module (not shown) for communication of the sensor, and a battery (not shown) for power supply. The biosensor can sense, for example, the heart rate of the user (110).

[0041] In the illustrated embodiment, the body coupling component (40, 45) and the second wearable portion (50, 55) are illustrated as having separate shapes. However, depending on the embodiment, the body coupling component (40, 45) and the second wearable portion (50, 55) may be manufactured to have a single shape (e.g., a shape of a glove) as an integrated body. In the wearable device (100), the cables (30, 35), the body coupling component (40, 45), and the second wearable portion (50, 55) are included in two each for both arms of the user (110), but may also be included in only one for either arm. In addition, the wearable device (100) may operate for both arms or for only one arm. For example, if the user (110) exercises only the right arm (or right hand), the user (110) can grip the first body coupling component (40) and perform the exercise for the right arm based on the resistance transmitted from the first cable (30).

[0042]

[0043] FIG. 1c and FIG. 1d are drawings for explaining applications using a wearable device according to an embodiment.

[0044] Referring to FIGS. 1C and 1D , a user (110) can wear a wearable device (the wearable device (100) of FIG. 1A) and use the wearable device to train an exercise posture or perform various types of exercise. For example, the user (110) can perform various exercises, such as weight training, boxing, Pilates, stretching, or yoga, while wearing the wearable device. In an embodiment, the wearable device can guide the user (110) to naturally move his / her arm in a preferred exercise posture by providing resistance through cables (30, 35) when the user (110) moves his / her arm in a posture other than a preferred exercise posture. Alternatively, the wearable device can provide high resistance when the user moves in a preferred exercise posture to help the user (110) perform muscle strength training in a preferred exercise posture.

[0045] In an embodiment, an image of a user (110) exercising while wearing a wearable device may be displayed on a display device (120) as illustrated in FIG. 1D. In an embodiment, the current posture of the user (110) may be detected through a sensor or another device (e.g., a camera) provided in the wearable device, and an avatar, character, or real-life image (125) corresponding to the detected posture of the user (110) may be output within the display device (120). The camera for detecting the posture of the user (110) may be provided, for example, in the display device (120) or another wearable device (e.g., an augmented reality (AR) device or a virtual reality (VR) device) worn by the user (110). For example, one or more wide-angle cameras may be placed on the outside of an AR device (or VR device) in the form of a head mounted display (HMD) or glasses, and the posture of the upper body, including the posture of the arm of the user (110), may be estimated by detecting the position of the hand or body coupling component (40, 45) of the user (110) in an image captured by the wide-angle camera.

[0046] The display device (120) is an electronic device that is connected to a wearable device by wire or wirelessly, and may include, for example, a television, a monitor, a mobile device, or a tablet.

[0047] In an embodiment, the wearable device can implement a resistance that varies according to the body movement of the user (110) by performing variable tension control based on the posture of the user (110). Variable tension control means controlling the amount of tension applied to a cable of the wearable device (e.g., cable (30, 35) of FIG. 1A) based on the movement of the user (110) when the user (110) wears the wearable device and moves. Since the wearable device adjusts the tension applied to the cable based on the movement of the user (110), it performs control in which the tension varies according to the movement of the user (110). Traditional impedance control means controlling control parameters of inertia, damping and / or stiffness in a task space, but in the present disclosure, variable tension control by a wearable device controls a virtual mass (inertia), virtual damping and / or virtual spring (stiffness) in a three-dimensional space according to the movement of the user (110), so the variable tension control can also be understood as variable impedance control.

[0048] The wearable device can estimate the position of the hand (or arm) of the user (110) through a sensor, and implement personalized variable tension control in a three-dimensional space based on the relative position between the hand (or arm) and the user's torso (or wearable device) obtained through the position estimation. The variable tension control can refer to controlling the tension applied to the cable (30, 35) of the wearable device according to the movement of the arm of the user (110) by adjusting the characteristics of a virtual mass (inertia), a virtual damping (damping), and a virtual spring (stiffness). When the user (110) moves for exercise or the like while wearing the wearable device, the user (110) feels the tension applied to the cable (30, 35) of the wearable device. The force generated by the wearable device is transmitted to the user (110) through the cable (30, 35) that carries the vibration, so that the user (110) feels the force of the vibration system that is composed of or includes elements of mass, damping, and stiffness. In the vibration system, mass can be expressed as an inertia force as a measure of resistance to a change in motion, and damping can be expressed as a damping force that represents a gradual decrease in amplitude over time as a dissipation of energy over time or distance. Stiffness can be expressed as an elastic restoring force as a ratio of a change in force to a change in displacement of the translation of the cable (30, 35), which is an elastic element.

[0049] In an embodiment, when a user (110) grasps a body coupling component (40, 45) and attempts to move a hand or arm, the user (110) may feel a resistance caused by tension applied to the cable (30, 35) of the wearable device. The wearable device may implement variable tension control by varying the inertia, damping, and stiffness characteristics of the tension applied to the cable (30, 35) within a working distance. The wearable device may convey a virtual medium sensation to the user (110) by adjusting the mass, damping, and stiffness characteristics of the virtual tension generated by the cable (30, 35). For example, the wearable device may implement a virtual wall at a certain distance in front of the user's (110) position and vary the stiffness and damping characteristics to provide the user (110) with the sensation of a solid wall or a squishy wall. The properties of mass, damping, and stiffness of tension are determined by the medium at both ends to which the vibrating body is connected, but the wearable device can impart tension to the cable (30, 35) based on virtual mass, virtual damping, and virtual stiffness, which are not determined by the medium connected to the cable (30, 35). The virtual mass, virtual damping, and virtual stiffness represent the mass, damping, and stiffness elements of tension determined by the wearable device, respectively. Through variable tension control capable of creating virtual mass, virtual damping, and virtual damping, tension based on negative mass, negative damping, and / or negative stiffness, which cannot be implemented in reality, can be imparted to the cable (30, 35), thereby making it possible to generate vibration or provide a user (110) with a resistance feeling different from that in the real world. By means of variable tension control, it becomes possible to effectively assist muscle strength training of a user (110) and guide desirable exercise movements, even for a soft wearable device that applies force to a user (110) through a cable (30, 35), such as the wearable device described in the present disclosure.

[0050] In an embodiment, the user (110) may be provided with visual feedback on the resistance provided by the wearable device by checking the spatial impedance distribution formed in the space around him / her through the display device (120) or another wearable device (e.g., an AR device or a VR device) worn by the user (110). The impedance distribution may indicate how the value of impedance, which means the resistance felt by the user due to the tension of the cable of the wearable device that can create a virtual mass, a virtual attenuation, and a virtual attenuation, is distributed in the space around the user (110). The spatial impedance distribution may have, for example, the form of a 3D impedance map.

[0051] In an embodiment, a wearable device may be used for an exergame. A user (110) may wear the wearable device and play a game while viewing the display of a display device (120) or another wearable device (AR device or VR device). The wearable device may adjust the stiffness, damping, and inertia characteristics of the cables (30, 35) so that defined characteristics (e.g., stiffness, damping, inertia, vibration) of an object appearing in the game content are transmitted to the user (110) through the cables (30, 35).

[0052]

[0053] FIG. 2 is a drawing for explaining a system including a wearable device and an electronic device according to an embodiment.

[0054] Referring to FIG. 2, the system (200) may include a wearable device (100), an electronic device (210), another wearable device (220), and a server (230). In an embodiment, the system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (100)).

[0055] In an embodiment, the wearable device (100) may be worn on the user's body to measure the user's body movements and provide the user with a sense of resistance according to the user's body movements. For example, the wearable device (100) may be worn on the user's upper body to measure the user's arm movements and generate a torque to assist the user's exercise based on the arm movements. The wearable device (100) may guide the user to a desired exercise motion or assist the user's muscle training. For example, in a muscle training assistance mode, the wearable device (100) may provide the user with a resistance force to hinder the user's body movements to enhance the user's exercise effect through a cable (e.g., cables (30, 35) of FIG. 1A). The wearable device (100) may adjust the strength of the resistance force applied to the user according to the exercise intensity selected by the user.

[0056] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with information received from the wearable device (100) (e.g., status information of the wearable device (100), movement information of the user measured by the wearable device (100). The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and determine the user's movement based on the received sensor data. In an embodiment, when the user wears the wearable device (100) and is active, the wearable device (100) can acquire sensor data including movement information of the user using sensors, and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can determine the user's movement or posture from the sensor data, and evaluate the user's exercise motion based on the determined movement or posture. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a display.

[0057] In an embodiment, a user may execute a program (e.g., an application) to control a wearable device (100) through an electronic device (210), and the user may adjust the operating mode of the wearable device (100), the torque characteristics output through a cable, the brightness of a light module, etc. through the program. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device), but is not limited to the devices described above.

[0058] According to an embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (230) may receive exercise history information on exercise performed by the user from the electronic device (210) and store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0059] According to an embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), or an AR / VR device (226), but is not limited to the aforementioned devices. The wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other via wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0060] In an embodiment, the wearable device (100) may provide feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light module (e.g., a light module (570) of FIG. 5) and may provide auditory feedback through an audio output module (e.g., an audio output module (560) of FIG. 5). The wearable device (100) may include a haptic module (e.g., a haptic module (580) of FIG. 5) and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0061]

[0062] FIG. 3 is a diagram illustrating interaction between a wearable device and an electronic device according to an embodiment.

[0063] Referring to FIG. 3, the wearable device (100) can communicate with the electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to an embodiment, the wearable device (100) and the electronic device (210) may be connected to each other through short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0064] In an embodiment, the electronic device (210) may execute an application for checking the status of the wearable device (100) or controlling or operating the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (310) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0065] In an embodiment, a user may input a command to control the operation of the wearable device (100) or change the settings of the wearable device (100) through a GUI screen on the display (310) of the electronic device (210). The electronic device (210) may generate a control command (or control signal) corresponding to the operation control command or setting change command input by the user, and transmit the generated control command (or control signal) to the wearable device (100). The wearable device (100) may operate according to the received control command (or control signal), and may transmit a control result according to the control command (or control signal) and / or sensor data measured by a sensor module of the wearable device (100) (e.g., the sensor module (550) of FIG. 5) to the electronic device (210). The electronic device (210) may provide the user with result information derived by analyzing the control result and / or sensor data through the display (310).

[0066]

[0067] FIG. 4 is a drawing for explaining the configurations of the main body module of a wearable device according to an embodiment.

[0068] Referring to FIG. 4, the main body module (20) may include a circuit module (420), a battery (430), and one or more actuators (440, 445). Each component of the main body module (20) may be placed inside a module case (410) and protected by the module case (410). The battery (430) may supply power to each component of the main body module (20). The actuators (440, 445) may be directly or indirectly connected to cables (30, 35) and may adjust the tension of the cables (30, 35). In an embodiment, the first actuator (440) may be directly or indirectly connected to the first cable (30), and the second actuator (445) may be directly or indirectly connected to the second cable (35). The first cable (30) may be for movement of the user's right arm, and the second cable (35) may be for movement of the user's left arm. The first actuator (440) and the second actuator (445) may each include a motor that receives power from the battery (430) and generates torque. Here, each "actuator" may include a motor and / or circuitry.

[0069] In an embodiment, the circuit module (420) may include a circuit for controlling a wearable device (e.g., the wearable device (100) of FIG. 1A). The circuit module (420) may include one or more processors (e.g., the processor (510) of FIG. 5) and memory (the memory (520) of FIG. 5) for controlling the operation of actuators (440, 445). The actuators (440, 445) may generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the actuators (440, 445) may generate a resistance force applied to the user's arm or hand. The resistance force may be represented as a tension transmitted by, for example, a cable (30, 35). The actuators (440, 445) may each be controlled by the processor. For example, when the first actuator (440) performs an operation of pulling the first cable (30), the second actuator (445) can perform an operation of maintaining the second cable (35) in a fixed state. The actuators (440, 445) may each include a motor, and the processor may control the strength and characteristics of the tension generated by the motor by controlling the voltage and / or current supplied to the motor. The motor may perform a control operation of pulling, stretching, or fixing the cable based on a control signal from the processor. The control operation for the cable may also be performed by a power source other than the motor. A description of the control operation for the cable by the motor will be described later in the description of FIGS. 15, 16, and 17.

[0070] Each "processor" in this disclosure may include a processing circuit or may include multiple processors. For example, as used in this disclosure, including in the claims, the term "processor" may include various processing circuits including at least one processor, wherein one or more of the at least one processor may be configured to perform various functions described herein, individually and / or collectively, in a distributed manner. When "processor," "at least one processor," and "one or more processors" are described herein as being configured to perform multiple functions, these terms include, but are not limited to, situations where one processor performs some of the recited functions and another processor performs other of the recited functions, and situations where a single processor may perform all of the recited functions. Furthermore, the at least one processor may include a combination of processors that perform various recited / disclosed functions, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform various functions.

[0071] Each embodiment of the present disclosure can be used in combination with other embodiments described in the present disclosure.

[0072]

[0073] Figure 5 is a drawing for explaining the configurations of a wearable device according to an embodiment.

[0074] Referring to FIG. 5, the wearable device (100) may include a processor (510), a memory (520), an actuator (530, 535), a communication module (540), a sensor module (550), an audio output module (560), a light module (570), a haptic module (580), and an input module (590). In an embodiment, the wearable device (100) may omit at least one of these components (e.g., the light module (570), the haptic module (580), the input module (590)), or may have one or more other components added.

[0075] The processor (510) controls the overall operation of the wearable device (100) and may generate a control signal for controlling each component of the wearable device (100). The processor (510) may, for example, execute software to control at least one other component (e.g., hardware or software component) of the wearable device (100) connected to the processor (510) and perform various data processing or calculations. The software may include an application for providing a GUI. According to an embodiment, as at least a part of the data processing or calculation, the processor (510) may store instructions or data received from another component (e.g., communication module (540)) in the memory (520), process the instructions or data stored in the memory (520), and store the result data after the processing in the memory (520). The processor (510) may include one or more processors, and the operations of the processor (510) described herein may be performed by one or more processors. According to an embodiment, the processor (510) may include at least one of a main processor (e.g., a central processing unit or an application processor), or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction with the main processor. The auxiliary processor may be implemented separately from the main processor or as a part of the main processor.

[0076] The memory (520) can store various data used by at least one component of the circuit module (e.g., the processor (510)). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (520) can include volatile memory and / or non-volatile memory.

[0077] Actuators (530, 535) are connected to a cable of the wearable device (100) (e.g., cables (30, 35) of FIG. 4) and can adjust tension of the cable under the control of the processor (510). In an embodiment, a first actuator (530) (e.g., a first actuator (440) of FIG. 4) may be connected to a first cable (e.g., a first cable (30) of FIG. 4), and a second actuator (535) (e.g., a second actuator (445) of FIG. 4) may be connected to a second cable (e.g., a second cable (35) of FIG. 5).

[0078] The communication module (540) may support the establishment of a wired communication channel or a wireless communication channel between the processor (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) or another wearable device (220) of FIG. 2), and the performance of communication through the established communication channel. The communication module (540) may, for example, transmit sensor data and / or exercise information about an exercise performed by the user to an external electronic device. According to an embodiment, the communication module (540) may include one or more communication processors that operate independently from the processor (510) and support direct (e.g., wired) communication or wireless communication. According to an embodiment, the communication module (540) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. The wireless communication module may communicate with other components of the wearable device (100) and / or external electronic devices via, for example, Bluetooth, WiFi (wireless fidelity), ANT (advanced and adaptive network technology), IrDA (infrared data association), a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN).

[0079] The sensor module (550) may include a sensor circuit including one or more sensors. The sensor module (550) may include a sensor that obtains sensor data that changes according to the user's movement. For example, the sensor module (550) may include one or more inertial sensors that measure the movement of the user's hand (or a component of the wearable device (100)) and generate movement data corresponding to the movement of the user's hand (a component of the wearable device (100)). The inertial sensors may sense accelerations along the X-axis, Y-axis, and Z-axis and angular velocities along the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensors may be used to measure at least one of forward / backward tilt, left / right tilt, or rotation of the user's body. The inertial sensors may be included in a circuit module (e.g., the circuit module (420) of FIG. 4), and the inertial sensors included in the circuit module may generate movement data corresponding to, for example, movement of the user's upper body (or waist). The sensor module (550) may further include a separate inertial sensor for generating movement data corresponding to the movement of the user's hand. For example, the sensor module (550) may include an inertial sensor that is disposed on a second wearable part of the wearable device (100) (e.g., the second wearable part (50, 55) of FIG. 1), a body coupling component (e.g., the body coupling component (40, 45) of FIG. 1), a third wearable part worn on the upper arm, and / or another wearable device (e.g., a watch-type wearable device) to measure the movement of the user's hand. In addition to the inertial sensor, the sensor module (550) may include a force sensor for measuring the force transmitted to the cable of the wearable device (100) (e.g., the cable (30, 35) of FIG. 1), an angle sensor for measuring the angle of the cable, an encoder for measuring the length of the cable, a position sensor for detecting the position of the wearable device (100), a temperature sensor for measuring the ambient temperature, a biosignal sensor for measuring the biosignal of the user, and a proximity sensor for detecting the proximity of an object.

[0080] The audio output module (560) can output an audio signal to the outside of the wearable device (100). The audio output module (560) can include a speaker that plays a guide audio signal (e.g., a start-up sound, an operation error notification sound), a sound effect, music content, or a guide voice based on the status of the wearable device (100). For example, if it is determined that the wearable device (100) is not properly worn on the user's body, the audio output module (560) can output a guide voice to notify the user of an abnormal wearing or to induce normal wearing. The audio output module (560) can also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise.

[0081] The light module (570) can emit light under the control of the processor (510). In an embodiment, the light module (570) can include a light source (e.g., a light emitting diode (LED)) placed outside a module case (e.g., the module case (410) of FIG. 4). The processor (510) can control the light module (570) so that visual feedback corresponding to the status of the wearable device (100) is output through the light module (570).

[0082] The haptic module (580) can provide tactile feedback to the user under the control of the processor (510). The haptic module (580) can convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that the user can perceive through the sense of touch. The haptic module (580) can include, for example, a motor, a piezoelectric element, or an electrical stimulation device.

[0083] The input module (590) can receive commands or data to be used in a component of the wearable device (100) (e.g., a processor (510)) from an external source (e.g., a user) of the wearable device (100). The input module (590) can include, for example, a key (e.g., a button) circuit or a touch screen.

[0084] According to an embodiment, one or more processors (510) can control a first actuator (530) (e.g., the first actuator (440) of FIG. 4) and a second actuator (535) (e.g., the second actuator (445) of FIG. 4). The first actuator (530) and the second actuator (535) can generate tension or torque applied to a cable (e.g., the cable (30, 35) of FIG. 1A) under the control of the processor (510). When the wearable device (100) includes a body coupling component (e.g., the body coupling component (40, 45)) as illustrated in FIGS. 1A and 1B, the processor (510) can estimate the position of the user's hand based on movement data corresponding to the movement of the user's hand. In an embodiment, the processor (510) may obtain movement data of the user's hand from an inertial sensor disposed on a second wearable part of the wearable device (100) (e.g., the second wearable part (50, 55) of FIGS. 1A to 1D), a body coupling component, a third wearable part worn on the upper arm, and / or another wearable device (e.g., a watch-type wearable device). The processor (510) may estimate the position of the user's hand at a specific point in time by reflecting the movement direction and movement amount of the user's hand estimated from the movement data of the user's hand obtained by the inertial sensor to the initial position of the user's hand. In the present disclosure, "based on" includes "based on at least on."

[0085] The processor (510) can determine a tension value to be applied to the cable at the position of the user's hand based on a tension control model defined for the position of the user's hand and the surrounding space of the user. The processor (510) can control the first actuator (530) and the second actuator (535) so that tension of the determined tension value is generated in the cable.

[0086] The tension control model may be a model that provides a target tension value according to the position of a body part (e.g., hand, wrist, elbow, forearm) of the user in the surrounding space of the user. The target tension value indicates the magnitude of tension to be generated in the cable of the wearable device by driving the first actuator (530) and the second actuator (535) of the wearable device. For example, the target tension value may correspond to a target value of tension to be applied to the cable according to the position of the user's hand (corresponding to the position of the body coupling component) when the user holds and moves a body coupling component connected to the cable while wearing the wearable device.

[0087] The tension control model can be expressed in the form of a 3D impedance map defined for the surrounding space of a user wearing a wearable device (100). The tension control model can be generated through a learning process including setting an exercise type, acquiring guide movement data for an exercise of the set exercise type, and determining parameters of the tension control model based on the acquired guide movement data. The guide movement data can be movement data acquired by the movement of the user wearing the wearable device (100) during the learning process of the tension control model or movement data received from another device. Here, the other device can be, for example, a wearable device of an exercise instructor teaching exercise movements. The learning process of the tension control model can include a process of determining a target path in a 3D space for the movement of the user based on the guide movement data, and determining parameters of the tension control model for determining a tension value in the 3D space based on the determined target path.

[0088] The processor (510) can control the first actuator (530) and the second actuator (535) to generate a target tension value of the tension control model determined by the position of the user's hand on the cable. The tension control model can determine the target tension value based on at least one of a parameter value for an inertial characteristic, a parameter value for a damping characteristic, and a parameter value for a stiffness characteristic in relation to the tension characteristic. In an embodiment, at least one of a parameter value for an inertial characteristic, a parameter value for a damping characteristic, and a parameter value for a stiffness characteristic of the tension control model can vary depending on the position of the user's hand (or the movement of the user's hand). For example, depending on the change in the position of the user's hand, the parameter values ​​applied to the following mathematical expression 1 (e.g., , , ) can be changed, and the target tension value determined by the tension control model can be changed by a change in at least one of the parameter values.

[0089] The processor (510) may determine a movement speed and a movement acceleration at a specific location of the user's hand based on movement data of the user's body (e.g., a hand, an elbow, or a forearm) obtained from an inertial sensor (e.g., an inertial sensor disposed on the second wearable part of the wearable device (100), a body coupling component, a third wearable part, and / or another wearable device), and may determine a tension value to be applied to the cable by applying a distance between a target path defined in the user's surrounding space and a location of the user's hand, a movement speed at the location of the user's hand, and a movement acceleration at the location of the user's hand to a tension control model. In an embodiment, the tension value to be applied to the target path and the tension value to be applied to the periphery of the target path may be determined differently.

[0090] In an embodiment, the processor (510) may determine parameter values ​​of parameters of a tension control model based on whether the operating mode of the wearable device (100) is an exercise motion guide mode that guides the user's exercise motion or a muscle exercise assistance mode that strengthens the user's muscle strength. The parameters of the tension control model may correspond to, for example, parameters applied to a tension control model corresponding to the mathematical modeling of Equation 1 below (e.g., parameters corresponding to virtual stiffness, parameters corresponding to virtual damping, and parameters corresponding to virtual inertia). In the exercise motion guide mode, the processor (510) may determine a tension value to be applied to a cable at a position of the user's hand by using a tension control model that is set such that a tension value applied to the periphery of a target path defined within the user's surrounding space is greater than a tension value applied to the target path. In the exercise motion guide mode, the processor (510) can guide the user to perform the exercise motion along the target path by applying a small tension value to the cable along the target path, which is a desirable exercise motion, and applying a large tension value to the cable at locations outside the target path through a tension control model. In the strength exercise assistance mode, the processor (510) can determine a tension value to be applied to the cable at the position of the user's hand by using a tension control model that is set so that the tension value applied to the target path is greater than the tension value applied to the periphery of the target path. In the strength exercise assistance mode, the processor (510) can guide the user to perform the strength exercise as a desirable exercise motion by making the user feel a high sense of resistance when moving the user's hand along the target path through the tension control model. In the strength exercise assistance mode, the parameter values ​​of the tension control model can vary depending on the set exercise intensity. For example, the parameter values ​​of the tension control model can vary so that the strength of the tension applied to the cable increases as the exercise intensity increases.

[0091]

[0092] Figure 6 is a flowchart illustrating a process for generating a tension control model according to an embodiment.

[0093] In an embodiment, the wearable device (100) may generate a tension control model corresponding to the user's exercise type (or exercise type). When the user selects a specific exercise type through user input, the wearable device (100) may obtain guide movement data including information on a desired exercise motion (or exercise posture) for the selected exercise type. Based on the obtained guide movement data, the wearable device (100) may generate a tension control model for the selected exercise type.

[0094] Referring to FIG. 6, an exercise type (or exercise type) that is the target of a tension control model can be set in operation (610). In an embodiment, a user can select an exercise type (e.g., bench press, shoulder press, rowing) through an application of an electronic device (e.g., electronic device (210) of FIG. 2) that communicates with a wearable device (100), and a process of generating a tension control model for the selected exercise type can be initiated.

[0095] In operation (620), the wearable device (100) can obtain guide movement data for an exercise of the exercise type set in operation (610). In an embodiment, a user can perform an exercise movement with the help of an exercise instructor who teaches an exercise movement (or exercise posture) while wearing the wearable device (100), and movement data for the exercise movement performed by the user can be obtained through a sensor (e.g., an inertial sensor) included in the wearable device (100). In another embodiment, the exercise instructor who teaches an exercise movement can wear a wearable device of the same or similar type as the wearable device (100), and guide movement data can be obtained through a sensor (e.g., an inertial sensor) included in the wearable device by the exercise instructor performing an exercise movement while wearing the wearable device. Guide movement data acquired by the exercise leader's wearable device is transmitted from the exercise leader's wearable device, and the user's wearable device (100) can receive the guide movement data transmitted from the exercise leader's wearable device through a communication module (e.g., the communication module (540) of FIG. 5). The communication module can receive the guide movement data from the exercise leader's wearable device through wired communication or wireless communication (e.g., Bluetooth communication, Wi-Fi communication). After the movement trajectory for the exercise movement of the exercise leader is recorded, it can be transmitted to the wearable device (100) as guide movement data. In another embodiment, the guide movement data may be transmitted remotely through the Internet.

[0096] In operation (630), a processor of the wearable device (100) (e.g., processor (510) of FIG. 5) may generate a tension control model based on the guide movement data. The processor may perform a learning process for determining parameters of the tension control model based on the guide movement data acquired in operation (620). The learning process of the tension control model may include a process of determining a target path in a three-dimensional space for the movement of the user based on the guide movement data, and a process of determining parameters of the tension control model for determining a tension value of a cable in the three-dimensional space based on the determined target path. The processor may determine a trajectory of a movement included in the guide movement data as a target path in the three-dimensional space, and generate a path function for defining the target path. The processor may determine parameter values ​​of the tension control model described above (e.g., a parameter value corresponding to a virtual stiffness, a parameter value corresponding to a virtual damping, and a parameter value corresponding to a virtual inertia) based on the generated path function, and generate a tension control model that can be expressed in the form of an impedance map in the three-dimensional space.

[0097]

[0098] Fig. 7 is a drawing for explaining an example of generating a tension control model according to an embodiment.

[0099] Referring to FIG. 7, a process of generating a tension control model for the set bench press after the user (110) sets the exercise type of the bench press is illustrated. In operation (710), the user (110) can perform an exercise motion for the bench press with the help of an exercise instructor (or exercise expert) (715) while wearing a wearable device (100). The wearable device (100) can obtain guide movement data by recording the movement trajectory of the hand (or arm) when the user (110) performs the exercise motion of the bench press using a sensor (e.g., an inertial sensor, a gyro sensor, an acceleration sensor). For example, movement information of the user's hand (e.g., speed, acceleration, angular velocity, movement distance, position change) can be estimated through an inertial sensor (e.g., an inertial sensor disposed on a second wearable part of a wearable device (100) (e.g., a second wearable part (50, 55) of FIGS. 1A to 1D), a body coupling component, a third wearable part worn on the upper arm, and / or another wearable device (e.g., a watch-type wearable device)).

[0100] Alternatively, the guide movement data may be acquired by having the exercise instructor (715) perform the exercise motion of the bench press while wearing the wearable device (725), as in operation (720). The wearable device (725) may acquire the guide movement data by recording the movement trajectory of the user's hand (or arm) when the exercise instructor (715) performs the exercise motion of the bench press using a sensor (e.g., an inertial sensor) similar to that described in operation (710). The processes of operation (710) and operation (720) may be referred to as kinesthetic teaching.

[0101] After the guide movement data is acquired by operation (710) or operation (720), the processor of the wearable device (100) (e.g., the processor (510) of FIG. 5) can determine a target path in three-dimensional space for the user's movement based on the guide movement data. Depending on the processing capability of the wearable device (100), the processor can generate a distance function by calculating the minimum distance between the path recorded in the guide movement data and the current position, as in operation (730), or can generate a path function by performing a regression analysis on the path recorded in the guide movement data, as in operation (740). For example, when the basic processing speed of the wearable device (100) is faster than the threshold speed, the path function can be generated through regression analysis, and when the basic processing speed of the wearable device (100) is not faster than the threshold speed, the distance function can be generated by calculating the minimum distance.

[0102] After the distance function or path function is generated by the operation (730) or the operation (740), the processor can generate a tension control model (750) based on the distance function or the path function. The processor can assign a target tension value in a three-dimensional space based on the distance function or the path function, and can generate a tension control model based on the target tension value assigned in the three-dimensional space. As illustrated, the tension control model (750) can be expressed in the form of a 3D map indicating the target tension value according to the position in the three-dimensional space. The tension control model (750) can represent, for example, the distribution of the target tension value according to the three-dimensional position based on the target path (755) in the three-dimensional space. For example, the parameter values ​​of the tension control model (750) can be determined such that the impedance increases (or the intensity of the tension value increases) as one moves away from the target path (755) in one direction. The tension represented by the parameters of the generated tension control model (750) can be determined by the following mathematical expression 1. Mathematical expression 1 represents a mathematical modeling of a vibration system including elements of stiffness, damping, and inertia.

[0103] [Mathematical Formula 1]

[0104]

[0105]

[0106]

[0107] Here, is a parameter value corresponding to the virtual stiffness, and is a parameter value related to d, which is the difference value between the distance function value (or path function) and the current position. is a parameter value corresponding to virtual damping, and the movement speed is the parameter value related to . is a parameter value corresponding to virtual inertia, and is the acceleration of movement. is a parameter value related to . F represents the tension applied to the cable and can be determined as the sum of the characteristic values ​​of virtual stiffness, virtual damping, and virtual inertia. , , may be referred to as parameter values ​​of control parameters of a tension control model. Tension F may correspond to a force generated by an actuator of a wearable device (100). and can be a function whose parameter values ​​are determined based on the three-dimensional position of the user's hand, for example: = f(x, y, z), = g(x, y, z), where (x, y, z) represent the 3D position values ​​of the user's hand.

[0108] The mathematical modeling of the above equation 1 provides parameter values ​​for inertial characteristics (e.g., ), parameter values ​​for the damping characteristics (e.g. ) and parameter values ​​for stiffness characteristics (e.g. ) but the scope of the embodiment is not limited thereto. The mathematical modeling used as the tension control model includes parameter values ​​for inertial characteristics (e.g., ), parameter values ​​for the damping characteristics (e.g. ) and parameter values ​​for stiffness characteristics (e.g. ) may include one or both of the following. The tension control model may determine the target tension value based on at least one of the parameter values ​​for the inertial characteristics, the parameter values ​​for the damping characteristics, and the parameter values ​​for the stiffness characteristics.

[0109]

[0110] FIG. 8 is a flowchart illustrating operations of a method for assisting exercise using a wearable device according to an embodiment. The method for assisting exercise according to an embodiment may be performed by a wearable device (e.g., the wearable device (100) of FIG. 1A). In an embodiment, at least one of the operations in FIG. 8 may be performed simultaneously or in parallel with another operation, and the order between the operations may be changed. In addition, at least one of the operations may be omitted, and another operation may be additionally performed.

[0111] Referring to FIG. 8, an operation mode of a wearable device may be selected in operation (810). In an embodiment, the user may select the operation mode of the wearable device as either an exercise motion guide mode or a strength training assistance mode. The exercise motion guide mode may be a mode for correcting or training exercise motions for an exercise type selected by the user (e.g., bench press, shoulder press), and the strength training assistance mode may be a mode for strengthening muscle strength by performing exercise with an exercise type selected by the user. Variable tension control based on user movement may be performed according to the operation mode of the wearable device selected by the user. In an embodiment, operation (810) may be omitted. In this case, variable tension control may be performed according to an operation mode set by default in the wearable device (e.g., exercise motion guide mode or strength training assistance mode) without a process of selecting an operation mode by the user.

[0112] In operation (820), the wearable device may obtain movement data corresponding to the movement of the user's hand and estimate the position of the hand based on the obtained movement data. In an embodiment, a sensor module of the wearable device (e.g., sensor module (550) of FIG. 5) may obtain movement data corresponding to the movement of the user's hand using a sensor (e.g., an inertial sensor, an acceleration sensor, a gyro sensor) that measures the movement of the user's hand (or arm). A processor of the wearable device (e.g., processor (510) of FIG. 5) may determine the position of the user's hand based on the movement data obtained by the sensor module.

[0113] In operation (830), the wearable device can determine a tension value to be applied to a cable of the wearable device (e.g., cable (30, 35) of FIG. 1A) at the position of the user's hand based on a tension control model defined for the position of the user's hand and the user's surrounding space. The processor of the wearable device can determine the tension value by applying a distance between a target path defined in the user's surrounding space and the position of the user's hand, a movement velocity at the position of the user's hand, and a movement acceleration at the position of the user's hand to the tension control model. For example, the processor can determine the tension value to be applied to the cable based on a relational expression or a lookup table such as Mathematical Expression 1 above. The lookup table can be, for example, a table defining a value at which the tension value to be applied to the cable should be determined when the distance between a target path defined in the user's surrounding space and the position of the user's hand, the movement velocity at the position of the user's hand, and the movement acceleration at the position of the user's hand are respectively.

[0114] The parameters of the tension control model may vary depending on the operating mode of the wearable device. In the exercise motion guidance mode, the parameter values ​​of the tension control model may be set so that the tension value applied to the periphery of a defined target path within the user's surrounding space is greater than the tension value applied to the target path. In the strength exercise assistance mode, the parameter values ​​of the tension control model may be set so that the tension value applied to the target path is greater than the tension value applied to the periphery of the target path.

[0115] In operation (840), the wearable device can control an actuator of the wearable device (e.g., actuators (440, 445) of FIG. 4) to generate tension in the cable at the tension value determined in operation (830). The wearable device can control the rotation of a motor included in the actuator to cause the cable connected to the motor to be pulled, stretched, or fixed. The wearable device can control, for example, the rotational direction, rotational speed, and / or rotational angle of the motor to generate tension at the determined tension value in the cable. The wearable device can generate torque for guiding an exercise motion or performing muscle training through the actuator. The processor of the wearable device can control the actuator to generate a target tension value of a tension control model determined by the position of the user's hand on the cable.

[0116] In operation (850), the processor of the wearable device may determine whether a termination condition for terminating the operation is satisfied. For example, the termination condition may be determined to be satisfied when the user inputs a user input that terminates the operation of the wearable device, when the user's grip state for the body coupling component is released, or when a set exercise time or exercise session is terminated. If the termination condition is satisfied, the operation of the wearable device may be terminated. If the termination condition is not satisfied, the wearable device may return to operation (820) and perform the process of controlling the tension of the cable again based on the position of the user's hand and the tension control model.

[0117] Through the above process, wearable devices can enhance the user's exercise effectiveness and reduce the risk of injury by providing customized exercise movement guidance and resistance control for various exercise types. Furthermore, wearable devices can effectively guide users to perform exercises using the correct movement patterns and help them perform strength training with the correct posture.

[0118]

[0119] FIG. 9 is a drawing for explaining the change in the target tension value of the tension control model according to the position of the user's hand in the exercise motion guide mode according to the embodiment.

[0120] Referring to FIG. 9, a tension control model when the wearable device (100) operates in an exercise motion guide mode for a bench press is expressed as a 3D impedance map (910). The 3D impedance map (910) represents a three-dimensional distribution that indicates what size of a target tension value should be determined based on the position of the user's (110) hand (115) in the surrounding space of the user (110) (e.g., the forward direction facing the user (110). When a user (110) performs a bench press exercise while wearing a wearable device (100), and extends a hand (115) holding a body coupling component (e.g., a body coupling component (40, 45) of FIG. 1a) of the wearable device (100) toward a target area (920) of a 3D impedance map (910), the wearable device (100) can cause a low tension value to be applied to a cable (e.g., a cable (30, 35) of FIG. 1a) of the wearable device (100). As a result, the user (110) will feel little or no resistance from the wearable device (100) when performing the exercise.

[0121] In the 3D impedance map (910), the target area (920) may be set based on the target path of the tension control model corresponding to the desired motion trajectory of the user's hand in the exercise type of the bench press. In an embodiment, the closer the distance between the position of the hand (115) of the user (110) (corresponding to the position of the body coupling component of the wearable device (100)) and the target path of the tension control model set for guiding the exercise motion of the bench press, the smaller the parameter values ​​for the virtual stiffness and the parameter values ​​for the virtual damping of the tension control model will be, so that the user (110) will not feel resistance by the wearable device (100) or will feel small resistance, and can perform the exercise motion of the bench press without difficulty. The closer the distance between the position of the hand (115) and the target path of the tension control model, the smaller the distance function value of the tension control model will be, and accordingly, the tension value applied to the cable of the wearable device (100) will also be reduced.

[0122] In the embodiment, as the distance between the position of the hand (115) of the user (110) and the target path of the tension control model set for guiding the exercise motion of the bench press increases, the parameter values ​​for the virtual stiffness and the parameter values ​​for the virtual damping of the tension control model become larger, so that the user (110) may feel a great sense of resistance from the wearable device (100) and may have difficulty in performing the exercise motion of the bench press. As the distance between the position of the hand (115) and the target path of the tension control model becomes larger, the distance function value of the tension control model becomes larger, and accordingly, the tension value applied to the cable of the wearable device (100) also becomes larger. For example, as the distance d between the position of the hand (115) and the closest point (915) on the target path increases, the tension value assigned to the cable may become larger. When a large tension value is assigned to the cable, the user (110) may be restricted in movement as if pushing a wall with the hand (115). By controlling the wearable device (100), the wearable device (100) can guide the user (110) to perform a desirable exercise motion for the exercise type of bench press and induce the user to perform the desirable exercise motion.

[0123]

[0124] Fig. 10 is a drawing for explaining elements that determine the target tension value of the tension control model according to the embodiment.

[0125] Referring to FIG. 10, among the elements determining the target tension value of the tension control model, a 3D impedance map (1010) expressed for virtual stiffness, a 3D impedance map (1020) expressed for virtual damping, and a 3D impedance map (1030) expressed for virtual inertia are illustrated. The target tension value of the tension control model may be determined based on at least one of the elements of virtual stiffness, virtual damping, and virtual inertia. The 3D impedance maps (1010, 1020, 1030) may be 3D maps that represent how parameter values ​​for the virtual stiffness, the parameter values ​​for the virtual damping, and the parameter values ​​for the virtual inertia of the tension control model are defined in a three-dimensional space, respectively. In an embodiment, for at least one of a parameter value for a virtual stiffness, a parameter value for a virtual damping, and a parameter value for a virtual inertia, a distribution of the parameter values ​​in three-dimensional space may be defined. The parameter values ​​in three-dimensional space may be determined for all of the parameter values ​​for the virtual stiffness, the parameter values ​​for the virtual damping, and the parameter values ​​for the virtual inertia, or the parameter values ​​in three-dimensional space may be determined for only one or only two of these parameter values.

[0126] The characteristics of the tension applied to the cable of the wearable device can be changed by the 3D impedance map (1010) for virtual stiffness, the 3D impedance map (1020) for virtual damping, and the 3D impedance map (1030) for virtual inertia. For example, the 3D impedance map (1010) for virtual stiffness can generate a resistance similar to a rubber band, the 3D impedance map (1020) for virtual damping can generate a resistance similar to moving in water, and the 3D impedance map (1030) for virtual inertia can generate a resistance similar to a barbell movement due to gravity.

[0127] In an embodiment, a target tension value defined through a 3D impedance map for virtual stiffness (1010), a 3D impedance map for virtual damping (1020), and a 3D impedance map for virtual inertia (1030) may vary depending on the position of the user's hand. For example, in the 3D impedance map for virtual stiffness (1010), a higher target tension value may be set as the position of the user's hand is further from the target path, and in the 3D impedance map for virtual damping (1020) and the 3D impedance map for virtual inertia (1030), a higher target tension value may be set as the position of the user's hand is further up.

[0128]

[0129] Fig. 11 is a drawing for explaining changes in a tension control model according to an operation mode of a wearable device according to an embodiment.

[0130] According to an embodiment, even for the same exercise type (e.g., bench press), the tension control model may vary depending on the operation mode of the wearable device (100). The tension control model (1110) used in the exercise motion guide mode that guides the exercise motion may have parameters determined to guide the user to a desired exercise motion. For example, the tension control model (1110) may have parameters such that a low value or 0 tension is applied to the cable of the wearable device (100) for a target path (1115) of the user's hand corresponding to the desired exercise motion of a bench press, and a higher value of tension is applied as the distance from the target path (1115) increases. The wearable device (100) may generate a tension control model (1110) that makes the impedance low in the corresponding target path based on the target path learned in the process of generating the tension control model (1110), and may guide the user to a desired exercise motion using the generated tension control model (1110).

[0131] The tension control model (1120) used in the strength training assistance mode to strengthen muscle strength may have parameter values ​​set to provide resistance to the user's desired exercise motion. The wearable device (100) may generate the tension control model (1120) for the strength training assistance mode by increasing the tension value for the target path learned in the process of generating the tension control model (1110). For example, the tension control model (1120) may have parameters that apply a high value of tension to the cable of the wearable device (100) for the target path (1125) of the user's hand corresponding to the desired exercise motion of a bench press. The tension control model (1120) may have parameters that apply a low value or zero tension to the cable for paths other than the target path (1125). This allows the user to feel a great sense of resistance for the exercise motion along the target path (1125), but to feel zero or a small sense of resistance at locations other than the target path (1125). The wearable device (100) can reduce the risk of injury due to inappropriate exercise motions by inducing the user to perform strength training with a desirable exercise motion corresponding to the target path (1125) through the tension control model (1120). When the exercise intensity of the exercise performed by the user is adjusted, the parameters of the tension control model (1120) can be changed. For example, when the exercise intensity increases, the parameters of the tension control model (1120) can be changed so that a higher tension is applied to the cable of the wearable device (100) at the target path (1125). When the exercise intensity decreases, the parameter values ​​of the tension control model (1120) can be changed so that a lower tension is applied to the cable of the wearable device (100) at the target path (1125).

[0132]

[0133] Fig. 12 is a drawing for explaining a tension control model and changes in tension values ​​according to the position of the user's hand in a shoulder press exercise according to an embodiment.

[0134] Referring to FIG. 12, a tension control model (1210) used when the wearable device (100) operates in a strength training assistance mode for a shoulder press exercise type is illustrated. In the case of the shoulder press exercise type, a desirable exercise motion may be to extend the user's hand (or arm) upward from the basic posture. When the user (110) moves the user's hand closer to the Z-axis direction to perform the exercise motion, the parameter value representing the virtual inertia of the tension control model (1210) increases, so that the user (110) can feel a sense of resistance as if performing a barbell exercise against gravity through the wearable device (100). When a user (110) moves his / her hand in a direction away from the Z-axis to make a movement motion, the parameter value representing the virtual inertia of the tension control model (1210) that determines the tension applied to the cable of the wearable device (100) decreases, so that low tension is applied to the cable of the wearable device (100), and the resistance felt by the user (110) may decrease. For example, the parameter value representing the virtual inertia of the tension control model (1210) may be an angle formed by the Z-axis direction corresponding to the target path and the position of the user's hand. (between 0 and 90 degrees) can be proportional to the value of .

[0135]

[0136] Fig. 13 is a drawing for explaining a tension control model in a rowing exercise according to an embodiment and a change in tension value according to the position of the user's hand.

[0137] Referring to FIG. 13, a user (110) can wear a wearable device (100) and perform strength training through a rowing exercise device (1320). A tension control model (1310) used when the wearable device (100) operates in a strength training assistance mode for a rowing exercise type is illustrated. In the case of the rowing exercise type, the exercise motion may include extending the hand (or arm) forward at a height z and then pulling it back. The wearable device (100) can provide a sense of resistance proportional to the speed at which the user (110) pushes the rower of the exercise device (1320) through the tension control model (1310).

[0138] In the tension control model (1310), a virtual damping ( ) may have a large influence on the tension value of the cable. For example, the parameter value representing the virtual attenuation of the tension control model (1310) may be proportional to the height z of the hand of the user (110). The smaller the height value of the hand of the user (110), the smaller the parameter value for the virtual attenuation of the tension control model (1310). In this case, the wearable device (100) may generate a small value or zero tension in the cable through the tension control model (1310), and the user (110) may feel a low resistance as if rowing in the air. The larger the height value of the hand of the user (110), the larger the parameter value for the virtual attenuation of the tension control model (1310). In this case, the wearable device (100) can generate a high value of tension in the cable through the tension control model (1310), and the user (110) feels a high sense of resistance as if rowing in water.

[0139]

[0140] According to an embodiment, the wearable device (100) described in the present disclosure may be modified and utilized to assist the user's leg movements. In this case, the wearable device (100) may be worn by the user to assist the user's leg muscle exercise or walking.

[0141] FIG. 14 is a drawing for explaining a wearable device for assisting leg movement according to an embodiment. Referring to FIG. 14, a wearable device (1400) according to an embodiment may include a first wearing part (1410), a main body module (1420), cables (1430, 1435) connected to an actuator of the main body module (1420), and body coupling components (1440, 1445) connected to the cables (1430, 1435) and connected or fixed to a body part (e.g., thigh, calf) of a user (1450). The body coupling components (1440, 1445) may have the form of a band or frame worn on the thigh of the user, for example. The wearable device (1400) may further include a sensor (not shown) that measures the movement of the leg of the user (1450) and generates movement data corresponding to the movement of the leg. The above description may be applied to other contents than those described below in relation to each component of the wearable device (1400).

[0142] The main body module (1420) may include an actuator and one or more processors controlling the actuators. The processor may estimate the position of the leg based on movement data corresponding to the movement of the leg of the user (1450). The processor may determine a tension value to be applied to the cable at the position of the leg based on a tension control model defined for the position of the leg and the surrounding space of the user (1450), and control the actuator so that tension of the determined tension value is generated in the cable. The processor may control the actuator so that a target tension value of the tension control model determined by the position of the leg is generated in the cable. The processor may determine the tension value by applying to the tension control model a distance between a target path defined in the surrounding space of the user (1450) and the position of the leg, a movement speed at the position of the leg, and a movement acceleration at the position of the leg.

[0143] The wearable device (1400) can control the tension value applied to the cable through a tension control model when the user (1450) walks, thereby assisting the user's (1450) walking, or can provide resistance through the cable when the user (1450) performs lower body exercises such as squats or lunges, thereby assisting muscle training. In addition, the wearable device (1400) can be used to balance the walking of the user (1450) by providing assistance to the leg with the difficulty in walking and providing resistance to the normal leg when the user (1450) feels discomfort in walking due to a disability in one of the lower body parts.

[0144]

[0145] Fig. 15 is a drawing for explaining tension control of a cable by an actuator according to an embodiment.

[0146] Referring to FIG. 15, an actuator of a wearable device (e.g., the wearable device (100) of FIG. 1A or the wearable device (1400) of FIG. 14) may include a motor (1241). The motor (1241) may include a motor body (1241a) that generates torque (or power), a motor shaft (1241b) that rotates by the torque of the motor body (1241a), and an output terminal (1241c) that is connected to the motor shaft (1241b). An inelastic cable (1242) is fixed to the output terminal (1241c), and the inelastic cable (1242) may be wound around or unwound from the output terminal (1241c) depending on the rotational direction of the output terminal (1241c). An elastic cable (1243) may be connected to one end of the inelastic cable (1242). One end of the elastic cable (1243) may be connected to an inelastic cable (1242), and the other end may be connected to a body coupling component (91) of a wearable device (e.g., body coupling components (40, 45) of FIG. 1A, body coupling components (1440, 1445) of FIG. 14). The cables described in the previous drawings (e.g., cables (30, 35) of FIG. 3, cables (1430, 1435) of FIG. 14) may have a structure in which an inelastic cable (1242) and an elastic cable (1243) are connected. The elastic cable (1243) may be deformed by the tension of the inelastic cable (1242). In the drawing, it is schematically shown that the length of the elastic cable (1243) may change by x. The wearable device can control the tension applied to the inelastic cable (1242) and the elastic cable (1243) by controlling the rotation of the motor (1241).For example, when the position of the body coupling component (91) is fixed, when the output end (1241c) is rotated in one rotational direction to pull the inelastic cable (1242), the tension applied to the inelastic cable (1242) and the elastic cable (1243) increases, and when the output end (1241c) is rotated in another rotational direction to release the inelastic cable (1242), the tension applied to the inelastic cable (1242) and the elastic cable (1243) decreases.

[0147]

[0148] A wearable device (100) according to an embodiment may include an actuator (440, 445), a sensor for measuring a movement of a user's hand and generating movement data corresponding to the movement of the user's hand, one or more processors (510) for controlling the actuator (440, 445), a cable (30, 35) connected to the actuator (440, 445), and a body coupling component (40, 45) connected to the cable (30, 35) and connected or fixed to a part of the user's body. The one or more processors (510) may estimate a position of the user's hand based on the movement data corresponding to the movement of the user's hand, determine a tension value to be applied to the cable (30, 35) at the position of the user's hand based on a tension control model defined for the position of the user's hand and the surrounding space of the user, and control the actuator (440, 445) so that tension of the determined tension value is generated in the cable (30, 35).

[0149] In an embodiment, the tension control model may be a model that provides a target tension value based on the position of the user's hand in the user's surrounding space. The tension control model may determine the target tension value based on at least one of a parameter value for an inertial characteristic, a parameter value for a damping characteristic, and a parameter value for a stiffness characteristic. At least one of the parameter value for the inertial characteristic, the parameter value for the damping characteristic, and the parameter value for the stiffness characteristic may vary depending on the position of the user's hand.

[0150] In an embodiment, one or more processors (510) may control actuators (440, 445) to generate a target tension value of a tension control model determined by the position of the user's hand on the cable (30, 35).

[0151] In an embodiment, one or more processors (510) may determine a tension value of a cable (30, 35) by applying a distance between a target path defined within the user's surrounding space and a location of the user's hand, a movement velocity at the location of the user's hand, and a movement acceleration at the location of the user's hand to a tension control model. The tension value applied to the target path and the tension value applied to the periphery of the target path may be determined differently.

[0152] In an embodiment, one or more processors (510) may determine parameter values ​​of parameters of a tension control model based on whether the operating mode of the wearable device (100) is an exercise motion guide mode or a muscle exercise assistance mode. In the exercise motion guide mode, the one or more processors (510) may determine a tension value to be applied to a cable (30, 35) at a position of a user's hand using a tension control model set so that a tension value applied to a periphery of a target path defined within the user's surrounding space is greater than a tension value applied to the target path. In the muscle exercise assistance mode, the one or more processors (510) may determine a tension value to be applied to a cable (30, 35) at a position of a user's hand using a tension control model set so that a tension value applied to a target path is greater than a tension value applied to the periphery of the target path. In the muscle exercise assistance mode, the parameter values ​​of the tension control model may vary depending on a set exercise intensity.

[0153] In an embodiment, the tension control model may be generated through a learning process including setting an exercise type, acquiring guide movement data for an exercise of the set exercise type, and determining parameters of the tension control model based on the acquired guide movement data. The learning process of the tension control model may include determining a target path in three-dimensional space for the user's movement based on the guide movement data, and determining parameters of the tension control model for determining a tension value in three-dimensional space based on the determined target path. The guide movement data may be movement data acquired by the movement of a user wearing a wearable device during the learning process of the tension control model or movement data received from another device.

[0154] A wearable device (1400) according to an embodiment may include an actuator, a sensor for measuring movement of a user's leg and generating movement data corresponding to the movement of the user's leg, one or more processors for controlling the actuator, a cable (1430, 1435) connected to the actuator, and a body coupling component (1440, 1445) connected to the cable (1430, 1435) and connected or fixed to a part of the user's body. The one or more processors may estimate a position of the user's leg based on the movement data corresponding to the movement of the user's leg, determine a tension value to be applied to the cable (1430, 1435) at the position of the leg based on a tension control model defined for the position of the user's leg and the surrounding space of the user, and control the actuator so that tension of the determined tension value is generated in the cable (1430, 1435). One or more processors can control the actuators to generate a target tension value of a tension control model determined by the position of the user's leg on the cable (1430, 1435). The one or more processors can determine the tension value by applying to the tension control model a distance between a target path defined within the user's surrounding space and the position of the user's leg, a movement velocity at the position of the user's leg, and a movement acceleration at the position of the user's leg.

[0155] A method for assisting exercise by a wearable device (100) including an actuator (440, 445), a sensor, a cable (30, 35) connected to the actuator (440, 445), and a body coupling component (40, 45) connected to the cable (30, 35) and connected or fixed to a part of a user's body, according to an embodiment, may include an operation of acquiring movement data corresponding to the movement of a user's hand using a sensor, an operation (820) of estimating a position of the user's hand based on the movement data, an operation (830) of determining a tension value to be applied to the cable (30, 35) at the position of the user's hand based on a tension control model defined for the position of the user's hand and the surrounding space of the user, and an operation (840) of controlling the actuator (440, 445) so that tension of the determined tension value is generated in the cable (30, 35). The operation (840) of controlling the actuator may include an operation of controlling the actuator (440, 445) to generate a target tension value of the tension control model determined by the position of the user's hand on the cable (30, 35). The operation (830) of determining the tension value may include an operation of determining the tension value by applying to the tension control model a distance between a target path defined within the user's surrounding space and the position of the user's hand, a movement velocity at the position of the user's hand, and a movement acceleration at the position of the user's hand.

[0156]

[0157] The various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In the present disclosure, each of the phrases "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish one component from another, and do not limit the components in any other respect (e.g., importance or order). When a component (e.g., a first component) is referred to as "coupled" or "connected" to another (e.g., a second component), with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through at least a third component(s).

[0158] The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integrally formed component, or a minimum unit or part of such a component that performs one or more functions. For example, according to an embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in the present disclosure may include circuitry.

[0159] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, or computer storage medium or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium that can be read by a machine. For example, a processor of the device may recall at least one of the one or more instructions stored from the storage medium and execute it. This enables the device to operate to perform at least one function in accordance with the recalled at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0160] According to an embodiment, the method according to various embodiments disclosed in the present disclosure may be provided as a computer program product. The computer program product may be traded between sellers and buyers as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or may be provided through an application store (e.g., Play Store). TM ) or directly between two user devices (e.g., smart phones), online distribution (e.g., downloading or uploading). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0161] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separately arranged in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added. While the present disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are illustrative and not limiting. Those skilled in the art will appreciate that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. It will also be appreciated that any embodiment(s) described in this disclosure may be used in conjunction with any other embodiment(s) described in this disclosure.

Claims

1. In a wearable device (100), Actuator (440; 445) including a motor and / or circuit; A sensor that measures the movement of a user's hand and generates movement data based on the movement of the user's hand; One or more processors (510) comprising processing circuitry; a cable (30; 35) connected to the above actuator (440; 445); and A body coupling component (40; 45) connected to the above cable (30; 35) and adapted to be gripped, connected and / or secured to a body part of the user, The above one or more processors (510) individually and / or collectively, Estimating the position of the user's hand based on the above movement data, Determine the tension value to be applied to the cable (30; 35) at the position of the user's hand based on the tension control model defined for the position of the user's hand and the surrounding space of the user, Controlling the actuator (440; 445) so that tension of at least the determined tension value is generated in the cable (30; 35), Wearable device (100).

2. In paragraph 1, The above tension control model is, Providing a target tension value according to the position of the user's hand in the surrounding space of the user. Wearable device (100).

3. In paragraph 2, The above tension control model is, Determining the target tension value based on at least one of a parameter value for inertia characteristics, a parameter value for damping characteristics, and a parameter value for stiffness characteristics. Wearable device (100).

4. In paragraph 3, At least one of the parameter values ​​for the inertial characteristic, the parameter values ​​for the damping characteristic, and the parameter values ​​for the stiffness characteristic changes depending on the position of the user's hand. Wearable device (100).

5. In any one of paragraphs 1 to 4, The above one or more processors (510) Controlling the actuator (440; 445) so that the target tension value of the tension control model is generated based on the position of the user's hand on the cable (30; 35). Wearable device (100).

6. In any one of paragraphs 1 to 5, The above one or more processors (510) At least the tension value is determined by applying the distance between the target path defined in the surrounding space of the user and the position of the user's hand, the movement velocity at the position of the user's hand, and the movement acceleration at the position of the user's hand to the tension control model, The tension value applied to the target path and the tension value applied around the target path are determined differently. Wearable device (100).

7. In any one of paragraphs 1 to 6, The above one or more processors (510) Determine the parameter values ​​of the parameters of the tension control model based on whether the operation mode of the wearable device (100) is an exercise motion guide mode or a muscle exercise assistance mode. Wearable device (100).

8. In paragraph 7, The above one or more processors (510) In the above exercise motion guide mode, a tension value to be applied to the cable (30; 35) at the position of the user's hand is determined using a tension control model set so that the tension value applied to the periphery of the target path defined at least within the user's surrounding space is greater than the tension value applied to the target path, In the above muscle exercise assistance mode, the tension value to be applied to the cable (30; 35) at the position of the user's hand is determined using a tension control model set so that at least the tension value applied to the target path is greater than the tension value applied to the periphery of the target path. Wearable device (100).

9. In paragraph 7 or 8, In the above strength exercise assistance mode, the parameter values ​​of the tension control model change according to the set exercise intensity. Wearable device (100).

10. In any one of paragraphs 1 to 9, The above tension control model is, It is generated through a learning process including setting an exercise type, obtaining guide movement data for an exercise of the set exercise type, and determining parameters of the tension control model based on the obtained guide movement data. The learning process of the above tension control model is: A process of determining a target path in a three-dimensional space for the user's movement based on the above guide movement data, and determining parameters of the tension control model for determining a tension value in the three-dimensional space based on the determined target path, The above guide movement data is, In the learning process of the above tension control model, the movement data obtained by the movement of the user wearing the wearable device (100) or the movement data received from another device, Wearable device (100).

11. In a wearable device (1400), An actuator comprising a motor and / or circuit; A sensor that measures the movement of a user's leg and generates movement data based on the movement of the user's leg; One or more processors comprising processing circuitry; a cable (1430; 1435) connected to the above actuator; and A body coupling component connected to the above cable (1430; 1435) and configured to be gripped, connected and / or secured to a body part of the user, The above one or more processors, individually and / or collectively, Estimating the position of at least a part of the user's leg based on the above movement data, Based on the position of the user's leg and the tension control model, the tension value to be applied to the cable (1430; 1435) at the position of the user's leg is determined, Controlling the actuator so that tension of the determined tension value is generated in the cable (1430; 1435); Wearable devices.

12. A method for assisting exercise by a wearable device including an actuator, a sensor, a cable connected to the actuator, and a body coupling component connected to the cable and connected or fixed to a part of the user's body, An operation (810) of obtaining movement data corresponding to the movement of the user's hand using the above sensor; An operation (820) of estimating the position of the user's hand based on the above movement data; An operation (830) for determining a tension value to be applied to the cable at the position of the user's hand based on the position of the user's hand and the tension control model; and An operation (840) for controlling the actuator so that tension of the determined tension value is generated in the cable. An exercise assistance method comprising:

13. In paragraph 12, The operation of controlling the above actuator is: An action of controlling the actuator so that a target tension value of the tension control model determined by the position of the user's hand on the cable is generated. An exercise assistance method comprising:

14. In paragraph 12 or 13, The operation for determining the above tension value is: An operation of determining the tension value by applying at least the distance between the target path defined in the surrounding space of the user and the position of the user's hand, the movement speed at the position of the user's hand, and the movement acceleration at the position of the user's hand to the tension control model. An exercise assistance method comprising:

15. A computer-readable storage medium storing instructions for executing the method of any one of claims 12 to 14.

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