Electronic device for providing various exercise experiences using exercise assistance device, wearable device, and control method for controlling exercise assistance device

Abstract

Disclosed are an electronic device for providing various exercise experiences using an exercise assistance device, a wearable device, and a control method for controlling the exercise assistance device. The electronic device comprises a processor and a communication module which communicates with the exercise assistance device. The processor determines target exercise content to be executed on the basis of a first user input including a selection of one piece of candidate exercise content using the exercise assistance device, determines a torque profile of the target exercise content on the basis of a second user input including a selection of an exercise experience characteristic associated with the target exercise content, generates a control signal to drive the exercise assistance apparatus on the basis of the determined torque profile, and controls the communication module to transmit the control signal to the exercise assistance device.

Description

Electronic devices, wearable devices, and control methods for controlling exercise assist devices that provide various exercise experiences using exercise assist devices

[0001] Certain embodiments relate to electronic devices, wearable devices, and control methods for controlling exercise assist devices that provide various exercise experiences using exercise assist devices.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who cannot walk on their own due to various diseases or accidents to perform walking exercises for rehabilitation treatment, and / or a device or apparatus that can be used for exercise. Recently, as the aging society deepens, the number of people who have difficulty walking normally or complain of discomfort when walking due to leg joint problems is increasing, and interest in walking assistance devices is also increasing. Walking assistance devices are attached to the user's body and can assist the user's muscle strength required for walking, for example, and guide the user's walking so that the user can walk with a normal walking pattern. These walking assistance devices can also perform functions that assist the user with various leg exercises (e.g., power walking, jogging, stair climbing, lunges, stretching).

[0003] An electronic device according to an exemplary aspect may include a processor and a communication module that communicates with an exercise assistance device. The processor may determine target exercise content to be executed based on a first user input including a selection of any one of candidate exercise content using the exercise assistance device. The processor may determine a torque profile of the target exercise content based on a second user input including a selection of an exercise experience characteristic related to the target exercise content. The processor may generate a control signal to operate the exercise assistance device according to the determined torque profile, and control the communication module to transmit the control signal to the exercise assistance device. The processor may determine the torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user, an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints of the user wearing the exercise assistance device, according to the selected exercise experience characteristic.

[0004] An exercise assistance device according to an exemplary aspect may include a driving module including a motor generating torque, a torque transmission frame for transmitting the generated torque to a user's leg, a thigh fastening part connected to the torque transmission frame and for connecting the torque transmission frame to the user's leg, a sensor module for obtaining sensor data including movement information of the user, and a processor. The processor may determine target exercise content to be executed from candidate exercise content using the exercise assistance device based on a first user input including a selection of target exercise content. The processor may determine a torque profile of the target exercise content based on a second user input including a selection of exercise experience characteristics related to the target exercise content, and control an output torque of a motor based on the sensor data and the determined torque profile. The processor may determine the torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user, an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints of the user wearing the exercise assistance device, according to the selected exercise experience characteristic.

[0005] A control method for controlling a motion assistance device performed by an electronic device according to an exemplary aspect may include an operation of guiding candidate motion contents using the motion assistance device, an operation of receiving a first user input including a selection of any one of the candidate motion contents, an operation of determining target motion contents to be executed based on the first user input, an operation of receiving a second user input including a selection of a motion experience characteristic related to the target motion contents, an operation of determining a torque profile of the target motion contents based on the second user input, an operation of generating a control signal for causing the motion assistance device to be driven based on the determined torque profile, and an operation of transmitting the control signal to the motion assistance device. The operation of determining the torque profile may include an operation of determining the torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user, an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints of the user wearing the motion assistance device, based on the selected motion experience characteristic.

[0006] These and / or other aspects, features and advantages will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings.

[0007] FIG. 1 is a drawing illustrating an overview of an exercise assistance device worn on a user's body according to an embodiment.

[0008] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0009] FIG. 3 illustrates a rear schematic diagram of a motion assistance device according to one embodiment.

[0010] FIG. 4 illustrates a left side view of a motion assistance device according to one embodiment.

[0011] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a motion assistance device according to one embodiment.

[0012] FIG. 6 is a diagram illustrating the interaction between a motion assistance device and an electronic device according to one embodiment.

[0013] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0014] FIG. 8 is a flowchart illustrating operations of a control method for controlling a motion assistance device performed by an electronic device according to one embodiment.

[0015] FIG. 9 is a flowchart illustrating operations of a control method performed by a motion assistance device according to one embodiment.

[0016] FIGS. 10A and 10B are diagrams illustrating screens of a user interface that provides a list of candidate exercise contents and a list of exercise experience characteristics according to one embodiment.

[0017] FIGS. 11A, 11B, and 11C are diagrams illustrating signal waveforms related to a user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration according to one embodiment.

[0018] FIGS. 12a, 12b, and 12c are diagrams illustrating signal waveforms related to hip joint angle difference, hip joint angular velocity difference, and hip joint angular acceleration difference of both hip joints of a user according to one embodiment.

[0019] FIGS. 13a, 13b, and 13c are diagrams illustrating examples of providing an exercise experience to a user through an exercise assistance device according to one embodiment.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components will be assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0024]

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

[0026] Referring to FIG. 1, a motion assistance device (100) may be a device worn on a user's (110) body to assist walking and / or exercise of the user. In one embodiment, the motion assistance device (100) may assist work of the user (110) or may be used to measure physical abilities (e.g., walking ability, exercise ability, exercise posture) of the user (110). The term 'motion assistance device' may be replaced with 'wearable device', 'wearable robot', or 'walking assistance device'. The user (110) may be a person who wears the motion assistance device (100) and walks or exercises.

[0027] An exercise assistance device (100) may be worn on the body of a user (110) (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces of assistance force and / or resistance force to the body movement of the user (110). Assistance force is a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movement of the user (110). Resistance force is a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movement of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0028] In one embodiment, the motion assistance device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the motion assistance device (100) may assist the walking of the user (110) by applying an assisting force generated from a driving module (120) of the motion assistance device (100) to the body of the user (110). The motion assistance device (100) may enable the user (110) to walk independently or to walk for a long time by assisting the force required for walking of the user (110), thereby expanding the walking ability of the user (110). The motion assistance device (100) may also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0029] In one embodiment, the exercise assistance device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide various exercise experiences to the user (110). The exercise assistance mode may include a resistance mode and / or an assistance mode. The resistance mode refers to a mode that impedes the body movement of the user (110) or provides resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the exercise assistance device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the exercise assistance device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs in the resistance mode to further enhance the exercise effect on the legs of the user (110). The assistance mode refers to a mode that applies an assistance force to the body of the user (110) to assist the body movement of the user (110). In the assist mode, an assistive force, which is a force in the same direction as the body movement, is provided to the user (110). For example, when a disabled person or an elderly person wears an exercise assistance device (100) and exercises, the exercise assistance device (100) can provide an assistive force to assist the body movement. In the assistive mode, the exercise assistance device (100) can provide a force in the same direction as the movement direction of the user's (110) legs, and the user (110) can perform the exercise with less force. In exercise content performed using the exercise assistance device (100), the resistance mode and the assistive mode may be operated in combination. For example, the exercise assistance device (100) may provide an assistive force and a resistance force in combination by exercise section or time section, such as providing an assistive force in some exercise sections and a resistance force in other exercise sections. In the exercise assistance mode, various exercise contents may be operated according to the exercise purpose and / or the physical ability of the user (110).The exercise content is an exercise program performed by the user (110) using the exercise assistance device (100), and may include, for example, aerobic exercise, strength training, postural balancing exercise, or any combination thereof. The types of exercise content are not limited thereto and may vary. Depending on the exercise content performed by the exercise assistance device (100), the resistance mode and the assistance mode may be appropriately operated in an alternating manner, and a target exercise speed (e.g., kilometers per hour (km / h)) that matches the user's (110) appropriate physical condition (e.g., heart rate) while the user is performing the exercise may be guided to the user.

[0030] In one embodiment, the exercise assistance device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The exercise assistance device (100) may measure movement information of the user (110) using a sensor (e.g., an angle sensor (125), an inertial measurement unit (IMU) (135)) provided in the exercise assistance device (100) while the user (110) is walking and / or exercising, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index (e.g., number of steps, total walking distance, stride) or exercise ability index (e.g., muscle strength, endurance, balance) of the user (110) may be estimated through the movement information of the user (110) measured by the exercise assistance device (100).

[0031] In a specific embodiment, for the sake of convenience of explanation, a hip-type exercise assist device (100) as illustrated in FIG. 1 is used as an example, but is not limited thereto. As described above, the exercise assist device (100) may also be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs). The shape and configuration of the exercise assist device (100) may vary depending on the body part on which it is worn.

[0032] The exercise assistance device (100) includes a support frame (e.g., a waist support frame (20) as shown in FIGS. 3 and 4) for supporting the body of the user (110) when the exercise assistance device (100) is worn on the body of the user (110), a drive module (120) for generating a torque applied to the legs of the user (110) (e.g., the drive modules (35, 45) of FIG. 3), a torque transmission frame for transmitting the torque generated by the drive module (120) to the legs of the user (110) (e.g., the first torque transmission frame (55) and the second torque transmission frame (50) of FIG. 3), a sensor module including a sensor for obtaining sensor data including movement information on the body movement of the user (110) (e.g., the sensor module (520) of FIG. 5a), and a control module (130) for controlling the operation of the exercise assistance device (100) (e.g., the control module of FIGS. 5a and 5b). It may include a module (510)).

[0033] In one embodiment, the sensor module may include an angle sensor (125) and an inertial sensor (135). The angle sensor (125) may measure a rotational angle of a torque transmission frame of a motion assistance device (100) corresponding to a hip joint angle of a user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensor (125) may be positioned near where a motor included in the drive module (120) is connected to the torque transmission frame. The inertial sensor (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure changes in acceleration and / or angular velocity according to movements of the user (110). The inertial sensor (135) can measure, for example, a movement value of a lumbar support frame (e.g., lumbar support frame (20) of FIG. 3) or a base body (e.g., base body (80) of FIG. 3) of a motion assistance device (100). The movement value of the lumbar support frame or base body measured by the inertial sensor (135) can correspond to a lumbar movement value or an upper body movement value of a user (110).

[0034] In one embodiment, the control module (130) and the inertial sensor (135) may be placed within the base body (e.g., the base body (80) of FIG. 3) of the exercise assistance device (100). The base body may be positioned at the waist area of ​​the user (110) while the user (110) is wearing the exercise assistance device (100). The base body may be formed or attached to the outside of the waist support frame of the exercise assistance device (100).

[0035]

[0036] FIG. 2 is a drawing for explaining an exercise assistance system according to one embodiment.

[0037] Referring to FIG. 2, the exercise assistance system (200) may include an exercise assistance device (100), an electronic device (or user terminal) (210), another wearable device (220), and a server (230). In the exercise assistance system (200), at least one of the devices other than the exercise assistance device (100) (e.g., the electronic device (210), another wearable device (220), the server (230)) may be omitted, or one or more other devices (e.g., a dedicated controller device for the exercise assistance device (100)) may be added.

[0038] In one embodiment, the motion assistance device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the motion assistance device (100) may be worn on the user's legs to generate assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0039] In one embodiment, the exercise assistance device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement and / or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise content (e.g., aerobic exercise such as power walking and outdoor walking, strength exercise such as squats, split lunges, dumbbell squats, and lunge and knee ups, stretching, postural balancing exercise, or any combination thereof) and / or an exercise intensity to be applied to the exercise content by using the exercise assistance device (100) via the electronic device (210). The exercise assistance device (100) may control the driving module of the exercise assistance device (100) according to the exercise content selected by the user. The exercise assistance device (100) may adjust the strength of the resistance force and / or the assistive force to be applied to the user according to the exercise intensity selected by the user. For example, the exercise assistance device (100) can control the drive module to generate a resistance corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance applied to the user can also increase.

[0040] The exercise assistance device (100) can transmit sensor data measured through a sensor (e.g., an angle sensor, an inertial sensor) to an electronic device (210) and receive a control signal related to the operation of the exercise assistance device (100) from the electronic device (210). The exercise assistance device (100) can provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the exercise assistance device (100) according to the control signal received from the electronic device (210). For example, the exercise assistance device (100) can provide visual feedback through a lighting unit (e.g., a lighting unit (85) of FIG. 3) and can provide auditory feedback through an audio output module (e.g., an audio output module (550) of FIGS. 5A and 5B).

[0041] The electronic device (210) can communicate with the exercise assistance device (100) via wireless communication, remotely control the exercise assistance device (100), or provide the user with status information about the status of the exercise assistance device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can recommend exercise content using the exercise assistance device (100) to the user, and analyze the exercise performed by the user. The electronic device (210) can receive sensor data acquired by the sensor of the exercise assistance device (100) from the exercise assistance device (100), and estimate the user's current exercise status, exercise result, exercise posture, and / or physical ability based on the received sensor data. The electronic device (210) can provide the user with the user's estimated current exercise status, exercise result, exercise posture, and / or physical ability through a graphical user interface (GUI).

[0042] In one embodiment, a user may execute a program (e.g., an application) on an electronic device (210) to control a motion assistance device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the motor of the drive module, the volume of audio output from the sound output module, the brightness of the lighting unit) of the motion assistance device (100) through the program. The program executed on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0043] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the exercise assistance device (100) from the electronic device (210), and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, medical history, or body mass index (BMI). The server (230) may receive exercise history information 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 the electronic device (210) with various exercise programs or physical ability measurement programs that may be provided to the user. In one embodiment, the server (230) may be connected to the exercise assistance device (100). The server (230) can receive sensor data measured by the exercise assistance device (100) from the exercise assistance device (100), and can transmit control signals and / or exercise content-related data for controlling the operation of the exercise assistance device (100) to the exercise assistance device (100). In one embodiment, the server (230) can be a cloud server.

[0044] According to one embodiment, the exercise assistance device (100) and / or the electronic device (210) may be connected to another wearable device (220). The user's exercise result information, physical ability information, and / or exercise motion evaluation information determined by the electronic device (210) may be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). Status information of the exercise assistance device (100) may also be transmitted to the other wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the exercise assistance device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication). Other wearable devices (220) may be, for example, wireless earphones (222), a watch-type wearable device (e.g., a smartwatch) (224), or a vision wearable device (a wearable device in the form of glasses or goggles) (226), but are not limited to the aforementioned devices. The vision wearable device (226) may be, for example, augmented reality (AR) glasses, virtual reality (VR) glasses, or a head-mounted display (HMD) device.

[0045] In one embodiment, the wireless earphones (222) may be wirelessly connected to the electronic device (210) and / or the exercise assistance device (100) to output guide voices, music, and / or sound effects related to exercise content. The wireless earphones (222) may provide the user with information related to the exercise content (e.g., an introduction to the exercise content, remaining exercise time) or may inquire about the user's selection through the guide voice. The wireless earphones (222) may include a microphone, and the microphone may receive the user's voice input. The voice input received through the microphone may be transmitted to the electronic device (210), and voice recognition may be performed on the voice input in the electronic device (210).

[0046] In one embodiment, a wearable device (224) in the form of a watch may include a biosensor (e.g., a heart rate sensor, an electromyography sensor) that measures a biosignal including heart rate information of the user, and may transmit the biosignal measured by the biosensor to the electronic device (210) and / or the exercise assistance device (100). The electronic device (210) may estimate the heart rate information (e.g., current heart rate, maximum heart rate, average heart rate) and / or electromyography information of the user based on the biosignal received from the wearable device (224) in the form of a watch, and may provide the estimated heart rate information and / or electromyography information to the user. The heart rate information and / or electromyography information may be used to determine the haptic intensity of the haptic feedback provided through the exercise assistance device (100).

[0047] In one embodiment, a wearable device (224) in the form of a watch may include an inertial sensor for measuring movement information of a user and / or a position sensor for measuring location information of the user, and may transmit the movement information and / or location information of the user to an electronic device (210) and / or a movement assistance device (100). The wearable device (224) in the form of a watch may include a communication module (e.g., a short-range communication module) for communicating with other devices (e.g., the electronic device (210), the movement assistance device (100)). In one embodiment, the wearable device (224) in the form of a watch may further include a display and provide an interface related to exercise content through the display. The interface related to exercise content may be implemented through a separate application installed in the smartwatch (224). The user may also control the movement assistance device (100) through the wearable device in the form of a watch (224).

[0048] In one embodiment, the vision wearable device (226) can provide visual content to the user through the display. For example, in exercise mode, the vision wearable device (226) can output information such as current exercise speed, target exercise speed, current exercise amount achieved, exercise performance time, and biometric information through the display. In addition, the vision wearable device (226) can also provide the user with augmented reality content or virtual reality content related to exercise content. The vision wearable device (226) can include a display for outputting visual content, a processor for data processing, a memory, and sensors (e.g., an inertial sensor, a proximity sensor, a camera). The vision wearable device (226) can further include an audio output module for outputting auditory content (e.g., music / sound effects of exercise content, guide voice). The vision wearable device (226) can be connected to the exercise assistance device (100) or connected to the exercise assistance device (100) via the electronic device (210).

[0049] The exercise assistance system (200) can provide the user with various exercise experiences using the exercise assistance device (100). According to one embodiment, the user can perform physical exercise through the exercise assistance device (100) while wearing the exercise assistance device (100) and the vision wearable device (226), and experience exercise in a virtual environment (e.g., walking in water with waves, walking / running on a sandy beach with sunken terrain) through visual content (e.g., augmented reality content, virtual reality content) provided through the vision wearable device (226). According to one embodiment, the user can also perform exercise (e.g., walking, fitness exercise, walking in place) using the exercise assistance device (100) in a real environment without using the vision wearable device (226). An environment for providing an exercise experience may be automatically set depending on a device (e.g., an electronic device (210), a watch-type wearable device (224), or a vision wearable device (226)) directly or indirectly connected to the exercise assistance device (100). For example, when the exercise assistance device (100) is connected to an electronic device (210) or a watch-type wearable device (224), candidate exercise content in a real environment may be presented or recommended to the user. When the exercise assistance device (100) is connected to a vision wearable device (226) or connected to a vision wearable device (226) via the electronic device (210), candidate exercise content in a virtual environment as well as candidate exercise content in a real environment may be presented or recommended to the user.

[0050] A user can select a target exercise content he or she wants to perform from candidate exercise contents (e.g., walking in place, walking in water with waves, walking / running on a sandy beach with sunken terrain) using an exercise assistance device (100), and select an exercise experience attribute for the target exercise content. An exercise experience attribute represents an attribute that causes a change in the exercise experience provided to the user through the target exercise content. Possible candidate exercise experience attributes are defined for each exercise content, and the user can select at least one of the candidate exercise experience attributes. For example, in the case of exercise contents that provide an exercise experience of walking in water with waves, an exercise experience attribute that makes a small wave feel, an exercise experience attribute that makes a medium wave feel, and an exercise experience attribute that makes a large wave feel may be defined through the output torque of the exercise assistance device (100). The user can select a desired exercise experience attribute from these exercise experience attributes. Depending on the selected exercise experience attribute, a torque profile used for torque output of the exercise assistance device (100) may vary. The torque profile is for controlling the torque output of the actuator (or motor) of the exercise assistance device (100), and may indicate how the torque output of the motor should change over time (or exercise phase). In one embodiment, the torque profile may be determined based on at least one of the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints of the user, according to selected exercise experience characteristics. Different torque profiles may be used depending on the selection of exercise content and / or exercise experience characteristics, thereby providing the user with various exercise experiences.For example, it becomes possible to provide a different exercise experience to the user through a change in the torque profile according to the user's selection of exercise experience characteristics, rather than a change in the intensity of the torque output of the exercise assistance device (100).

[0051]

[0052] Figure 3 illustrates a rear schematic diagram of a motion assistance device according to one embodiment. Figure 4 illustrates a left side view of a motion assistance device according to one embodiment.

[0053] Referring to FIGS. 3 and 4, a motion assistance device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, the motion assistance device (100) may omit at least one of these components (e.g., the lighting unit (85)), or may include one or more other components.

[0054] The base body (80) can be positioned on the user's lower back while the user is wearing the exercise assistance device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) to prevent the exercise assistance device (100) from falling downward due to gravity while the user is wearing the exercise assistance device (100). The base body (80) can distribute a portion of the weight of the exercise assistance device (100) to the user's lower back while the user is wearing the exercise assistance device (100). The base body (80) can be connected to the lower back support frame (20). Lower back support frame connection elements (not shown) that can be connected to the lower back support frame (20) can be provided at both ends of the base body (80).

[0055] In one embodiment, a lighting unit (85) may be provided on the outer surface of the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a processor (not shown) of the exercise assistance device (100) (e.g., the processor (512) of FIGS. 5A and 5B). According to an embodiment, the lighting unit (85) may be controlled so that visual feedback corresponding to the status of the exercise assistance device (100) may be provided (or output) through the lighting unit (85).

[0056] The lumbar support frame (20) can support the user's body (e.g., waist) when the exercise assistance device (100) is worn on the user's body. The lumbar support frame (20) can extend from both ends of the base body (80). The user's lumbar region can be accommodated on the inside of the lumbar support frame (20). The lumbar support frame (20) can include at least one rigid body beam. Each beam can have a curved shape with a preset curvature so as to surround the user's lumbar region. A lumbar fastening part (60) can be connected to an end of the lumbar support frame (20). A driving module (35, 45) can be directly or indirectly connected to the lumbar support frame (20).

[0057] In one embodiment, a processor, a memory (e.g., a memory (514) of FIGS. 5A and 5B), an inertial sensor (e.g., an inertial sensor (135) of FIG. 1, an inertial sensor (522) of FIG. 5B), a communication module (e.g., a communication module (516) of FIGS. 5A and 5B), an audio output module (e.g., an audio output module (550) of FIGS. 5A and 5B), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the components disposed inside. The processor may generate a control signal that controls the operation of the motion assistance device (100). The processor may control a motor (or actuator) of a drive module (35, 45) that generates torque based on electrical energy stored in the battery. The processor and the memory may be included in a control circuit. The control circuit may further include a power supply circuit for supplying power from the battery to each component of the exercise assistance device (100).

[0058] In one embodiment, the motion assistance device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5A) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data including movement information of the user and / or movement information of components of the motion assistance device (100). The sensor module may include, but is not limited to, an inertial sensor (e.g., inertial sensor (135) of FIG. 1 and inertial sensor (522) of FIG. 5B) for measuring a movement value of the user's upper body or a movement value of the lumbar support frame (20) and an angle sensor (e.g., angle sensor (125) of FIG. 1 and first angle sensor (524) and second angle sensor (524-1) of FIG. 5B) for measuring a movement value of the user's hip joint or a movement value of the torque transmission frame (50, 55). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, a distance sensor, or a proximity sensor.

[0059] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0060] The drive module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the drive module (35, 45) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the drive module (35, 45) can include a first drive module (45) positioned corresponding to the user's right hip joint position and a second drive module (35) positioned corresponding to the user's left hip joint position. The first drive module (45) can include a first actuator and a first joint member, and the second drive module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the magnitude and direction of the force generated by the motor.

[0061] In one embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. In one embodiment, the first joint member and the second joint member can be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first torque transmission frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the first joint member or the first torque transmission frame (55) (corresponding to the user's joint angle) can be disposed on one side of the first joint member. One side of the second joint member can be connected to the second actuator, and the other side can be connected to the second torque transmission frame (50). The second joint member can be rotated by power transmitted from the second actuator. An encoder or hall sensor that can function as an angle sensor for measuring the rotation angle of the second joint member or the second torque transmission frame (50) can also be arranged on one side of the second joint member.

[0062] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0063] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can transmit the torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., the leg) when the exercise assistance device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the user's leg movement. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be directly or indirectly connected to a joint member and rotated. The other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is directly or indirectly connected to the first thigh fastening portion (2) and the second thigh fastening portion (1), so that the first torque transmission frame (55) and the second torque transmission frame (50) can transmit the torque generated by the first driving module (45) and the second driving module (35) to the user's thigh while supporting the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the length of the user's thigh and can be bent to wrap at least a portion of the user's thigh circumference. The first torque transmission frame (55) can be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) can be a torque transmission frame for transmitting torque to the user's left leg.

[0064] The first thigh fastening part (2) and the second thigh fastening part (1) are directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fix the exercise assistance device (100) to the user's leg (particularly, the thigh). The first thigh fastening part (2) may be a thigh fastening part for fixing the exercise assistance device (100) to the user's right thigh, and the second thigh fastening part (1) may be a thigh fastening part for fixing the exercise assistance device (100) to the user's left thigh.

[0065] In one embodiment, the first thigh fastening unit (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening unit (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may apply torque generated from the first driving module (45) and the second driving module (45) to the user's thigh, respectively. The first cover and the second cover may be disposed on one side of the user's thigh, respectively, to push or pull the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with respect to the other end of the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and may include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover may be directly or indirectly connected to the first fastening frame and the second fastening frame, respectively. The other end of each of the first cover and the second cover can be directly or indirectly connected to the first strap and the second strap.

[0066] The first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being detached from the exercise assistance device (100) or reducing the possibility of detachment. The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0067] The first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0068]

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

[0070] Referring to FIG. 5A, the motion assistance device may be controlled by a control system (500). The control system (500) may include a control module (510) (including control circuitry such as processing circuitry of a processor), a communication module (516) including communication circuitry, a sensor module (520) including at least one sensor, a drive module (530), an input module (540) including circuitry, and an audio output module (550) including a speaker. The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). Although the embodiment of FIG. 5A illustrates a drive module (530) including one motor driver circuit (532) and one motor (534), this is merely an example. Referring to FIG. 5b, as in the control system (500-1), there may be a plurality of motor driver circuits (532, 532-1) and motors (534, 534-1) (e.g., two or more). The drive module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first drive module (45) of FIG. 3, and the drive module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second drive module (35) of FIG. 3. The description of each of the motor driver circuit (532) and the motor (534) described below may also be applied to the motor driver circuit (532-1) and the motor (534-1) illustrated in FIG. 5b.

[0071] Returning to FIG. 5A, the sensor module (520) may include at least one sensor for acquiring sensor data. The sensor module (520) may transmit the acquired sensor data to the control module (510). The sensor module (520) may include a sensor for acquiring sensor data including movement information of the user or movement information of the exercise assistance device (100). The sensor module (520) may include an inertial sensor (522), a first angle sensor (524), and a second angle sensor (524-1) as illustrated in FIG. 5B. The inertial sensor (522) may measure movement values ​​of the user's upper body. For example, the inertial sensor (522) may sense accelerations of the X-axis, Y-axis, and Z-axis and angular velocities of the X-axis, Y-axis, and Z-axis according to the movement of the user. The movement values ​​of the user's upper body may correspond to movement values ​​of the waist support frame of the exercise assistance device (100). The first angle sensor (524) and the second angle sensor (524-1) can measure the hip joint angle according to the movement of the user's leg. The first angle sensor (524) can sense the hip joint angle of the user's right leg, and the second angle sensor (524-1) can sense the hip joint angle of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) may include, for example, an encoder and / or a hall sensor. The hip joint angle of the right leg sensed by the first angle sensor (524) corresponds to a movement value (e.g., a rotation angle value) of the first torque transmission frame (55) of the motion assistance device (100), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) corresponds to a movement value (e.g., a rotation angle value) of the second torque transmission frame (50) of the motion assistance device (100).

[0072] In one embodiment, the sensor module (520) may further include a position sensor for obtaining a position value of the motion assistance device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, and / or a temperature sensor for measuring the ambient temperature.

[0073] The input module (540) can receive commands or data to be used by components of the exercise assist device (e.g., processor (512)) from an external source (e.g., a user) of the exercise assist device (100). The input module (540) can include, for example, keys (e.g., buttons), a touch screen, and / or a microphone.

[0074] The audio output module (550) can output audio signals to the outside of the exercise assistance device (100). The audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice.

[0075] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the exercise assistance device (100). The exercise assistance device (100) may convert the power of the battery to an operating voltage of each component of the exercise assistance device and supply the converted power to each component.

[0076] The drive module (530) can generate an external force applied to the user's leg under the control of the control module (510). The drive module (530) is located at a location corresponding to the user's hip joint position and can generate a torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit a control signal to the motor driver circuit (532), and the motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534). Depending on the control signal, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying a current signal to the motor (534), the motor (534) can generate an assistive force that assists the movement of the user's leg or a resistive force that impedes the movement of the leg.

[0077] The control module (510) controls the overall operation of the exercise assistance device (100) and can generate control signals for controlling each component of the exercise assistance device (100). The control module (510) may include a processor (512) and a memory (514).

[0078] The processor (512) may, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device directly or indirectly connected to the processor (512), and may perform various data processing or calculations. The processor (512) may include one or more processors. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the resulting data after the processing in the memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently therefrom or together therewith. The auxiliary processor may be implemented separately from the main processor or as part of it.

[0079] The memory (514) can store various data used by at least one component (e.g., the processor (512)) of the control module (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include volatile memory or non-volatile memory.

[0080] The communication module (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the exercise assistance device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication module (516) may transmit sensor data acquired by the sensor module (520) to an external electronic device (e.g., the electronic device (210) of FIG. 2) and receive a control signal from the external electronic device. According to one embodiment, the communication module (516) may operate independently from the processor (512) and include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. The communication module (516) may communicate with other devices via a short-range communication network, such as, for example, Bluetooth, wireless fidelity (WiFi), ANT, or infrared data association (IrDA), or a long-range communication network, such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network or a wide area network).

[0081] The haptic module (560) can provide haptic feedback to a user under the control of the processor (512). The haptic module (560) can include one or more haptic actuators. The haptic actuators can include, for example, a piezo actuator, a bander type actuator, and / or a vibration motor-based actuator.

[0082] In one embodiment, when the exercise assistance device (100) is wirelessly connected to the electronic device (210) and operates, the exercise assistance device (100) may be operated under the control of the electronic device (210). The exercise assistance device (100) may receive a control signal for executing target exercise content selected by the user from the electronic device (210) through the communication module (516). The control signal may include torque profile related information regarding how the exercise assistance device (100) should generate torque over time. The control signal may be generated by the electronic device (210) and transmitted to the exercise assistance device (100), for example, according to the process of FIG. 8. The processor (512) may control the drive module (530) to generate torque from the drive module (530) based on the received control signal. The processor (512) may control the output torque of the motor (534) based on the hip joint angle measured by the angle sensor of the sensor module (520). The output torque control of the motor (534) based on the hip joint angle may be initiated when the user's leg movement is detected. The angle sensor may measure the angle of the hip joint (or leg) with respect to a reference plane. In one embodiment, the processor (512) may determine the hip joint angular velocity by calculating the change in the hip joint angle over time, and may determine the hip joint angular acceleration by differentiating the hip joint angular velocity. The processor (512) may determine the angular difference between the hip joint angles measured for both hip joints, and the angular velocity difference between the hip joint angular velocities determined for both hip joints. The processor (512) may determine the angular acceleration difference between the hip joint angular accelerations determined for both hip joints.The processor (512) can determine the output torque of the motor (534) based on at least one of the user's hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints, angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, according to a torque profile defined in a control signal received from the electronic device (210).

[0083] The processor (512) may control the sound output module (550) to output a sound signal or control the haptic module (560) to provide haptic feedback based on a control signal received from the electronic device (210). The processor (512) may control the communication module (516) to transmit sensor data acquired by the sensor module (520) to the electronic device (210).

[0084] In one embodiment, the exercise assistance device (100) may operate without torque control by the electronic device (210). The exercise assistance device (100) may include a drive module (530) including a motor (534) that generates torque, a torque transmission frame (e.g., torque transmission frames (50, 55) of FIGS. 3 and 4) for transmitting the generated torque to the user's leg, a thigh fastening unit (e.g., thigh fastening units (1, 2) of FIGS. 3 and 4) connected to the torque transmission frame for connecting the torque transmission frame to the user's leg, a sensor module (520) for acquiring sensor data including movement information of the user, and a processor (512). The exercise assistance device (100) may further include a communication module that communicates with a vision wearable device that provides visual content to the user. The processor (512) may control to guide the user to a list of executable candidate exercise contents. For example, the processor (512) may control to output a guide voice that guides what candidate exercise contents are executable in the current state through the audio output module (550), wireless earphones (e.g., wireless earphones (222) of FIG. 2), or vision wearable devices (e.g., vision wearable devices (226) of FIG. 2). The processor (512) may determine whether the exercise assistance device (100) is connected to the vision wearable device (e.g., vision wearable devices (226) of FIG. 2), and may determine candidate exercise contents based on whether the exercise assistance device (100) is connected to the vision wearable device. In response to the exercise assistance device (100) being connected to the vision wearable device, the processor (512) may control to provide a user with a list of candidate exercise contents including at least one of augmented reality contents and virtual reality contents. The processor (512) can determine target exercise content to be executed among candidate exercise contents using the exercise assistance device (100) based on a first user input including selection of target exercise content.A first user input may be input through an input module (540). The first user input may be, for example, a user's voice input, a key / button input on an exercise assistance device (100), or a touch input. The processor (512) may be controlled to guide a list of candidate exercise experience characteristics related to the target exercise content. For example, the processor (512) may be controlled to output a guide voice guiding what candidate exercise experience characteristics related to the target exercise content are through an audio output module (550), wireless earphones, or a vision wearable device. The processor (512) may determine a torque profile of the target exercise content based on a second user input including a selection of exercise experience characteristics related to the target exercise content. The second user input may be input through the input module (540). The second user input may be, for example, a user's voice input, a key / button input on an exercise assistance device (100), or a touch input. If the target exercise content is exercise content using one leg (e.g., one-leg fitness exercise), the second user input may include a selection of at least one of exercise experience characteristics corresponding to each of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the target exercise content is exercise content using both legs (e.g., walking in place, walking on flat ground, interval walking, walking in water with waves, walking / running on a sandy beach with concave terrain), the second user input may include a selection of at least one of exercise experience characteristics corresponding to each of the user's angular difference between the angles of both hip joints, the angular velocity difference between the angular velocities of both hip joints, and the angular acceleration difference between the angular accelerations of both hip joints.The processor (512) may determine a torque profile based on at least one of the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, depending on the selected exercise experience characteristics.

[0085] The processor (512) can control the output torque of the motor (534) based on the sensor data acquired by the sensor module (520) and the determined torque profile. In one embodiment, the processor (512) can control the output torque of the motor (534) according to any one of a first torque profile based on the user's hip joint angle, a second torque profile based on the user's hip joint angular velocity, a third torque profile based on the user's hip joint angular acceleration, a fourth torque profile based on the angular difference between the angles of both of the user's hip joints, a fifth torque profile based on the angular velocity difference between the user's hip joints, and a sixth torque profile based on the angular acceleration difference between the user's hip joints. For example, when the selected exercise experience characteristic corresponds to the first torque profile, the processor (512) can control the output torque of the motor (534) by applying the hip joint angle measured by the angle sensor of the sensor module (520) to the first torque profile. For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angle to a torque profile such as Equation 1 below. If the selected exercise experience characteristic corresponds to the second torque profile, the processor (512) can determine the hip joint angular velocity based on the hip joint angle measured by the angle sensor, and apply the determined hip joint angular velocity to the second torque profile to control the output torque of the motor (534). The hip joint angular velocity can be determined by calculating the change in the hip joint angle per unit time. For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angular velocity to a torque profile such as Equation 2 below.If the selected exercise experience characteristic corresponds to the third torque profile, the processor (512) can determine the hip joint angular acceleration based on the hip joint angle measured by the angle sensor, and apply the determined hip joint angular acceleration to the third torque profile to control the output torque of the motor (534). The hip joint angular velocity can be determined by calculating the change in the hip joint angle over a unit time, and the hip joint angular acceleration can be determined by differentiating the hip joint angular velocity. For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angular acceleration to a torque profile such as Equation 3 below. If the selected exercise experience characteristic corresponds to the fourth torque profile, the processor (512) can determine the angular difference between the two hip joint angles measured by the angle sensor, and apply the determined angular difference to the fourth torque profile to control the output torque of the motor (534). For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angle difference to the torque profile as in Equation 6 below. When the selected exercise experience characteristic corresponds to the fifth torque profile, the processor (512) can determine the angular velocity of each of the two hip joints based on the hip joint angles of each of the two hip joints measured by the angle sensor, and apply the angular velocity difference between the angular velocities of the two hip joints to the fifth torque profile to control the output torque of the motor (534). For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angular velocity difference to the torque profile as in Equation 7 below. When the selected exercise experience characteristic corresponds to the sixth torque profile, the processor (512) can determine the angular acceleration of each of the two hip joints based on the hip joint angles of each of the two hip joints measured by the angle sensor, and apply the angular acceleration difference between the angular accelerations of the two hip joints to the sixth torque profile to control the output torque of the motor (534).For example, the processor (512) can determine the output torque value of the motor (534) by applying the hip joint angular acceleration difference to a torque profile such as the following mathematical expression 8.

[0086] In one embodiment, the processor (512) can control the output torque of the motor (534) according to any one of a seventh torque profile based on at least two of the user's hip angle, hip joint angular velocity, and hip joint angular acceleration, and an eighth torque profile based on at least two of the user's angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations. The seventh torque profile can be based, for example, on the sum or difference between at least two of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the seventh torque profile corresponding to the selected exercise experience characteristic is based on the difference between the hip joint angle and the hip joint angular velocity as described in Equation 4 below, the processor (512) can apply the difference between the hip joint angle and the hip joint angular velocity measured by the angle sensor of the sensor module (520) to the seventh torque profile to control the output torque of the motor (534). If the seventh torque profile corresponding to the selected exercise experience characteristic is based on the sum between the hip joint angle and the hip joint angular velocity as in Equation 5 described below, the processor (512) can control the output torque of the motor (534) by applying the sum between the hip joint angle and the hip joint angular velocity measured by the angle sensor of the sensor module (520) to the seventh torque profile. The eighth torque profile can be based on, for example, the sum or difference between at least two of the angular difference between the angles of the user's two hip joints, the angular velocity difference between the angular velocities of the user's two hip joints, and the angular acceleration difference between the angular accelerations of the two hip joints. If the eighth torque profile corresponding to the selected exercise experience characteristic is based on the angular difference between the angles of the user's two hip joints and the angular velocity difference between the angular velocities of the user's two hip joints as in Equations 9 and 10 described below, the processor (512) can control the output torque of the motor (534) by applying the angular difference between the angles of the user's two hip joints and the angular velocity difference between the angular velocities of the user's two hip joints to the eighth torque profile.The torque profile shown in Equation 9 is based on the difference between the angular difference between the angles of both hip joints and the angular velocity difference between the angular velocities of both hip joints, and the torque profile shown in Equation 10 is based on the sum of the angular difference between the angles of both hip joints and the angular velocity difference between the angular velocities of both hip joints.

[0087]

[0088] FIG. 6 is a diagram illustrating the interaction between a motion assistance device and an electronic device according to one embodiment.

[0089] Referring to FIG. 6, the exercise assistance device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the exercise assistance device (100). According to one embodiment, the exercise assistance device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0090] In one embodiment, the electronic device (210) may execute an application for checking the status of the exercise assistance device (100) or for controlling or operating the exercise assistance device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the exercise assistance device (100) or determining the operation mode of the exercise assistance device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0091] In one embodiment, a user may input a command (e.g., a command to execute a walking assistance mode or an exercise assistance mode) to control the operation of the exercise assistance device (100) or change the settings of the exercise assistance device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control signal corresponding to the motion control command or setting change command input by the user and transmit the generated control signal to the exercise assistance device (100).

[0092] In one embodiment, the electronic device (210) may output a list of candidate exercise contents to the user through a user interface, and receive user input regarding target exercise contents that the user wishes to perform among the candidate exercise contents. In addition, the electronic device (210) may output a list of candidate exercise experience characteristics for the target exercise contents to the user through the user interface, and receive user input regarding target exercise experience characteristics that the user wishes to experience among the candidate exercise experience characteristics. The electronic device (210) may determine a torque profile to be applied to the exercise assistance device (100) based on the target exercise contents and the target exercise experience characteristics, and generate a control signal to control the exercise assistance device (100) according to the torque profile. The electronic device (210) may transmit the generated control signal to the exercise assistance device (100). The transmitted control signal may include information regarding the torque profile.

[0093] The exercise assistance device (100) can operate according to the received control signal, and can transmit a control result according to the control signal and / or sensor data measured by the sensor module of the exercise assistance device (100) to the electronic device (210). The exercise assistance device (100) can transmit the sensor data to the electronic device (210) periodically or aperiodically. The electronic device (210) can analyze the control result and / or sensor data to provide the result information (e.g., current exercise status information, exercise result information, exercise posture evaluation information, physical ability evaluation information) to the user through a GUI screen.

[0094]

[0095] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0096] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication module (730), a display module (740), an audio output module (750), and an input module (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., the audio output module (750)), or may add one or more other components (e.g., a sensor module including one or more sensors, a haptic module including a haptic actuator for providing haptic feedback, a battery for power supply).

[0097] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. The processor (710) may include one or more processors. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store a command or data received from another component (e.g., communication module (730)) in the memory (720), process the command or data stored in the memory (720), and store result data in the memory (720). The processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together therewith.

[0098] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication module (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include volatile memory or non-volatile memory. Here, each processor includes a processing circuit.

[0099] The communication module (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., exercise assistance device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing a communication function. The communication module (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (730) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) or a wired communication module (e.g., a LAN communication module or a power line communication module) that performs wireless communication. The communication module (730) can transmit a control signal to, for example, the exercise assistance device (100), and receive at least one of sensor data including body movement information of a user wearing the exercise assistance device (100), status data of the exercise assistance device (100), or control result data corresponding to the control signal from the exercise assistance device (100).

[0100] The display module (740) can visually provide information to an external party (e.g., a user) of the electronic device (210). The display module (740) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) can further include a control circuit for controlling display operation. The display module (740) can output a user interface screen for controlling the exercise assistance device (100) or providing various information (e.g., exercise assessment information, setting information of the exercise assistance device (100).

[0101] The audio output module (750) can output an audio signal to the outside of the electronic device (210). The audio output module (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the exercise assistance device (100). For example, if it is determined that the exercise assistance device (100) is not normally worn on the user's body, the audio output module (750) can output a guide voice to inform the user of the abnormal wearing of the exercise assistance device (100) or to induce normal wearing.

[0102] The input module (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., the processor (710)) from an external source (e.g., a user) of the electronic device (210). The input module (760) can include an input component circuit and can receive user input. The input module (760) can include, for example, a key (e.g., a button), a touch recognition circuit for recognizing a touch on a screen, and / or a microphone.

[0103] According to one embodiment, an electronic device (210) may include a processor (710) and a communication module (730) that communicates with an exercise assistance device (100). The electronic device (210) may further include a display module (740) and an input module (760). The processor (710) may control to guide a user through a list of executable candidate exercise contents. The list of executable candidate exercise contents may be provided to the user through a visual means of a user interface or an auditory means of a voice guide. When provided through a visual means, the display module (740) may output the list of candidate exercise contents through the user interface. When provided through an auditory means, the processor (710) may control to output an audio guide for the list of candidate exercise contents. The audio guide may be output from an audio output module (750), wireless earphones (e.g., wireless earphones (222) of FIG. 2), or a vision wearable device (e.g., vision wearable device (226) of FIG. 2).

[0104] The processor (710) can determine whether the electronic device (210) is connected to a vision wearable device (e.g., the vision wearable device (226) of FIG. 2) that provides visual content to the user, and can determine candidate exercise contents based on the connection with the vision wearable device. In one embodiment, the processor (710) can control, in response to the electronic device (210) being connected to the vision wearable device, to provide the user with a list of candidate exercise contents including at least one of augmented reality content and virtual reality content. In one embodiment, the processor (710) can control, in response to the electronic device (210) being connected to the vision wearable device, to provide the user with a list of candidate exercise contents that operate in a resistance mode that provides resistance to the user's body movement. In one embodiment, the processor (710) can control, in response to the electronic device (210) not being connected to the vision wearable device, to provide the user with a list of candidate exercise contents that operate in an assist mode that assists the user's body movement. The processor (710) can determine target exercise content to be executed based on a first user input including a selection of any one of the candidate exercise content using the exercise assistance device (100). The first user input can be input via the input module (760). The first user input can be, for example, a user's voice input, a key / button input of the electronic device (210), or a touch input on a touch screen.

[0105] The processor (710) may control to guide a list of candidate exercise experience characteristics related to the target exercise content. For example, the processor (710) may control the display module (740) to output a list of candidate exercise experience characteristics related to the target exercise content through a user interface. As another example, the processor (710) may control to output a guide voice for the list of candidate exercise experience characteristics related to the target exercise content through an audio output module (750), wireless earphones, or a vision wearable device. The processor (710) may determine a torque profile of the target exercise content based on a second user input including a selection of exercise experience characteristics related to the target exercise content. The second user input may be input through the input module (760). The second user input may be, for example, a user's voice input, a key / button input of the electronic device (210), or a touch input on a touch screen. If the target exercise content is exercise content using one leg (e.g., one-leg fitness exercise), the second user input may include a selection of at least one of exercise experience characteristics corresponding to each of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the target exercise content is exercise content using both legs (e.g., walking in place, walking on flat ground, interval walking, walking in water with waves, walking / running on a sandy beach with concave terrain), the second user input may include a selection of at least one of exercise experience characteristics corresponding to each of the user's angular difference between the angles of both hip joints, the angular velocity difference between the angular velocities of both hip joints, and the angular acceleration difference between the angular accelerations of both hip joints.

[0106] The processor (710) may determine a torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints, according to the selected exercise experience characteristics. The processor (710) may generate a control signal for driving the exercise assistance device (100) according to the determined torque profile.

[0107] In one embodiment, the processor (710) may generate a control signal to control the motion assistance device (100) according to any one of a first torque profile based on a hip joint angle of the user, a second torque profile based on an angular velocity of the hip joint of the user, a third torque profile based on an angular acceleration of the hip joint of the user, a fourth torque profile based on an angular difference between the angles of both hip joints of the user, a fifth torque profile based on an angular velocity difference between the angular velocities of both hip joints of the user, and a sixth torque profile based on an angular acceleration difference between the angular accelerations of both hip joints of the user, corresponding to a selected motion experience characteristic. For example, when the selected motion experience characteristic corresponds to the first torque profile, the processor (710) may generate a control signal to cause the motion assistance device (100) to control an output torque of a motor (e.g., a motor (534) of FIGS. 5A and 5B) of the motion assistance device (100) by applying a hip joint angle measured by an angle sensor to the first torque profile. If the selected exercise experience characteristic corresponds to the second torque profile, the processor (710) may generate a control signal that causes the exercise assistance device (100) to apply the hip joint angular velocity to the second torque profile to control the output torque of the motor of the exercise assistance device (100). If the selected exercise experience characteristic corresponds to the third torque profile, the processor (710) may generate a control signal that causes the exercise assistance device (100) to apply the hip joint angular acceleration to the third torque profile to control the output torque of the motor of the exercise assistance device (100). If the selected exercise experience characteristic corresponds to the fourth torque profile, the processor (710) may generate a control signal that causes the exercise assistance device (100) to apply the angular difference between the angles of both hip joints to the fourth torque profile to control the output torque of the motor of the exercise assistance device (100) (e.g., the motor (534) and the motor (534-1) of FIG. 5B).If the selected exercise experience characteristic corresponds to the fifth torque profile, the processor (710) may generate a control signal that causes the exercise assistance device (100) to apply the angular velocity difference between the angular velocities of both hip joints to the fifth torque profile to control the output torque of the motor of the exercise assistance device (100). If the selected exercise experience characteristic corresponds to the sixth torque profile, the processor (710) may generate a control signal that causes the exercise assistance device (100) to apply the angular acceleration difference between the angular accelerations of both hip joints to the sixth torque profile to control the output torque of the motor of the exercise assistance device (100).

[0108] In one embodiment, the processor (710) may generate a control signal for controlling the motion assistance device (100) according to any one of a seventh torque profile based on at least two of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration, and an eighth torque profile based on at least two of the angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations. The seventh torque profile may be based on, for example, a sum or difference between at least two of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the seventh torque profile corresponding to the selected motion experience characteristic is based on the difference between the hip joint angle and the hip joint angular velocity as in Equation 4 described below, the processor (710) may generate a control signal for causing the motion assistance device (100) to apply the difference between the user's hip joint angle and the hip joint angular velocity to the seventh torque profile to control an output torque of a motor of the motion assistance device (100). If the seventh torque profile corresponding to the selected exercise experience characteristic is based on the sum between the hip joint angle and the hip joint angular velocity as in Equation 5 described below, the processor (710) can generate a control signal that causes the exercise assistance device (100) to control the output torque of the motor of the exercise assistance device (100) by applying the sum between the user's hip joint angle and the hip joint angular velocity to the seventh torque profile. The eighth torque profile can be based on, for example, the sum or difference between at least two of the angular difference between the angles of both of the user's hip joints, the angular velocity difference between the angular velocities of both of the hip joints, and the angular acceleration difference between the angular accelerations of both of the hip joints.If the eighth torque profile corresponding to the selected exercise experience characteristic is based on the angular difference between the angles of both hip joints and the angular velocity difference between the angular velocities of both hip joints as described in Equations 9 and 10 below, the processor (710) can generate a control signal that causes the exercise assistance device (100) to control the output torque of the motor of the exercise assistance device (100) by applying the angular difference between the angles of both hip joints of the user and the angular velocity difference between the angular velocities of both hip joints to the eighth torque profile.

[0109] The processor (710) can control the communication module (730) to transmit a control signal to the exercise assistance device (100).

[0110]

[0111] FIG. 8 is a flowchart illustrating the operations of a control method for controlling a motion assistance device performed by an electronic device according to one embodiment. In one embodiment, at least one of the operations in FIG. 8 may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0112] Referring to FIG. 8, the processor (710) of the electronic device (210) may guide the user through candidate exercise contents using the exercise assistance device (100). The processor (710) may determine the candidate exercise contents based on whether the electronic device (210) is connected to a vision wearable device (e.g., the vision wearable device (226) of FIG. 2) that provides visual content to the user. First, in operation (805), the processor (710) may determine whether the electronic device (210) is connected to the vision wearable device. In response to the electronic device (210) being connected to the vision wearable device (if 'yes' in operation (805), the processor (710) may guide the user through candidate exercise contents in a virtual environment in operation (810). The candidate exercise contents in the virtual environment may include, for example, exercise contents centered on a resistance mode performed in an indoor space. The processor (710) may control to provide the user with a list of candidate exercise contents including at least one of augmented reality content and virtual reality content. The candidate exercise contents may further include candidate exercise contents that operate in a resistance mode that provides resistance to the user's body movements. In one embodiment, the user may be guided through candidate exercise contents in both a virtual environment and a real environment. A list of candidate exercise contents may be provided through a user interface, for example, via the display module (740) of the electronic device (210), or may be provided in the form of a voice guide via the audio output module (750) of the electronic device (210) or wireless earphones connected to the electronic device (210).

[0113] In operation (815), the input module (760) of the electronic device (210) may receive a first user input including a selection of one of the candidate exercise contents. The first user input may be, for example, a user's voice input, a key / button input of the electronic device (210), or a touch input on a touch screen.

[0114] In operation (820), the processor (710) may determine target exercise content to be executed based on a first user input. Based on the first user input, any one of the candidate exercise contents may be determined as the target exercise content. In response to the determination of the target exercise content, the processor (710) may control to provide a list of candidate exercise experience characteristics associated with the target exercise content. For example, the processor (710) may control the display module (740) to provide a list of candidate exercise experience characteristics associated with the target exercise content through a user interface. The list of candidate exercise experience characteristics associated with the target exercise content may also be provided in the form of a voice guide through wireless earphones connected to the electronic device (210) and the audio output module (750).

[0115] The input module (760) may receive a second user input including a selection of an exercise experience characteristic related to the target exercise content. If the target exercise content is exercise content using one leg, the second user input may include a selection of at least one exercise experience characteristic corresponding to each of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the target exercise content is exercise content using both legs, the second user input may include a selection of at least one exercise experience characteristic corresponding to each of the user's angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations.

[0116] In operation (825), the processor (710) may determine a torque profile of the target exercise content based on the second user input. The processor (710) may determine the torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints, according to the selected exercise experience characteristics. Different torque profiles may be determined based on the selected exercise experience characteristics, and the degree of perception of the exercise environment may vary depending on the torque profile used. Different torque profiles may be determined based on the target exercise content selected by the user and the exercise experience characteristics selected by the user. Rather than a simple change in torque intensity, by selecting the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of the user's two hip joints, angular velocity difference between the angular velocities of the two hip joints, or angular acceleration difference between the angular accelerations of the two hip joints according to the type of exercise content, a torque profile of various characteristics can be applied to the exercise assistance device (100) to provide the user with various exercise experiences.

[0117] In operation (830), the processor (710) may generate a control signal for driving the motion assistance device (100) according to the determined torque profile. The processor (710) may generate a control signal including a motion action command and an execution command of a torque generation algorithm according to the determined torque profile.

[0118] In one embodiment, the processor (710) may generate a control signal for controlling the exercise assistance device (100) according to any one of a first torque profile based on a hip joint angle of the user, a second torque profile based on an angular velocity of the hip joint of the user, a third torque profile based on an angular acceleration of the hip joint of the user, a fourth torque profile based on an angular difference between the angles of both hip joints of the user, a fifth torque profile based on an angular velocity difference between the angular velocities of both hip joints of the user, and a sixth torque profile based on an angular acceleration difference between the angular accelerations of both hip joints of the user, corresponding to a selected exercise experience characteristic.

[0119] In one embodiment, the processor (710) may generate a control signal for controlling the motion assistance device (100) according to any one of a seventh torque profile based on at least two of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration, and an eighth torque profile based on at least two of the user's angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations. The seventh torque profile may be based on, for example, a sum or difference between at least two of the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations. The eighth torque profile may be based on, for example, a sum or difference between at least two of the user's angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations.

[0120] In operation (835), the processor (710) can transmit a control signal to the motion assistance device (100) through the communication module (730) of the electronic device (210). The motion assistance device (100) can determine the output torque of the motor (e.g., the motor (534) and the motor (534-1) of FIG. 5B) according to the torque profile defined in the control signal.

[0121] If the electronic device (210) is not connected to the vision wearable device as a result of the determination in operation (805) (if operation (805) is 'No'), the processor (710) may guide candidate exercise contents in a real environment in operation (840). The candidate exercise contents in a real environment may include, for example, exercise contents centered on an assistive mode performed in a real environment (e.g., indoors, at a beach, on a sandy beach). The case where the electronic device (210) is not connected to the vision wearable device may include a case where the user has selected not to use the vision wearable device. The processor (710) may control to provide the user with a list of candidate exercise contents that operate in an assistive mode to assist the user's body movement. In operation (845), the input module (760) may receive a first user input including a selection of any one of the candidate exercise contents. In operation (850), the processor (710) may determine target exercise contents to be executed based on the first user input. The processor (710) may be controlled to guide a list of candidate exercise experience characteristics related to the target exercise content in response to the determination of the target exercise content, and the input module (760) may receive a second user input including a selection of an exercise experience characteristic related to the target exercise content. In operation (855), the processor (710) may determine a torque profile of the target exercise content based on the second user input. In operation (860), the processor (710) may generate a control signal for driving the exercise assistance device (100) according to the determined torque profile. In operation (865), the processor (710) may transmit the control signal to the exercise assistance device (100) via the communication module (730). Action (845), action (850), action (855), action (860), and action (865) correspond to action (815), action (820), action (825), action (830), and action (835) described above, respectively, and any duplicate descriptions are omitted.

[0122]

[0123] FIG. 9 is a flowchart illustrating the operations of a control method performed by a motion assistance device according to one embodiment. In one embodiment, at least one of the operations in FIG. 9 may be performed simultaneously or in parallel with other operations, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and other operations may be additionally performed.

[0124] Referring to FIG. 9, the processor (512) of the exercise assistance device (100) may guide the user through candidate exercise contents using the exercise assistance device (100). The processor (512) may determine the candidate exercise contents based on whether the processor (512) is connected to a vision wearable device that provides visual content to the user (e.g., the vision wearable device (226) of FIG. 2). First, in operation (905), the processor (512) may determine whether the processor (512) is connected to the vision wearable device. In response to the exercise assistance device (100) being connected to the vision wearable device (if 'yes' in operation (905), the processor (512) may guide the candidate exercise contents in a virtual environment in operation (910). The candidate exercise contents in the virtual environment may include, for example, exercise contents centered on an assistive mode performed in an indoor space. The processor (512) may control to provide the user with a list of candidate exercise contents including at least one of augmented reality content and virtual reality content. A list of candidate exercise contents may be provided in the form of a guide voice that provides guidance on what candidate exercise contents are executable in the current state, for example, through an audio output module (550) of an exercise assistance device (100), wireless earphones (e.g., wireless earphones (222) of FIG. 2), or a vision wearable device.

[0125] In operation (915), the input module (540) of the exercise assistance device (100) may receive a first user input including selection of target exercise content from among candidate exercise contents. The first user input may be, for example, a user's voice input, a key / button input on the exercise assistance device (100), or a touch input.

[0126] In operation (920), the processor (512) may determine target exercise content to be executed based on a first user input. Based on the first user input, any one of the candidate exercise contents may be determined as the target exercise content. In response to the determination of the target exercise content, the processor (512) may control to provide a list of candidate exercise experience characteristics associated with the target exercise content. The list of candidate exercise experience characteristics may be provided in the form of a guide voice that provides guidance on what candidate exercise experience characteristics are associated with the target exercise content, for example, through an audio output module (550), wireless earphones, or a vision wearable device.

[0127] The input module (540) can receive a second user input including a selection of an exercise experience characteristic related to the target exercise content. The second user input can be, for example, a voice input of the user, a key / button input on the exercise assistance device (100), or a touch input. If the target exercise content is exercise content using one leg, the second user input can include a selection of at least one of exercise experience characteristics corresponding to each of the user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration. If the target exercise content is exercise content using both legs, the second user input can include a selection of at least one of exercise experience characteristics corresponding to each of the user's angular difference between the user's hip joint angles, the angular velocity difference between the user's hip joint angular velocities, and the angular acceleration difference between the user's hip joint angular accelerations.

[0128] In operation (925), the processor (512) may determine a torque profile of the target exercise content based on the second user input. The processor (512) may determine the torque profile based on at least one of a hip joint angle, a hip joint angular velocity, a hip joint angular acceleration, an angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), an angular velocity difference between the angular velocities of both hip joints, and an angular acceleration difference between the angular accelerations of both hip joints, according to the selected exercise experience characteristics.

[0129] In operation (930), the processor (512) can control the drive module (e.g., the drive module (530) and / or the drive module (530-1)) of the motion assistance device (100) according to the determined torque profile. The processor (512) can determine an input variable to be applied to the torque profile based on sensor data (e.g., a hip joint angle) acquired through the sensor module (520) of the motion assistance device (100). The input variable can be any one of the user's hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints, angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, according to the torque profile. By applying the corresponding input variable to the torque profile, the output torque of the motor included in the drive module can be determined.

[0130] If the determination result of operation (905) is that the exercise assistance device (100) is not connected to the vision wearable device (if operation (905) is 'No'), the processor (512) may guide candidate exercise contents in a real environment in operation (935). The candidate exercise contents in a real environment may include, for example, exercise contents centered on an assistive mode performed in a real environment (e.g., indoors, at a beach, on a sandy beach). The case where the exercise assistance device (100) is not connected to the vision wearable device may include a case where the user has selected not to use the vision wearable device. The processor (512) may control to provide the user with a list of candidate exercise contents that operate in an assistive mode to assist the user's body movement. In operation (940), the input module (540) may receive a first user input including a selection of any one of the candidate exercise contents. In operation (945), the processor (512) may determine target exercise contents to be executed based on the first user input. The processor (512) may be controlled to guide a list of candidate exercise experience characteristics related to the target exercise content in response to the determination of the target exercise content, and the input module (540) may receive a second user input including a selection of an exercise experience characteristic related to the target exercise content. In operation (950), the processor (512) may determine a torque profile of the target exercise content based on the second user input. In operation (955), the processor (512) may control a drive module (e.g., the drive module (530) and / or the drive module (530-1)) of the exercise assistance device (100) according to the determined torque profile. The processor (512) may determine an input variable to be applied to the torque profile based on sensor data (e.g., a hip joint angle) acquired through the sensor module (520) of the exercise assistance device (100), and may determine an output torque of a motor included in the drive module by applying the determined input variable to the torque profile.Action (940), action (945), action (950), and action (955) correspond to action (915), action (920), action (925), and action (930) described above, respectively, and any duplicate descriptions are omitted.

[0131]

[0132] FIGS. 10A and 10B are diagrams illustrating screens of a user interface that provides a list of candidate exercise contents and a list of exercise experience characteristics according to one embodiment. The processor (710) of the electronic device (210) may control the display module (740) to output a list of executable candidate exercise contents and / or a list of selectable exercise experience characteristics for target exercise contents through the user interface.

[0133] Referring to FIG. 10A, when the electronic device (210) is connected to a vision wearable device (e.g., the vision wearable device (226) of FIG. 2), the processor (710) may control the display module (740) to output a user interface screen (1010) indicating that exercise content (1012) in a virtual environment and exercise content (1014) in a real environment are selectable. In one embodiment, when the input module (760) of the electronic device (210) receives a user input selecting exercise content (1012) in a virtual environment, the processor (710) may control the display module (740) to output a user interface screen (1020) including a list of candidate exercise contents (1024, 1026) that are selectable. The candidate exercise contents may include at least one of candidate exercise contents that operate in a resistance mode that provides resistance to the user's body movement and / or augmented reality contents and virtual reality contents. In the case of candidate exercise contents (1024, 1026), since the exercise is not performed in a situation where the user is actually exercising in water with waves or on a sandy beach with a sunken terrain, the candidate exercise contents (1024, 1026) may operate in a resistance mode that provides resistance to the user's body movement when the user is exercising, in order to provide a realistic experience.

[0134] The input module (760) can receive a user input including selection of a specific candidate exercise content (corresponding to the target exercise content) from a list of candidate exercise contents (1022, 1024, 1026) displayed through the user interface screen (1020). For example, assuming that the candidate exercise content (1024) of 'Walking in rough water' is selected as the target exercise content by the user input, the processor (710) can control the display module (740) to output a user interface screen (1030) including setting items for the target exercise content. The setting items for the target exercise content can include, for example, a list of execution times (1032) of the target exercise content and a list of candidate exercise experience characteristics (1034). The list of performance times (1032) may be composed of different performance times (e.g., 10 minutes, 20 minutes, 30 minutes, 40 minutes, 50 minutes, 60 minutes), and the user may select any one of the performance times through user input. The list of candidate exercise experience characteristics (1034) may include candidate exercise experience characteristics that may be selected for target exercise content. For example, the exercise experience characteristics may include candidate exercise experience characteristics corresponding to the user's hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user, angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, respectively. Depending on the selected target exercise content, all or part of these candidate exercise experience characteristics may be included in the list (1034). Assuming that the user has selected a candidate exercise experience characteristic corresponding to the angular acceleration difference between the two hip joints from the list of candidate exercise experience characteristics (1034) through user input, the processor (710) can control the exercise assistance device (100) to drive based on a torque profile based on the angular acceleration difference between the two hip joints.When a user input for 'start' of the target exercise content is received, the exercise assistance device (100) can be driven based on a torque profile based on the angular acceleration difference between the angular accelerations of both hip joints of the user for an execution time selected by the user under the control of the electronic device (210). The torque profile may be a torque profile that uses the change in the angular acceleration difference between the angular accelerations of both hip joints of the user over time as an input variable and the change in the output torque of the motor of the exercise assistance device (100) as an output variable. When the target exercise content is executed, visual content related to the target exercise content, such as augmented reality content or virtual reality content, can be output through the vision wearable device. For example, although the current location of the user is not actually an underwater environment with waves, virtual reality content can be provided through the vision wearable device to visually make the user feel as if he or she is walking in water with rough waves.

[0135] Referring to FIG. 10B, when the electronic device (210) is not connected to a vision wearable device (e.g., the vision wearable device (226) of FIG. 2), the processor (710) of the electronic device (210) may control the display module (740) to output a user interface screen (1040) indicating that exercise content (1044) in a real environment is selectable. When the electronic device (210) is not connected to a vision wearable device, exercise content (1042) in a virtual environment may be disabled or not displayed on the user interface screen (1040) so as to be unselectable.

[0136] In one embodiment, when the input module (760) of the electronic device (210) receives a user input for selecting exercise content (1044) in a real environment, the processor (710) may control the display module (740) to output a user interface screen (1050) including a list of selectable candidate exercise contents (1052, 1054, 1056). The candidate exercise contents may include candidate exercise contents (1054, 1056) that operate in an assist mode to assist the user's body movement. Since the candidate exercise contents (1054, 1056) are designed to take into account the fact that exercise is actually performed in water with waves or on a sandy beach with a sunken terrain, the candidate exercise contents (1054, 1056) may be set to operate in an assist mode to assist the user's body movement when the user exercises. By receiving assistive power from the exercise assistance device (100) through the assist mode, the user can move more easily and continue exercising for a longer period of time in water with waves or on a sandy beach with sunken terrain.

[0137] The input module (760) may receive a user input including a selection of a specific candidate exercise content (corresponding to the target exercise content) from a list of candidate exercise contents displayed through the user interface screen (1050). For example, assuming that the candidate exercise content (1054) of 'Walking in rough water' is selected as the target exercise content by the user input, the processor (710) may control the display module (740) to output a user interface screen (1060) including setting items for the target exercise content. The setting items for the target exercise content may include, for example, a list of execution times (1062) of the target exercise content and a list of candidate exercise experience characteristics (1064). The list of candidate exercise experience characteristics (1064) may include candidate exercise experience characteristics that can be selected for the target exercise content. For example, the exercise experience characteristics may include candidate exercise experience characteristics corresponding to the user's hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of the user's two hip joints, angular velocity difference between the angular velocities of the two hip joints, and angular acceleration difference between the angular accelerations of the two hip joints, respectively. All or some of these candidate exercise experience characteristics may be included in the list (1064) depending on the selected target exercise content. Assuming that the user selects the candidate exercise experience characteristic corresponding to the angular velocity difference between the two hip joints from the list (1064) of candidate exercise experience characteristics through user input, the processor (710) may control the exercise assistance device (100) to drive based on a torque profile based on the angular velocity difference between the two hip joints. When a user input for 'start' of the target exercise content is received, the exercise assistance device (100) may be driven based on the torque profile based on the angular velocity difference between the two hip joints of the user for an execution time selected by the user under the control of the electronic device (210).The torque profile may be a torque profile that uses the change in the angular velocity difference between the angular velocities of the user's two hip joints over time as an input variable and the change in the output torque of the motor of the exercise assistance device (100) as an output variable.

[0138] In one embodiment, it is assumed that a user selects the target exercise content of 'walking in water with waves'. If the user selects an exercise experience characteristic corresponding to an angular difference between the angles of the two hip joints, a torque profile may be used that generates an assistive force that provides a sense of assistance that offsets the resistance of relatively small water current fluctuations. If the user selects an exercise experience characteristic corresponding to an angular velocity difference between the two hip joints, a torque profile may be used that generates an assistive force that provides a sense of assistance that offsets the resistance of relatively medium water current fluctuations. If the user selects an exercise experience characteristic corresponding to an angular acceleration difference between the two hip joints, a torque profile may be used that generates an assistive force that provides a sense of assistance that offsets the resistance of relatively large water current fluctuations.

[0139] In one embodiment, it is assumed that a user selects a target exercise content of 'walking / running on a sandy beach with a depression'. If the user selects an exercise experience characteristic corresponding to an angular difference between the angles of the two hip joints, a torque profile that generates an assistive force to offset the resistance felt when walking or running on a relatively depression-free terrain may be used. If the user selects an exercise experience characteristic corresponding to an angular velocity difference between the two hip joints, a torque profile that generates an assistive force to offset the resistance felt when walking or running on a sandy beach with a relatively medium depression-free terrain may be used. If the user selects an exercise experience characteristic corresponding to an angular acceleration difference between the two hip joints, a torque profile that generates an assistive force to offset the resistance felt when walking or running on a relatively depression-free terrain may be used.

[0140]

[0141] FIGS. 11A, 11B, and 11C are diagrams illustrating signal waveforms related to a user's hip joint angle, hip joint angular velocity, and hip joint angular acceleration according to one embodiment.

[0142] Referring to FIG. 11A, the signal waveform (1110), signal waveform (1120), and signal waveform (1130) illustrated represent the hip joint angle (θ), hip joint angular velocity (ω), and hip joint angular acceleration (α) of one of the user's legs over time, respectively. The x-axis represents time, and the y-axis represents the magnitude of the signal. Different torque profiles may be used depending on the exercise experience characteristic selected by the user. When the selected exercise experience characteristic corresponds to the hip joint angle, the torque profile may be determined, for example, as in the following mathematical expression 1.

[0143] [Mathematical Formula 1]

[0144]

[0145] Here, y1(t) represents the output torque of the motor of the motion assistance device (100) at time t, and θ represents the user's hip joint angle. For example, θ may be the user's hip joint angle measured by the angle sensor of the motion assistance device (100). sin() represents a sine function, represents the time delay value. Included in mathematical expressions 1 to 10 is a parameter that determines the application point of the motor's output torque, and may be, for example, a predefined time delay value based on motion characteristics or a time delay value automatically set (or calculated) based on selected motion experience characteristics.

[0146] If the selected exercise experience characteristic corresponds to the hip joint angular velocity, the torque profile can be determined, for example, as in the following mathematical expression 2.

[0147] [Equation 2]

[0148]

[0149] Here, y2(t) represents the output torque of the motor of the motion assistance device (100) at time t, and ω represents the user's hip joint angular velocity. The hip joint angular velocity can be determined by calculating the change in the hip joint angle per unit time. sin() represents the sine function, represents the time delay value.

[0150] Based on the signal waveform (1110) and the signal waveform (1120), the hip joint angular velocity has a positive value in the time interval between the position where the hip joint angle is at its minimum and the position where the hip joint angle is at its maximum, and the hip joint angular velocity has a negative value in the time interval between the position where the hip joint angle is at its maximum and the position where the hip joint angle is at its minimum. Considering these characteristics, the torque of the motion assistance device (100) can be transmitted to the user in different directions for each of the assistance mode that assists the user's movement and the resistance mode that impedes the user's movement.

[0151] If the selected exercise experience characteristic corresponds to hip joint angular acceleration, the torque profile can be determined, for example, as in the following mathematical expression 3.

[0152] [Equation 3]

[0153]

[0154] Here, y3(t) represents the output torque of the motor of the motion assistance device (100) at time t, and α represents the user's hip joint angular acceleration. The hip joint angular acceleration can be determined by differentiating the hip joint angular velocity. sin() represents a sine function, represents the time delay value.

[0155] Referring to FIG. 11B, the illustrated signal waveforms (1140), (1150), and (1160) represent the hip joint angular velocity of one leg of the user over time, the sum of the hip joint angle and the hip joint angular acceleration (i.e., hip joint angle + hip joint angular acceleration), and the hip joint angle minus the hip joint angular velocity (i.e., hip joint angle - hip joint angular velocity), respectively. The signal waveform (1160) may also represent the sum of the hip joint angle minus the hip joint angular velocity and the hip joint angular acceleration (i.e., hip joint angle - hip joint angular velocity + hip joint angular acceleration). In one embodiment, a torque profile may be determined based on the hip joint angle minus the hip joint angular velocity to ensure that the direction of the hip joint angle and the direction of the hip joint angular velocity are in the same direction. If the user-selected exercise experience characteristic corresponds to, for example, the hip joint angle minus the hip joint angular velocity, the torque profile can be determined as shown in the following mathematical expression 4.

[0156] [Equation 4]

[0157]

[0158] Here, y4(t) represents the output torque of the motor of the motion assistance device (100) at time t. θ represents the user's hip joint angle, and ω represents the user's hip joint angular velocity. sin() represents the sine function, represents the time delay value.

[0159] Referring to FIG. 11C, the illustrated signal waveforms (1170), (1180), and (1190) represent, respectively, the sum of the hip joint angle and the hip joint angular velocity of one leg of the user over time (i.e., hip joint angle + hip joint angular velocity), the sum of the hip joint angle and the hip joint angular acceleration (i.e., hip joint angle + hip joint angular acceleration), and the sum of the hip joint angle, the hip joint angular velocity, and the hip joint angular acceleration (i.e., hip joint angle + hip joint angular velocity + hip joint angular acceleration). In one embodiment, in order to maintain that the direction of the hip joint angle and the direction of the hip joint angular velocity are opposite to each other, a torque profile may be determined based on the sum of the hip joint angle and the hip joint angular velocity. When a motion experience characteristic selected by the user corresponds to, for example, the sum of the hip joint angle and the hip joint angular velocity, the torque profile may be determined as in the following mathematical expression 5.

[0160] [Equation 5]

[0161]

[0162] Here, y5(t) represents the output torque of the motor of the motion assistance device (100) at time t. θ represents the user's hip joint angle, and ω represents the user's hip joint angular velocity. sin() represents the sine function, represents the time delay value.

[0163] FIGS. 12a, 12b, and 12c are diagrams illustrating signal waveforms related to hip joint angle difference, hip joint angular velocity difference, and hip joint angular acceleration difference of both hip joints of a user according to one embodiment.

[0164] Referring to FIG. 12A, the signal waveforms (1210), (1220), and (1230) depicted represent the angular difference between the angles of the user's two hip joints over time, the angular velocity difference between the angular velocities of the two hip joints, and the angular acceleration difference between the angular accelerations of the two hip joints, respectively. The x-axis represents time, and the y-axis represents the magnitude of the signal. An enlarged view of the area (1235) in the graph is shown at the bottom of the drawing.

[0165] Different torque profiles may be utilized depending on the user's selected exercise experience characteristics. If the selected exercise experience characteristics correspond to the angular difference between the two hip joint angles, the torque profile may be determined, for example, as shown in Equation 6 below.

[0166] [Equation 6]

[0167]

[0168] Here, y6(t) represents the output torque of the motor of the motion assistance device (100) at time t. represents the user's right hip joint angle, represents the user's left hip joint angle. can be measured, for example, by the first angle sensor of the exercise assistance device (100) (e.g., the first angle sensor (524) of FIG. 5b), can be measured by the second angle sensor of the motion assistance device (100) (e.g., the second angle sensor (524-1) of FIG. 5b). sin() represents a sine function, represents the time delay value.

[0169] If the selected exercise experience characteristic corresponds to the angular velocity difference between the two hip joint angular velocities, the torque profile can be determined, for example, as in the following mathematical expression 7.

[0170] [Equation 7]

[0171]

[0172] Here, y7(t) represents the output torque of the motor of the motion assistance device (100) at time t. represents the user's right hip joint angular velocity, represents the user's left hip joint angular velocity. can be determined by calculating the hourly change in the measured right hip joint angle, can be determined by calculating the hourly change in the measured left hip angle. sin() represents the sine function, represents the time delay value.

[0173] Based on the signal waveform (1210) and the signal waveform (1220), the hip joint angular velocity difference has a positive value in the time interval between the position where the hip joint angle difference is at its minimum and the position where the hip joint angle difference is at its maximum, and the hip joint angular velocity difference has a negative value in the time interval between the position where the hip joint angle difference is at its maximum and the position where the hip joint angle difference is at its minimum. Considering these characteristics, the torque of the motion assistance device (100) can be transmitted to the user in different directions for each of the assistance mode that assists the user's movement and the resistance mode that impedes the user's movement.

[0174] If the selected exercise experience characteristic corresponds to the difference in angular acceleration between the two hip joint angular accelerations, the torque profile can be determined, for example, as in the following mathematical expression 8.

[0175] [Equation 8]

[0176]

[0177] Here, y8(t) represents the output torque of the motor of the motion assistance device (100) at time t. represents the user's right hip joint angular acceleration, represents the user's left hip joint angular acceleration. can be determined by differentiating the right hip joint angular velocity, can be determined by differentiating the left hip joint angular velocity. sin() represents the sine function, represents the time delay value.

[0178] In one embodiment, the angular acceleration of both hip joints may be small in sections where the walking speed is slow. If the exercise content being performed is "walking on a sandy beach with a sunken terrain," the torque profile of the exercise assistance device (100) may be determined by reflecting the characteristics of the sunken terrain, or the torque profile may be determined based on the angular difference between the angles of both hip joints and the angular acceleration difference between the angular accelerations of both hip joints. For example, the torque profile may be determined as y6(t) + y8(t).

[0179] The exercise assistance device (100) and electronic device (210) can provide users with diverse exercise experiences by utilizing the user's hip joint (leg) movement characteristics according to the type of exercise content. The greater the change in speed or the more rough the exercise, the greater the fluctuation in the signal waveform of the hip joint angular acceleration of the hip joint velocity rather than the hip joint angle. By selecting exercise experience characteristics utilizing these characteristics, the user can be provided with diverse exercise experiences for the same exercise content.

[0180] Referring to FIG. 12B, the illustrated signal waveforms (1240), (1250), and (1260) represent, respectively, the angular difference between the angles of the user's two hip joints over time, the angular velocity difference between the angular velocities of the two hip joints, and the angular difference minus the angular velocity difference (i.e., the angular difference between the angles of the two hip joints - the angular velocity difference between the angular velocities of the two hip joints). The signal waveform (1260) may also represent the angular difference minus the angular velocity difference and the sum of the angular acceleration difference (i.e., the angular difference between the angles of the two hip joints - the angular velocity difference between the angular velocities of the two hip joints + the angular acceleration difference between the angular accelerations of the two hip joints).

[0181] In one embodiment, a torque profile may be determined based on a combination of two or more of an angular difference, an angular velocity difference, and an angular velocity difference, depending on a motion experience characteristic selected by the user. If the motion experience characteristic selected by the user corresponds to, for example, a value obtained by subtracting an angular velocity difference from an angular difference, the torque profile may be determined as shown in the following mathematical expression (9).

[0182] [Equation 9]

[0183]

[0184] Here, y9(t) represents the output torque of the motor of the motion assistance device (100) at time t. represents the user's right hip joint angle, represents the user's left hip joint angle. represents the user's right hip joint angular velocity, represents the user's left hip joint angular velocity. sin() represents the sine function, represents the time delay value.

[0185] Referring to FIG. 12C, the illustrated signal waveforms (1270), (1280), and (1290) represent, respectively, the angular difference between the angles of the user's two hip joints over time, the angular velocity difference between the angular velocities of the two hip joints, and the sum of the angular difference and the angular velocity difference (i.e., the angular difference between the angles of the two hip joints + the angular velocity difference between the angular velocities of the two hip joints). The signal waveform (1290) may also represent the sum of the angular difference plus the angular velocity difference and the angular acceleration difference (i.e., the angular difference between the angles of the two hip joints + the angular velocity difference between the angular velocities of the two hip joints + the angular acceleration difference between the angular accelerations of the two hip joints).

[0186] If the motion experience characteristics selected by the user correspond to, for example, the sum of the angular difference and the angular velocity difference, the torque profile can be determined as in the following mathematical expression 10.

[0187] [Equation 10]

[0188]

[0189] Here, y10(t) represents the output torque of the motor of the motion assistance device (100) at time t. represents the user's right hip joint angle, represents the user's left hip joint angle. represents the user's right hip joint angular velocity, represents the user's left hip joint angular velocity. sin() represents the sine function, represents the time delay value.

[0190]

[0191] FIGS. 13a, 13b, and 13c are diagrams illustrating examples of providing an exercise experience to a user through an exercise assistance device according to one embodiment.

[0192] Referring to FIG. 13A, a user (110) can exercise using an exercise assistance device (100). For example, the user (110) can wear the exercise assistance device (100) and perform walking exercise or fitness exercise based on an actual environment. The exercise assistance device (100) can generate torque of assistance or resistance depending on exercise content selected by the user (110). The exercise assistance device (100) can generate torque based on at least one of the user's (110) hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user (110), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, depending on the exercise experience characteristics selected by the user (110). The torque generated based on the user's (110) hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user (110), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints can provide different exercise experiences to the user.

[0193] Assuming that a user (110) performs exercise content of 'fitness exercise with one leg', the exercise assistance device (100) can provide different exercise experiences to the user (110) according to the exercise experience characteristics selected by the user (110). When an exercise experience characteristic corresponding to the hip joint angle of one leg being exercised is selected, the exercise assistance device (100) is driven through a torque profile based on the hip joint angle of the corresponding leg, and accordingly, the exercise assistance device (100) can provide the user (110) with a resistance force that makes him / her feel a natural sense of weight in the resistance mode, and can provide the user (110) with an assist force that makes him / her feel a natural sense of assistance in the assist mode. When a motion experience characteristic corresponding to the hip joint angular velocity of one leg being exercised is selected, the motion assistance device (100) is driven through a torque profile based on the hip joint angular velocity of the corresponding leg, and accordingly, the motion assistance device (100) can provide the user (110) with a resistive force that makes the user feel a sense of weight including vibration in the resistance mode, and can provide the user (110) with an assistive force that makes the user feel a sense of assistance including vibration in the assistance mode. When a motion experience characteristic corresponding to the hip joint angular acceleration of one leg being exercised is selected, the motion assistance device (100) is driven through a torque profile based on the hip joint angular acceleration of the corresponding leg, and accordingly, the motion assistance device (100) can provide the user (110) with a resistive force that makes the user feel an irregular sense of weight in the resistance mode, and can provide the user (110) with an assistive force that makes the user feel an irregular sense of assistance in the assistance mode.

[0194] Referring to FIG. 13B, a user (110) can exercise using an exercise assistance device (100) and a vision wearable device (226). For example, the user (110) can wear the exercise assistance device (100) and perform walking exercise or fitness exercise based on a virtual environment. Augmented reality content or virtual reality content is provided through the vision wearable device (226), and the exercise assistance device (100) can provide a torque that the user (110) can feel when exercising in a virtual environment provided by the augmented reality content or virtual reality content. The exercise assistance device (100) and the vision wearable device (226) can provide the user (110) with a realistic exercise experience in a virtual environment. The exercise assistance device (100) and the vision wearable device (226) can provide various virtual exercise experiences, such as walking in water with waves or walking / running on a sandy beach with concave terrain, even in limited environments such as indoors or on flat ground.

[0195] In one embodiment, when a user (110) performs exercise content of 'walking in water with waves', visual content (1310) of the user (110) walking in water with waves from a first-person perspective may be provided to the user (110) through the vision wearable device (226), and a torque of resistance that the user (110) can feel when walking in water with waves may be generated and transmitted to the user (110) through the exercise assistance device (100). The sound of waves generated in a virtual environment may be output through the vision wearable device (226), the exercise assistance device (100), and / or wireless earphones (e.g., wireless earphones (222) of FIG. 2) worn by the user (110). When a wave in a virtual environment hits the body of the user (110), haptic feedback can be generated by the haptic module of the motion assistance device (100) (e.g., the haptic module (560) of FIGS. 5A and 5B).

[0196] The exercise assistance device (100) can provide different exercise experiences to the user (110) according to the exercise experience characteristics selected by the user (110). For example, when an exercise experience characteristic corresponding to the angular difference between the angles of both hip joints is selected, the exercise assistance device (100) is driven through a torque profile based on the angular difference between the angles of both hip joints, and the exercise assistance device (100) can provide the user (110) with a resistance that allows the user to feel a relatively small resistance against current fluctuations. When an exercise experience characteristic corresponding to the angular velocity difference between the angular velocity of both hip joints is selected, the exercise assistance device (100) is driven through a torque profile based on the angular velocity difference between the angular velocity of both hip joints, and the exercise assistance device (100) can provide the user (110) with a resistance that allows the user to feel a relatively medium resistance against current fluctuations. When a motion experience characteristic corresponding to the angular acceleration difference between the angular accelerations of both hip joints is selected, the motion assistance device (100) is driven through a torque profile based on the angular acceleration difference between the angular accelerations of both hip joints, and the motion assistance device (100) can provide the user (110) with a resistance that makes the user feel the resistance of a relatively large water current fluctuation.

[0197] In one embodiment, when a user (110) performs exercise content of 'walking / running on a sandy beach with sunken terrain', visual content of the user (110) walking or running on a sandy beach with sunken terrain from a first-person perspective may be provided to the user (110) through the vision wearable device (226), and a torque of resistance that the user (110) can feel when walking or running on a sandy beach with sunken terrain may be generated and transmitted to the user (110) through the exercise assistance device (100). The sound generated when walking or running on the virtual sandy beach may be output through the vision wearable device (226), the exercise assistance device (100), and / or wireless earphones (e.g., wireless earphones (222) of FIG. 2) worn by the user (110).

[0198] The exercise assistance device (100) can provide different exercise experiences to the user (110) according to the exercise experience characteristics selected by the user (110). For example, when an exercise experience characteristic corresponding to the angular difference between the angles of both hip joints is selected, the exercise assistance device (100) is driven through a torque profile based on the angular difference between the angles of both hip joints, and the exercise assistance device (100) can provide the user (110) with a resistance that makes him / her feel like walking or running on a sandy beach with a relatively small degree of depression. When an exercise experience characteristic corresponding to the angular velocity difference between the angular velocity of both hip joints is selected, the exercise assistance device (100) is driven through a torque profile based on the angular velocity difference between the angular velocity of both hip joints, and the exercise assistance device (100) can provide the user (110) with a resistance that makes him / her feel like walking or running on a sandy beach with a relatively medium degree of depression. When a motion experience characteristic corresponding to the angular acceleration difference between the angular accelerations of both hip joints is selected, the motion assistance device (100) is driven through a torque profile based on the angular acceleration difference between the angular accelerations of both hip joints, and the motion assistance device (100) can provide the user (110) with a resistance that makes him feel like walking or running on a sandy beach with a relatively large degree of depression.

[0199] Referring to FIG. 13C, a user (110) can exercise using an exercise assistance device (100) and a display device (1320). The display device (1320) may be, for example, a television, a monitor, a projector, a tablet computer, or a laptop, but is not limited thereto. The user (110) can wear the exercise assistance device (100) and perform walking exercise or fitness exercise based on a real or virtual environment. The movement of the user (110) when exercising can be converted into a virtual avatar (or character) or the movement of the user (110) extracted from an image and output to the display device (1320). Here, the image can be acquired by a camera (not shown). Assuming that a user (110) performs exercise content of 'walking in water with waves' as a walking exercise based on a virtual environment, visual content of the user (110) or an avatar corresponding to the user (110) walking in a virtual environment of water with waves can be output through the display device (1320). Movement information of the user (110) measured by the sensor of the exercise assistance device (100) is transmitted to the display device (1320) or the electronic device (210), and the display device (1320) or the electronic device (210) can convert the measured movement information of the user (110) into the movement of the avatar. When the electronic device (210) converts the movement of the user (110) into the movement of the avatar, the electronic device (210) can transmit the movement information of the avatar to the display device (1320). As in FIG. 13b, the exercise assistance device (100) can provide different exercise experiences to the user (110) depending on the exercise experience characteristics selected by the user (110).

[0200]

[0201] 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).

[0202] 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 one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0203] 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.

[0204] According to one embodiment, the method according to the embodiments may be provided as a computer program product. The computer program product may be traded between sellers and buyers as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or may be provided through an application store (e.g., Play Store). TM ) or directly between two user devices (e.g., smart phones), online distribution (e.g., downloading or uploading). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0205] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0206] While this disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are illustrative and not limiting. It will be further understood by those skilled in the art that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. Furthermore, it will be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. In an electronic device (210), Processor (710); and Includes a communication module (730) that communicates with an exercise assistance device (100), The above processor (710) Based on a first user input including selection of one of the candidate exercise contents using the above exercise assistance device (100), target exercise contents to be executed are determined, Based on a second user input including a selection of exercise experience characteristics related to the target exercise content, a torque profile of the target exercise content is determined, Generate a control signal for driving the motion assistance device (100) according to the determined torque profile, The above communication module (730) controls the transmission of the control signal to the exercise assistance device (100), The above processor (710) According to the selected exercise experience characteristics, the torque profile is determined based on at least one of the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints. Electronic device (210).

2. In paragraph 1, The above processor (710) Determining whether the above electronic device (210) is connected to a vision wearable device that provides visual content to the user, Determining the candidate exercise contents based on whether or not the above vision wearable device is connected; Electronic device (210).

3. In paragraph 2, The above processor (710) In response to the electronic device (210) being connected to the vision wearable device (226), controlling the device to provide the user with a list of candidate exercise contents including at least one of augmented reality content and virtual reality content. Electronic device (210).

4. In paragraph 2 or paragraph 3, The above processor (710) In response to the electronic device (210) being connected to the vision wearable device (226), the device controls to provide the user with a list of candidate exercise contents that operate in a resistance mode that provides resistance to the user's body movement. Electronic device (210).

5. In any one of paragraphs 2 to 4, The above processor (710) In response to the electronic device (210) being not connected to the vision wearable device (226), controlling the device to provide the user with a list of candidate exercise contents operating in an assistive mode for assisting the user's body movements. Electronic device (210).

6. In any one of paragraphs 1 to 5, If the above target exercise content is exercise content using one leg, The second user input above is, Including a selection of at least one of the movement experience characteristics corresponding to each of the user's hip joint angle, hip joint angular velocity and hip joint angular acceleration, Electronic device (210).

7. In paragraph 1, If the above target exercise content is exercise content using both legs, The second user input above is, Including a selection of at least one of the movement experience characteristics corresponding to each of the angular difference between the angles of the two hip joints of the user, the angular velocity difference between the angular velocities of the two hip joints, and the angular acceleration difference between the angular accelerations of the two hip joints. Electronic device (210).

8. In any one of paragraphs 1 to 7, The above processor (710) Generating the control signal according to any one of the following corresponding to the selected exercise experience characteristic: a first torque profile based on the user's hip joint angle, a second torque profile based on the user's hip joint angular velocity, a third torque profile based on the user's hip joint angular acceleration, a fourth torque profile based on the angular difference between the user's two hip joint angles, a fifth torque profile based on the angular velocity difference between the user's two hip joint angular velocities, and a sixth torque profile based on the angular acceleration difference between the user's two hip joint angular accelerations. Electronic device (210).

9. In any one of paragraphs 1 to 8, The above processor (710) Generating the control signal according to one of a seventh torque profile based on at least two of the user's hip joint angle, hip joint angular velocity and hip joint angular acceleration, and an eighth torque profile based on at least two of the user's angular difference between the user's hip joint angles, angular velocity difference between the user's hip joint angular velocities and angular acceleration difference between the user's hip joint angular accelerations. Electronic device (210).

10. In the exercise assistance device (100), A drive module (530, 530-1) including a motor (534; 534-1) generating torque; A torque transmission frame (50; 55) for transmitting the generated torque to the user's legs; A thigh fastening member (1, 2) connected to the torque transmission frame (50; 55) and for connecting the torque transmission frame (50; 55) to the user's leg; A sensor module (520) that obtains sensor data including movement information of the user; and Contains a processor (512), The above processor (512) Based on a first user input including selection of target exercise content, target exercise content to be executed is determined among candidate exercise contents using the exercise assistance device (100), Based on a second user input including a selection of exercise experience characteristics related to the target exercise content, a torque profile of the target exercise content is determined, Controlling the output torque of the motor (534; 534-1) based on the above sensor data and the determined torque profile, The above processor (512) According to the selected exercise experience characteristics, the torque profile is determined based on at least one of the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints. Exercise assist device (100).

11. In paragraph 10, The above processor (512) In response to the above exercise assistance device (100) being connected to a vision wearable device that provides visual content to the user, controlling the device to provide the user with a list of candidate exercise contents including at least one of augmented reality content and virtual reality content. Exercise assist device (100).

12. In clause 10 or 11, If the above target exercise content is exercise content using one leg, The second user input above is, Including a selection of at least one of the movement experience characteristics corresponding to each of the user's hip joint angle, hip joint angular velocity and hip joint angular acceleration, Exercise assist device (100).

13. In clause 10 or 11, If the above target exercise content is exercise content using both legs, The second user input above is, Including a selection of at least one of the movement experience characteristics corresponding to each of the angular difference between the angles of the two hip joints of the user, the angular velocity difference between the angular velocities of the two hip joints, and the angular acceleration difference between the angular accelerations of the two hip joints. Exercise assist device (100).

14. In any one of paragraphs 10 to 13, The above processor (512) Controlling the output torque of the motor (534; 534-1) according to any one of the following corresponding to the selected exercise experience characteristic: a first torque profile based on the user's hip joint angle, a second torque profile based on the user's hip joint angular velocity, a third torque profile based on the user's hip joint angular acceleration, a fourth torque profile based on the angular difference between the user's two hip joint angles, a fifth torque profile based on the angular velocity difference between the user's two hip joint angular velocities, and a sixth torque profile based on the angular acceleration difference between the user's two hip joint angular accelerations. Exercise assist device (100).

15. A control method for controlling an exercise assistance device (100) performed by an electronic device (210), Actions (810; 840) for guiding candidate exercise contents using an exercise assistance device (100); An action (815; 845) of receiving a first user input comprising a selection of any one of the above candidate exercise contents; An operation (820; 850) of determining target exercise content to be executed based on the first user input; An action of receiving a second user input comprising a selection of exercise experience characteristics related to said target exercise content; An operation (825; 855) of determining a torque profile of the target exercise content based on the second user input; An operation (830; 860) of generating a control signal for driving the motion assistance device (100) according to the determined torque profile; and An operation (835; 865) of transmitting the above control signal to the above motion assistance device (100) Including, The operation for determining the above torque profile is: An operation for determining the torque profile based on at least one of the hip joint angle, hip joint angular velocity, hip joint angular acceleration, angular difference between the angles of both hip joints of the user wearing the exercise assistance device (100), angular velocity difference between the angular velocities of both hip joints, and angular acceleration difference between the angular accelerations of both hip joints, according to the selected exercise experience characteristics. A control method comprising:

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