Wearable device capable of mode switching on basis of operation characteristics of motor, and operating method thereof

Abstract

A wearable device is disclosed. In one embodiment, first sound generated by a motor of the wearable device can be received through a microphone of the wearable device, first sensor values can be obtained through an inertial sensor of the wearable device, whether the magnitude value of the received first sound at a first frequency is less than or equal to a first threshold value can be determined, whether the wearable device has moved a predetermined distance or more can be determined on the basis of at least some of the obtained first sensor values, and the wearable device can be controlled to be in a sleep mode if it is determined that the magnitude value is less than or equal to the first threshold value and if it is determined that the wearable device has not moved the predetermined distance or more.

Description

Wearable device capable of switching modes based on the operating characteristics of a motor and its operating method

[0001] The embodiment relates to a wearable device capable of switching modes based on the operating characteristics of a motor and an operating method thereof.

[0002] In general, a walking assistance device is a device or apparatus that helps patients who are unable to walk independently due to various diseases or accidents to perform walking exercises as part of rehabilitation. With the recent aging of the population, the number of people who have difficulty walking normally or complain of discomfort due to leg joint problems is increasing, leading to a growing interest in walking assistance devices. Walking assistance devices are worn on the user's body to assist the muscle strength required for walking and guide the user's gait to adopt a normal walking pattern.

[0003] According to one embodiment, a wearable device may include a driving module including a motor and a control circuit for controlling the motor, a microphone module including a microphone, an inertial sensor, and a processor operatively connected to the microphone and the inertial sensor. The processor may receive a first sound generated by the motor from the microphone. The processor may receive first sensor values ​​acquired by the inertial sensor from the inertial sensor. The processor may determine whether a magnitude value at a first frequency of the received first sound is less than or equal to a first threshold. The processor may determine whether the wearable device has moved more than a predetermined distance based on at least some of the received first sensor values. When the processor determines that the magnitude value is less than or equal to the first threshold and determines that the wearable device has not moved more than the predetermined distance, the processor may control the wearable device to be in a sleep mode.

[0004] According to one embodiment, a wearable device may include a driving module including a motor and a control circuit for controlling the motor, a microphone module including a microphone, an inertial sensor, a memory storing one or more commands, and a processor operatively connected to the microphone, the inertial sensor, and the memory. The commands, when executed by the processor, may cause the wearable device to perform the following operations: receiving a first sound generated by the motor through the microphone, acquiring first sensor values ​​through the inertial sensor, determining whether a magnitude value at a first frequency of the received first sound is less than or equal to a first threshold value, determining whether the wearable device has moved more than a predetermined distance based on at least some of the acquired first sensor values, and controlling the wearable device to be in a sleep mode when it is determined that the magnitude value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance.

[0005] According to one embodiment, a method for operating a wearable device may include: receiving a first sound generated by a motor of the wearable device through a microphone of the wearable device; acquiring first sensor values ​​through an inertial sensor of the wearable device; determining whether a magnitude value at a first frequency of the received first sound is less than or equal to a first threshold value; determining whether the wearable device has moved a predetermined distance or more based on at least some of the acquired first sensor values; and controlling the wearable device to be in a sleep mode when it is determined that the magnitude value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance.

[0006] A wearable device according to one embodiment can enter a sleep mode based on the sound generated by the motor and the sensor values ​​of the inertial sensor, thereby reducing the power consumption (or current consumption) of the wearable device and improving the usage time of the wearable device.

[0007] A wearable device according to one embodiment can notify a user that a mode change has occurred when a mode change occurs, thereby allowing the user to be aware that the mode of the wearable device has been changed.

[0008] In addition, various effects may be provided, either directly or indirectly, through this document.

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

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

[0011] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

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

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

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

[0015] FIG. 5 is a drawing illustrating an example of a configuration of a wearable device according to one embodiment.

[0016] FIG. 6 is a drawing illustrating an example of the size and frequency of sound generated when a motor is moved by a user according to one embodiment.

[0017] FIG. 7 is a drawing illustrating a mode of a wearable device according to one embodiment.

[0018] FIG. 8 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0019] FIG. 9 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0020] FIG. 10 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0021] FIG. 11 and FIG. 12 are drawings illustrating examples of a microphone module of a wearable device according to one embodiment.

[0022] Figure 13 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0023] Figure 14 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0024] 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.

[0025] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0026] When it is said that a component is "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but there may also be other components in between.

[0027] 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.

[0028] 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.

[0029] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0030]

[0031] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0032] Referring to FIG. 1A, a wearable device (120) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user may be a human or an animal, but is not limited thereto. The wearable device (120) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force of assistance force and / or resistance force to the user's body movement. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0033] When the wearable device (120) performs a walking assistance function to assist the user's walking, the wearable device (120) can assist the user's walking by providing assistance to some or all of the user's legs by providing assistance to the user's body. The wearable device (120) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (120) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0034] When the wearable device (120) performs an exercise function to enhance the user's exercise effect, the wearable device (120) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (120) is, for example, a hip-type wearable device, the wearable device (120) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (120) for exercise, and in this case, the wearable device (120) may provide resistance to the leg movement during the user's walking motion.

[0035] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (120) worn on the waist and legs is described as an example. However, as described above, the wearable device (120) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device may vary depending on the body part on which it is worn.

[0036] According to one embodiment, the angle of a joint (e.g., a hip joint, a knee joint, etc.) may be 0 degrees at a reference line (105). The reference line (105) may correspond, for example, to a line in the z-axis direction among three axes (e.g., an x-axis, a y-axis, a z-axis) of the joint. An area in front of the reference line (105) may represent a forward rotation area of ​​the joint, and an area behind the reference line (105) may represent a rearward rotation area of ​​the joint. When a user's joint rotates forward relative to the reference line (105), the angle value of the joint (e.g., a hip joint, a knee joint, etc.) may have a negative number value, and when a user's joint (e.g., a hip joint, a knee joint, etc.) rotates rearward relative to the reference line (105), the angle value of the joint (e.g., a hip joint, a knee joint, etc.) may have a positive number value. The forward rotation region may correspond to a negative (-) angle region, and the backward rotation region may correspond to a positive (+) angle region. For example, a joint angle value of -30 degrees may indicate that the joint has rotated 30 degrees forward from the reference line (105), and a joint angle value of +20 degrees may indicate that the joint has rotated 20 degrees backward from the reference line (105).

[0037] Depending on the implementation, the forward rotation area may correspond to a positive (+) angle area, and the backward rotation area may correspond to a negative (-) angle area. In this case, when the user's joint rotates forward relative to the reference line (105), the angle value of the joint may have a positive value, and when the user's joint rotates backward relative to the reference line (105), the angle value of the joint may have a negative value. For example, a joint angle value of +40 degrees may indicate that the joint rotates 40 degrees forward from the reference line (105), and a joint angle value of -10 degrees may indicate that the joint rotates 10 degrees backward from the reference line (105).

[0038] In the embodiments described below, the forward rotation region may correspond to a minus (-) angle region, and the rear rotation region may correspond to a plus (+) angle region.

[0039]

[0040] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0041] Referring to FIG. 1B, an electronic device (110) can communicate with a wearable device (120) and remotely control the wearable device (120). The electronic device (110) may be of various forms. The electronic device (110) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0042] In one embodiment, the electronic device (110) and / or the wearable device (120) may be connected to another wearable device (130). For example, the wearable device (120), the electronic device (110), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may be, for example, wireless earphones (131), a smart watch (132), or smart glasses (133), but is not limited to the aforementioned devices. The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0043] In one embodiment, the smart watch (132) can control the wearable device (120). When the smart watch (132) is connected to the electronic device (110) via a wireless communication link, and the electronic device (110) is connected to the wearable device (120) via a wireless communication link, the smart watch (132) can control the wearable device (120) via the electronic device (110). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (120) and control the wearable device (120).

[0044] In one embodiment, the electronic device (110) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (120) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (120).

[0045] In one embodiment, the electronic device (110) may communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0046] In one embodiment, the electronic device (110) may receive user profile information from the user. The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (110) may transmit the user profile information to the server (140).

[0047] In one embodiment, the electronic device (110) and / or the wearable device (120) may request the user to perform one or more target movements to determine (or check) the user's motor skills. The one or more target movements may include, for example, knee lifts, leg raises, etc. The knee lifts may be a movement in which the user starts from a standing upright position with both feet in contact with the ground, raises the legs as far back as possible without bending over, and then returns to a standing position. The leg raises may be a movement in which the user starts from a standing upright position with hands on a wall, raises the legs as far back as possible without bending over, and then returns to a standing position.

[0048] In one embodiment, a wearable device (120) may obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (110). The electronic device (110) may transmit the obtained movement information to a server (140).

[0049] In one embodiment, the server (140) may determine a user's target exercise amount for each exercise type (e.g., strength training, balance training, aerobic exercise) based on profile information and movement information received from the electronic device (110). The server (140) may transmit the target exercise amount for each exercise type to the electronic device (110).

[0050] In one embodiment, the server (140) may include a database storing information about a plurality of exercise programs that can be provided to a user through a wearable device (120). For example, the server (140) may manage a user account for a user of an electronic device (110) or a wearable device (120). The server (140) may store and manage exercise programs performed by the user and the results of the exercise programs, etc., in association with the user account.

[0051] In one embodiment, the electronic device (110) and / or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, muscle strength enhancement, physical fitness enhancement, cardiopulmonary endurance enhancement, core stability enhancement, flexibility enhancement, and symmetry enhancement.

[0052] In one embodiment, the electronic device (110) and / or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may be composed of one or more exercise modes. For example, each exercise mode may be for a physical movement to achieve a specific exercise goal. For example, running may be an exercise mode for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise mode for improving the user's core stability. Depending on the user's exercise goal, the combination of multiple exercise modes constituting each exercise program may vary. Even for the same exercise goal, the electronic device (110) may provide the user with various exercise programs based on combinations of multiple exercise modes.

[0053] In one embodiment, a plurality of exercise modes may be stored in a database in an electronic device (110) or a server (140). The electronic device (110) or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user by considering the user's exercise purpose or exercise performance status. For example, the electronic device (110) or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, even when the user exercises daily under the same exercise goal, the user may be recommended a new exercise program, and by performing the new exercise program, the user may feel like performing a different exercise than before.

[0054]

[0055] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0056] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0057] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a base body (10), a base frame (20), a driving module (30), a thigh fastening part (40a, 40b), a main belt (50), and a leg driving frame (70a, 70b).

[0058] According to one embodiment, the base body (10) can be positioned on the user's lumbar region (waist region) while the user wears the wearable device (200). The base body (10) can be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The base body (10) can be hung over the user's buttocks (hip region) to prevent the wearable device (200) from falling downward due to gravity while the user wears the wearable device (200). The base body (10) can distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The base body (10) can be connected to the base frame (20). Base frame connection elements (not shown) that can be connected to the base frame (20) can be formed at both ends of the base body (10).

[0059] According to one embodiment, the base body (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., a processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to a state of the wearable device (200) (e.g., booting state, sensing state, etc.) may be provided (or output) to a user through the lighting unit (60).

[0060] According to one embodiment, the base frame (20) may extend from both ends of the base body (10). The user's lower body may be accommodated on the inside of the base frame (20). The base frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower body. A main belt (50) may be connected to an end of the base frame (20). A drive module (30) may be mounted on the base frame (20). The base frame (20) may include a connector (not shown) for mounting the drive module (30).

[0061] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0062] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring an angle of a first joint of the user (e.g., a left hip joint angle). The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring an angle of a second joint of the user (e.g., a right hip joint angle).

[0063] According to one embodiment, the first drive module (30a) may include a first actuator (or a first motor) and a first reducer, and the second drive module (30b) may include a second actuator (or a second motor) and a second reducer. An output terminal of the first actuator may be connected to an input terminal of the first reducer, and an output terminal of the second actuator may be connected to an input terminal of the second reducer.

[0064] According to one embodiment, a processor (e.g., a processor (310) to be described later) may be configured to generate a torque value (e.g., a torque value to be described later). ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the first actuator can generate torque, and the generated torque can be reduced by the first reducer. The torque reduced by the first reducer can rotate the first leg drive frame (70a). The torque reduced by the first reducer can be provided to the user's left leg through the first leg drive frame (70a), for example. The processor (e.g., the processor (310) to be described later) can generate a torque value (e.g., the torque value to be described later) ) can be determined, and the determined torque value (e.g. ) can be controlled to generate torque. By this control, the second actuator can generate torque, and the generated torque can be reduced by the second reducer. The torque reduced by the second reducer can rotate the second leg drive frame (70b). The torque reduced by the second reducer can be provided to the user's right leg, for example, through the second leg drive frame (70b).

[0065] According to one embodiment, the leg drive frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The leg drive frame (70a, 70b) may include a first leg drive frame (70a) for supporting the user's left leg and a second leg drive frame (70b) for supporting the user's right leg.

[0066] According to one embodiment, the leg drive frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 90b) (e.g., torque reduced by the reducer) to the user's thigh. One end of the leg drive frame (70a, 70b) is connected to the drive module (30a, 30b) and can rotate, and the other end of the leg drive frame (70a, 70b) is connected to the thigh fastening portion (40a, 40b), so that the leg drive frame (70a, 70b) can support the user's thigh while transmitting the torque generated by the drive module (30a, 30b) to the user's thigh. For example, the leg drive frame (70a, 70b) can push or pull the user's thigh. The leg drive frame (70a, 70b) can extend along the length direction of the user's thigh. The leg drive frame (70a, 70b) can be bent to wrap around at least a portion of the user's thigh.

[0067] According to one embodiment, the thigh fastening portions (40a, 40b) are connected to the leg drive frame (70a, 70b) and can secure the leg drive frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first leg drive frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second leg drive frame (70b) to the user's right thigh.

[0068] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg drive frame (70a, 70b) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0069] According to one embodiment, 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 dislodged from the leg drive frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0070] In one embodiment, the first strap may encircle the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and the second strap may encircle the remaining portion of the user's right thigh that is not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0071] According to one embodiment, the main belt (50) may be connected to the base frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be connected to opposite ends of the base frame (20), respectively. The main belt (50) may be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction in which the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) may be interconnected while the user is wearing the wearable device (200). The main belt (50) may distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0072] Referring to FIG. 2b, the base body (10) can be mounted on the back of the user's lower back and can support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first driving module (30a) can be placed on the user's left lower back. The base frame (20) can extend from an end of the base body (10) and be inclined in a direction toward the first driving module (30a). The first main belt (50a) mounted on the base frame (20) can be in a state of wrapping around the user's left abdomen.

[0073]

[0074] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0075] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a PMIC (Power Management Integrated Circuit) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (380, 380-1) (e.g., the first and second actuators described with reference to FIG. 2A), and a communication module (390).

[0076] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0077] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (120) and the wearable device (200).

[0078] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0079] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0080] According to one embodiment, the angle sensor (320) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a first joint of the user (e.g., a left hip joint, etc.). The angle sensor (320) can transmit a measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the first joint) to the processor (310). For example, the angle sensor (320) can measure the angular acceleration of the angle of the left hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320) can measure the angle or angular velocity of the angle of the left hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate an angular acceleration value of the left hip joint angle through the angular value or angular velocity value received from the angle sensor (320).

[0081] According to one embodiment, the angle sensor (320-1) can measure or sense at least one of an angle, an angular velocity, or an angular acceleration of a second joint (e.g., a right hip joint) of the user. The angle sensor (320) can transmit the measurement result (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the second joint) to the processor (310). For example, the angle sensor (320-1) can measure the angular acceleration of the angle of the right hip joint of the user to obtain an angular acceleration value, and transmit the obtained angular acceleration value to the processor (310). The present invention is not limited thereto, and the angle sensor (320-1) can measure the angle or angular velocity of the angle of the right hip joint of the user to obtain an angular value or an angular velocity value, and transmit the obtained angular value or angular velocity value to the processor (310). The processor (310) can calculate the angular acceleration value of the right hip joint angle through the angular value or angular velocity value received from the angle sensor (320-1).

[0082] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0083] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0084] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0085] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), memory (350), IMU (360), communication module (390), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0086] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module (e.g., a speaker), a vibration output module (e.g., a vibration motor or a haptic motor), or a display module (e.g., a display or a lighting unit (60)). For example, the processor (310) can transmit status information of the battery (330) to the electronic device (110) through the communication module (390), and the electronic device (110) can display the status information of the battery (330) on a display.

[0087] According to one embodiment, the IMU (360) can acquire or measure acceleration information (or attitude information) of the user. For example, the IMU (360) can measure or acquire three-axis (e.g., x-axis, y-axis, z-axis) acceleration and rotation angle (e.g., roll, pitch, yaw) according to the user's movement. The IMU (360) can transmit the acquired acceleration information (e.g., measured three-axis acceleration and rotation angle) to the processor (310).

[0088] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0089] According to one embodiment, the processor (310) may be operatively connected to at least one or all of the angle sensors (320, 320-1), the memory (350), or the IMU (360).

[0090] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0091] According to one embodiment, the processor (310) can determine a torque value for generating torque of each of the motors (380, 380-1). The processor (310) can control the motor driver circuits (370, 370-1) so that an external force (or torque) corresponding to the determined torque value can be provided to the user. For example, the processor (310) can determine a mathematical formula

[0092] A state factor that indicates the state of the user's movement according to can be decided. may include the angle value of the first joint (e.g., left hip joint), may include an angle value of a second joint (e.g., a right hip joint). The processor (310) may use a mathematical formula Torque value according to can decide the gain may be a parameter indicating the magnitude and direction of the torque to be generated by each of the motors (380, 380-1). Gain The larger the value of gain, the stronger the torque can be output. If is negative, a torque (or resistive torque) acting as a resistance force to the user can be output and the gain If is positive, a torque (or auxiliary torque) acting as an auxiliary force to the user can be output. Delay may be a parameter related to the output timing of torque. Gain Value and delay The value of can be preset. Without limitation, the gain value and / or delay The value of may be adjustable by the user, the wearable device (300), or the electronic device (110) paired with the wearable device (300). The processor (310) may be configured to calculate the mathematical expression

[0093] Torque value for generating torque from motor (380-1) according to can decide, Torque value for generating torque from the motor (380) according to According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) based on the torque value received from the processor (310), and by this control, each of the motors (380, 380-1) can generate torque.

[0094] According to one embodiment, the communication module (390) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the wearable device (300, 300-1) and an external electronic device, and the performance of communication through the established communication channel. The communication module may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module 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) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0095] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0096] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, one or more speakers. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0097] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, one or more vibration motors or one or more haptic motors. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0098] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390), a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the base body (10) of FIGS. 2a and 2b.

[0099]

[0100] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0101] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., a smartphone or a smartwatch). For example, the electronic device (410) may be a user terminal of a user using the wearable device (120) or a dedicated controller device for the wearable device (120). According to one embodiment, the wearable device (100) and the electronic device (410) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0102] According to one embodiment, the electronic device (410) may execute an application for checking the status of the wearable device (120) or controlling or operating the wearable device (120). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (120) or determining the operation mode of the wearable device (120) may be displayed on the display (412) of the electronic device (410). The UI may be, for example, a graphical user interface (GUI).

[0103] According to one embodiment, a user may input a command to control the operation of the wearable device (120) (e.g., a command to instruct to operate in an assist mode that generates assistive force or a command to instruct to operate in a resistance mode that generates resistive force) or change the settings of the wearable device (120) through a GUI screen on the display (212) of the electronic device (410). The electronic device (410) may generate a control command (or a control signal) corresponding to the operation control command or setting change command input by the user, and transmit the generated control command to the wearable device (120). The wearable device (120) may operate according to the received control command, and may transmit a control result according to the control command and / or sensor data measured by a sensor of the wearable device (120) (e.g., an angle sensor (320, 320-1) and / or an IMU (360)) to the electronic device (410). The electronic device (410) can provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data through a GUI screen.

[0104] In one embodiment, the wearable device (120) may receive, from the electronic device (110) and / or another wearable device (130), a level value of an exercise intensity selected by a user (e.g., an exercise intensity of a target exercise) and / or control information indicating an operation mode (e.g., an assist mode or a resistance mode) of the wearable device (120). The wearable device (120) may determine a gain value based on the received level value. The wearable device (120) may determine a larger gain value as the received level value increases. For example, the level values ​​of the exercise intensity may include 1 to 5, and a gain value may be mapped to each level value. As the level value increases from 1 to 5, the exercise intensity may increase, and the gain value may increase. When the wearable device (120) determines the operation mode as the auxiliary mode based on the received control information, the sign of the gain value can be determined as a first sign (e.g., plus (+)), and when the operation mode is determined as the resistance mode, the sign of the gain value can be determined as a second sign (e.g., minus (-)). When the operation mode is the auxiliary mode, the gain can have a positive value, for example, and when the operation mode is the resistance mode, the gain can have a negative value, for example.

[0105]

[0106] FIG. 5 is a drawing illustrating an example of a configuration of a wearable device according to one embodiment.

[0107] Referring to FIG. 5, a wearable device (500) according to an embodiment (e.g., a wearable device (120) of FIGS. 1A and 1B, a wearable device (200) of FIGS. 2A and 2B, a wearable device (300) of FIG. 3A, a wearable device (300-1) of FIG. 3B) includes a first PBA (Printed Board Assembly) (e.g., a main board) (501), a second PBA (e.g., a first motor board) (502), a third PBA (e.g., a second motor board) (503), a processor (510) (e.g., a processor (310)), a switch (520), a battery (530) (e.g., a battery (330)), a PMIC (540) (e.g., a PMIC (340)), a microphone module (550), an IMU (570) (e.g., an IMU (360)), It may include a motor (560) (e.g., motor (380)), and a motor (560-1) (e.g., motor (380-1)).

[0108] In the example illustrated in FIG. 5, an arrow expressed as a solid line may represent a power path (or current path), and an arrow expressed as a dotted line may represent a signal path.

[0109] In the example illustrated in FIG. 5, the first PBA (501) may include a processor (510), a switch (520), a PMIC (540), and an IMU (570). Although not illustrated in FIG. 5, the first PBA (501) may include a memory (350) and / or a communication module (390) of FIGS. 3A and 3B. The memory (350) may store one or more instructions. One or more instructions stored in the memory (350) may be executed by the processor (510). The instructions executed by the processor (510) may cause the wearable device (500) (or the processor (510)) to perform operations of the wearable device (500) (or operations of the processor (510)) described below.

[0110] The wearable device (500) of FIG. 5 includes one microphone module (550), but this is merely exemplary, and the wearable device (500) may include other microphone modules positioned near the motor (560-1). The description of the microphone module (550) may be applied to other microphone modules positioned near the motor (560-1).

[0111] According to one embodiment, the processor (510) may be operatively connected to a microphone module (550) (e.g., a microphone within the microphone module (550)) and / or an IMU (570).

[0112] According to one embodiment, the second PBA (502) may include a first control circuit (502-1) capable of controlling a motor (560). The first control circuit (502-1) may include, for example, a first MCU (Micro Controller Unit) and a motor driver circuit (370). The third PBA (503) may include a second control circuit (503-1) capable of controlling a motor (560-1). The second control circuit (503-1) may include, for example, a motor driver circuit (370-1) and a second MCU.

[0113] According to one embodiment, the first PBA (501) may be located in the base body (10) of FIG. 2a. The motor (560), the second PBA (502), and the microphone module (550) may be included in the first drive module (30a) of FIG. 2a. The motor (560-1) and the third PBA (503) may be included in the second drive module (30b) of FIG. 2a.

[0114] According to one embodiment, the mode (e.g., power mode) of the wearable device (500) may include, for example, a sleep mode (or power saving mode), an idle mode, and an active mode. Among the sleep mode, the idle mode, and the active mode, the power consumption of the wearable device (500) may be the lowest in the sleep mode, and the power consumption of the wearable device (500) may be the highest in the active mode.

[0115] According to one embodiment, the active mode may include a state in which the motors (560, 560-1) are capable of generating torque. In the active mode, the processor (510) may control the switch (520) to be turned on. When the switch (520) is turned on, the second PBA (502) and the third PBA (503) may receive power from the battery (530) through the switch (520).

[0116] In the active mode, the second PBA (502) can convert the received power to match the operating voltage of the first MCU and supply the converted power to the first MCU. The first MCU can receive a measurement result of the angle sensor (e.g., angle sensor (320)) (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the user's first joint) from an angle sensor (e.g., angle sensor (320)). The first MCU can transmit the measurement result of the angle sensor (320) to the processor (510).

[0117] In the active mode, the third PBA (503) can convert the received power to match the operating voltage of the second MCU and supply the converted power to the second MCU. The second MCU can receive, for example, a measurement result of the angle sensor (320-1) (e.g., at least one of an angle value, an angular velocity value, or an angular acceleration value of the user's second joint) from an angle sensor (e.g., an angle sensor (320-1)). The second MCU can transmit the measurement result of the angle sensor (320-1) to the processor (510).

[0118] In active mode, the processor (510) calculates a torque value (e.g., ) can be determined, and power corresponding to the determined torque value can be supplied to each of the motors (560, 560-1). In the active mode, if there is no movement of the user, the torque value may be 0, and thus no power may be supplied to the motors (560, 560-1). In the active mode, if there is movement of the user, power corresponding to the torque value determined by the processor (510) can be supplied to the motors (560, 560-1). For example, each of the control circuits (502-1, 503-1) can receive power corresponding to the torque value determined by the processor (510) from the battery (530), and transmit each received power to each of the motors (560, 560-1).

[0119] According to one embodiment, the active mode may include a state in which power is supplied to components of the first PBA (501) (e.g., processor (510), switch (520), IMU (570), memory (350), and communication module (390)), a state in which power is supplied to the second PBA (502) (e.g., first control circuit (502-1)) and motor (560), and a state in which power is supplied to the third PBA (503) (e.g., second control circuit (503-1)) and motor (560-1).

[0120] According to one embodiment, the processor (510) may switch the mode of the wearable device (500) from the active mode to the idle mode when a certain condition is satisfied. For example, as will be described later, in the active mode, the processor (510) may determine whether the sound level value of the motor (560) received from the microphone module (550) (e.g., the sound level value of the motor (560) at the first frequency) is less than or equal to a first threshold value (e.g., 43 dB). The processor (510) may determine whether the wearable device (500) has moved a certain distance or more based on at least some of the sensor values ​​received from the IMU (570) (e.g., an acceleration value in the x-axis direction, an acceleration value in the y-axis direction, an acceleration value in the z-axis direction, etc.). When the processor (510) determines that the sound level value of the motor (560) received from the microphone module (550) (e.g., the sound level value of the motor (560) at the first frequency) is less than or equal to a first threshold value and determines that the wearable device (500) has not moved more than a certain distance, the mode of the wearable device (500) can be switched from an active mode to an idle mode.

[0121] According to one embodiment, the idle mode may include a state in which power is supplied to the second PBA (502) and the third PBA (503) and power is not supplied to the motors (560, 560-1). In the idle mode, each of the second PBA (502) and the third PBA (503) may receive power from the battery (530) and may not transmit the received power to each of the motors (560, 560-1). In the idle mode, the first control circuit (502-1) (e.g., the first MCU) and the second control circuit (503-1) (e.g., the second MCU) may operate. In the idle mode, power may be supplied to components of the first PBA (501) (e.g., the processor (510), the switch (520), the IMU (570), the memory (350), and the communication module (390)). The power consumption of the wearable device (500) can be reduced in idle mode compared to active mode.

[0122] In one embodiment, in idle mode, the processor (510) may check for user input (e.g., input indicating that the user will perform an exercise) within a certain period of time. If there is no user input within the certain period of time, the processor (510) may switch the mode of the wearable device (500) from idle mode to sleep mode.

[0123] According to one embodiment, the sleep mode may include a state in which power is not supplied to the second PBA (502), the third PBA (503), and the motors (560, 560-1). In the sleep mode, the processor (510) may cause the switch (520) to be turned off. In the sleep mode, the processor (510) may enter a sleep state (or low-power state) to reduce power consumption. The sleep state of the processor (510) may include, for example, a state in which it performs some operations (e.g., an operation of comparing a sound level value of the motor (560) received from the microphone module (550) with a second threshold value) and does not perform operations other than some operations. The PMIC (540) may transfer power to the processor (510) so that the processor (510) can perform some operations. The PMIC (540) may transfer power to the IMU (570) so that the IMU (570) can perform sensing.

[0124] According to one embodiment, in sleep mode, the processor (510) may receive sound (e.g., sound generated by the motor (560)) from the microphone module (550) (e.g., microphone). The processor (510) may compare the magnitude value (e.g., magnitude value at a first frequency) of the sound received from the microphone module (550) with a second threshold value. The processor (510) may determine whether the magnitude value at the first frequency is greater than or equal to the second threshold value. The first frequency may represent, for example, a center frequency of a sound generated when the motor (560) rotates due to the user's movement without power supply. If the magnitude value of the received sound at the first frequency is greater than or equal to the second threshold value, the processor (510) may switch the mode of the wearable device (500) from the sleep mode to the idle mode. The processor (510) may wake up the wearable device (500) in the sleep mode.

[0125] According to one embodiment, when the wearable device (500) switches from sleep mode to idle mode (e.g., when the wearable device (500) wakes up), the processor (510) may determine whether the user is exercising based on at least some of the sensor values ​​received from the IMU (570). When the processor (510) determines that the user is exercising, the processor may switch the mode of the wearable device (500) from idle mode to active mode. In the active mode, the wearable device (500) may provide torque to the user exercising.

[0126]

[0127] FIG. 6 is a drawing illustrating an example of the size and frequency of sound generated when a motor is moved by a user according to one embodiment.

[0128] The graph (610) of FIG. 6 may be a graph of the frequency and size (e.g., sound pressure level) of sound generated when a motor (e.g., motor (560) of FIG. 5) rotates by the user's movement without power (or current) supply.

[0129] Referring to FIG. 6, the center frequency of the sound generated when the motor (560) rotates due to the user's movement without power (or current) supply may be, for example, 1 kHz. The center frequency may, for example, represent the frequency at which the sound level is the loudest. In the example illustrated in FIG. 6, the sound level at the center frequency (e.g., 1 kHz) may be, for example, 53 dB.

[0130] According to one embodiment, when the motor (560) rotates due to the user's movement without power supply in sleep mode, the motor (560) may generate a sound having a unique frequency (e.g., 1 kHz) and a magnitude value (or a magnitude value above a certain level) (e.g., a magnitude value above 50 dB). The processor (510) may use the generated sound (e.g., a sound having a magnitude value above a certain level at a frequency of 1 kHz) to wake up the wearable device (500).

[0131] According to one embodiment, in sleep mode, the processor (510) may receive sound from a microphone module (550) (e.g., a microphone). The processor (510) may determine a magnitude value of the received sound at a first frequency (e.g., 1 kHz). If the magnitude value of the received sound at the first frequency is greater than or equal to a second threshold value (e.g., 50 dB), the processor (510) may switch the mode of the wearable device (500) from the sleep mode to the idle mode. If the magnitude value of the received sound at the first frequency is greater than or equal to the second threshold value (e.g., 50 dB), the processor (510) may wake up the wearable device (500) in the sleep mode.

[0132]

[0133] FIG. 7 is a drawing illustrating a mode of a wearable device according to one embodiment.

[0134] Referring to FIG. 7, the modes (e.g., power modes) of the wearable device (500) may include a sleep mode (710), an idle mode (720), and an active mode (730).

[0135] According to one embodiment, the sleep mode (710) may include a low power state (or sleep state) of the wearable device (500) (e.g., the processor (510)). The sleep mode (710) may include a state in which power is not supplied to the second PBA (502), the third PBA (503), and the motors (560, 560-1). In the sleep mode (710), the processor (510) may receive sound from the microphone module (550). When the sound received from the microphone module (550) has a predetermined characteristic (e.g., a size value greater than a certain level at a first frequency), the processor (510) may switch the mode of the wearable device (500) from the sleep mode (710) to the idle mode (720).

[0136] According to one embodiment, the idle mode (720) may include a state in which the wearable device (500) is woken up. The idle mode (720) may include a state in which power is supplied to the second PBA (502) (e.g., the first control circuit (502-1)) and the third PBA (503) (e.g., the second control circuit (503-1)) and power is not supplied to the motors (560, 560-1). The idle mode (720) may include a state in which the motors (560, 560-1) do not generate torque. The idle mode (720) may include a state in which power is supplied to components of the first PBA (501) (e.g., the processor (510), the switch (520), the IMU (570), the memory (350), and the communication module (390)). The power consumption of the wearable device (500) may be greater in idle mode (720) than in sleep mode (710). The processor (510) may determine whether the user is performing exercise (e.g., walking forward, walking in place, squats, etc.) based on at least some of the sensor values ​​received from the IMU (570). If the processor (510) determines that the user is performing exercise, the mode of the wearable device (500) may be switched from idle mode (720) to active mode (730).

[0137] According to one embodiment, the active mode (730) may include a state in which the motors (560, 560-1) are capable of generating torque (e.g., resistance torque or auxiliary torque). The active mode (730) may include a state in which power is supplied to the second PBA (502) (e.g., the first control circuit (502-1)) and the motor (560) and a state in which power is supplied to the third PBA (503) (e.g., the second control circuit (503-1)) and the motor (560-1). In the active mode (730), the wearable device (500) may provide torque to a user performing exercise. If there is no movement of the user in the active mode (730), the wearable device (500) may determine a torque value as 0, thereby not providing torque to the user.

[0138] In the active mode (730), if the sound level value of the motor (560) received from the microphone module (550) (e.g., the sound level value of the motor (560) at the first frequency) is less than or equal to a first threshold value (e.g., 43 dB) and the wearable device (500) has not moved more than a certain level (or a certain distance), the processor (510) may notify the user (or the electronic device (110) or another wearable device (130)) that a mode transition (e.g., transition from the active mode (730) to the idle mode (720)) will occur, and may transition the mode of the wearable device (500) from the active mode (730) to the idle mode (720).

[0139] In one embodiment, the wearable device (500) may check for user input within a certain period of time after switching from active mode (730) to idle mode (720). The user input may include, for example, a user input to a power button of the wearable device (500). As another example, the user may input to the electronic device (110) (or another wearable device (130)) that he or she will perform an exercise, and the wearable device (500) may receive information from the electronic device (110) (or another wearable device (130)) indicating that the user will perform an exercise. The wearable device (500) may switch the mode of the wearable device (500) from idle mode (720) to active mode (730) if there is a user input (e.g., a user input to a power button of the wearable device (500) or information indicating that the user will perform an exercise from an electronic device (110) (or another wearable device (130))) within a certain period of time. The wearable device (500) may switch the mode of the wearable device (500) from idle mode (720) to sleep mode (710) if there is no user input within a certain period of time.

[0140] In one embodiment, a user may take off the wearable device (500) in active mode (730) and then hang it on a stand. If the wearable device (500) remains in active mode (730) on the stand, power consumption of the wearable device (500) may occur. To prevent such power consumption and increase the usage time of the wearable device (500), the wearable device (500) may switch its mode from active mode (730) to idle mode (720) and then to sleep mode (710).

[0141] According to one embodiment, a user may rest or not exercise while wearing the wearable device (500) in active mode (730). If the wearable device (500) remains in active mode (730) while the user rests or not exercise, power consumption of the wearable device (500) may occur. To prevent such power consumption and increase the usage time of the wearable device (500), the wearable device (500) may switch its mode from active mode (730) to idle mode (720) to sleep mode (710).

[0142]

[0143] FIG. 8 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0144] Referring to FIG. 8, in operation 811, the wearable device (500) may operate in an active mode (730). For example, in the active mode (730), the wearable device (500) may provide a torque (or external force) to a user performing an exercise (e.g., a target exercise or an exercise selected by the user) (e.g., a forward walking exercise, a standing walk exercise, a squat exercise, etc.).

[0145] In operation 813, the wearable device (500) can receive motor sound (e.g., sound generated by the motor (560)) through a microphone (e.g., a microphone within the microphone module (550)).

[0146] In operation 815, the wearable device (500) can determine whether the magnitude value of the received motor sound (e.g., the magnitude value of the motor sound at the first frequency) is less than a first threshold value (e.g., 43 dB).

[0147] If the wearable device (500) determines that the received motor sound level (e.g., the motor sound level at the first frequency) is greater than or equal to a first threshold value (operation 815-No), the wearable device (500) may perform operation 811. If the received motor sound level (e.g., the motor sound level at the first frequency) is greater than or equal to the first threshold value, the wearable device (500) may maintain the active mode of the wearable device (500).

[0148] If the wearable device (500) determines that the received motor sound level (e.g., the motor sound level at the first frequency) is smaller than the first threshold value (operation 815 - Yes), in operation 817, the wearable device (500) can determine whether the wearable device (500) has moved a certain distance (e.g., a distance corresponding to three steps of the user, etc.). The wearable device (500) can determine whether the wearable device (500) has moved a certain distance (e.g., moved in at least one of the x-axis direction, the y-axis direction, or the z-axis direction) during the time interval by using the sensor values ​​acquired by the IMU (570) during the time interval. For example, the wearable device (500) can determine whether the wearable device (500) has moved a certain distance or more in the front direction of the user (e.g., the x-axis direction of FIG. 1A) through acceleration values ​​(e.g., at least one of x-axis direction acceleration values, y-axis direction acceleration values, or z-axis direction acceleration values) acquired by the IMU (570) during a time interval.

[0149] If the wearable device (500) determines that the wearable device (500) has not moved more than a certain distance (e.g., if the wearable device (500) has not moved more than a certain distance during a time period) (operation 817-No), in operation 819, the mode of the wearable device (500) may be switched from the active mode (730) to the idle mode (720). In operation 819, the wearable device (500) may prevent power from being supplied to the motors (560, 560-1).

[0150] According to an embodiment, if the wearable device (500) determines that the wearable device (500) has not moved more than a certain distance (Operation 817-No), the wearable device (500) may provide the user with a message (e.g., a voice message, a text message, etc.) indicating that a mode transition of the wearable device (500) will occur and / or a message (e.g., a voice message, a text message, etc.) asking the user whether to continue exercising. After providing such a message, the wearable device (500) may perform operation 819, and may prevent power from being supplied to the motors (560, 560-1) in operation 819. According to an implementation, if the wearable device (500) determines that the wearable device (500) has not moved more than a certain distance (Operation 817-No), the mode of the wearable device (500) may automatically be switched from an active mode (730) to an idle mode (720).

[0151] In operation 821, the wearable device (500) can check whether there is user input within a certain period of time.

[0152] The wearable device (500) may operate in an active mode (730) in operation 811 if there is a user input within a certain period of time (operation 821 - yes). The wearable device (500) may switch the mode of the wearable device (500) from an idle mode (720) to an active mode (730) if there is a user input within a certain period of time (operation 821 - yes).

[0153] If there is no user input within a certain period of time (operation 821-No), the wearable device (500) may switch the mode of the wearable device (500) from idle mode (720) to sleep mode (710) in operation 823.

[0154] According to one embodiment, when the wearable device (500) enters the sleep mode (710), the wearable device (500) may provide a sound (e.g., a voice signal, a sound effect, etc.) indicating that the wearable device (500) is in the sleep mode (710) (or a sound indicating that the wearable device (500) has switched to the sleep mode (710)) to the user. For example, when the wearable device (500) enters the sleep mode (710), the wearable device (500) may generate a voice signal (e.g., a voice signal of “No movement is detected. I will switch modes to increase the usage time”) through a text to speech (TTS) method, and may provide the generated voice signal to the user through a speaker. For example, when the wearable device (500) enters sleep mode (710), the wearable device (500) may provide the user with sound effects through the speaker that may indicate that the wearable device (500) has entered sleep mode (710).

[0155] If the wearable device (500) determines that the wearable device (500) has moved a certain distance or more (e.g., if the wearable device (500) has moved a certain distance or more during a time interval) (operation 817-Yes), the wearable device (500) may update the repetition count in operation 825. The repetition count may indicate, for example, the number of times operations 815 and 817 have been repeated.

[0156] In operation 827, the wearable device (500) can determine whether the updated repetition count is less than a predetermined value. If the updated repetition count is less than the predetermined value (operation 827 - Yes), the wearable device (500) can repeatedly perform operations 815, 817, and 825.

[0157] If the number of updated repetitions is greater than or equal to a predetermined value (operation 827-No), the wearable device (500) may switch the mode of the wearable device (500) from the active mode (730) to the idle mode (720) in operation 819. For example, the user may take off the wearable device (500) in the active mode (730), and move the wearable device (500) in the active mode (730) (e.g., the user may load the wearable device (500) in the active mode (730) into a car and / or the user may carry the wearable device (500) in the active mode (730). In this case, the wearable device (500) may repeatedly determine that the magnitude value of the motor sound is smaller than a first threshold value, and may repeatedly determine that the wearable device (500) has moved a predetermined distance or more. If such repetitive judgment occurs, the wearable device (500) may recognize (or estimate) that the wearable device (500) is moving while being separated from the user, and may switch the mode of the wearable device (500) from the active mode (730) to the idle mode (720) to reduce power consumption of the wearable device (500). According to an embodiment, the wearable device (500) may provide the user with a message (e.g., a voice message, a text message, etc.) indicating that a mode switch of the wearable device (500) will occur and / or a message (e.g., a voice message, a text message, etc.) asking the user whether to continue exercising. After providing such a message, the wearable device (500) may perform operation 819.

[0158] The embodiments described through FIGS. 1 to 7 can be applied to the embodiments of FIG. 8.

[0159]

[0160] FIG. 9 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0161] Referring to FIG. 9, in operation 911, the wearable device (500) may operate in idle mode (720).

[0162] In operation 913, the wearable device (500) can receive motor sound (e.g., sound generated by the motor (560)) through a microphone (e.g., a microphone within the microphone module (550)).

[0163] In operation 915, the wearable device (500) can determine whether the magnitude value of the received motor sound (e.g., the magnitude value of the motor sound at the first frequency) is less than a first threshold value (e.g., 43 dB).

[0164] If the wearable device (500) determines that the received motor sound intensity value (e.g., the motor sound intensity value at the first frequency) is greater than or equal to the first threshold value (operation 915-No), the wearable device (500) may perform operation 911. If the received motor sound intensity value (e.g., the motor sound intensity value at the first frequency) is greater than or equal to the first threshold value, the wearable device (500) may maintain the idle mode (720) of the wearable device (500). According to an embodiment, unlike the example illustrated in FIG. 9, if the received motor sound intensity value (e.g., the motor sound intensity value at the first frequency) is greater than or equal to the first threshold value (operation 915-No), the wearable device (500) may switch the mode of the wearable device (500) to the active mode (730).

[0165] If the wearable device (500) determines that the received motor sound level (e.g., the motor sound level at the first frequency) is smaller than the first threshold value (operation 915 - Yes), in operation 917, the wearable device (500) can determine whether the wearable device (500) has moved a certain distance or more. For example, the wearable device (500) can determine whether the wearable device (500) has moved a certain distance or more (e.g., a distance corresponding to three steps of the user (e.g., 2 m)) during the time interval using the sensor values ​​acquired by the IMU (570) during the time interval. The description of operation 817 can be applied to operation 917.

[0166] If the wearable device (500) determines that the wearable device (500) has not moved more than a certain distance (e.g., if the wearable device (500) has not moved more than a certain distance during a time period) (operation 917-No), in operation 919, it can check whether there is a user input within a certain time period.

[0167] If there is no user input within a certain period of time (operation 919-No), the wearable device (500) may switch the mode of the wearable device (500) from idle mode (720) to sleep mode (710) in operation 921.

[0168] If there is a user input within a certain period of time (operation 919 - yes), the wearable device (500) can switch the mode of the wearable device (500) from idle mode (720) to active mode (730) in operation 920.

[0169] If the wearable device (500) determines that the wearable device (500) has moved a certain distance or more (e.g., if the wearable device (500) has determined that the wearable device (500) has moved a certain distance or more during a time interval) (operation 917-Yes), the wearable device (500) may update the repetition count in operation 925. The repetition count may indicate, for example, the number of times operations 915 and 917 have been repeated.

[0170] In operation 927, the wearable device (500) can determine whether the updated repetition count is less than a predetermined value. If the updated repetition count is less than the predetermined value (operation 927 - Yes), the wearable device (500) can repeatedly perform operations 915, 917, and 925.

[0171] If the number of updated repetitions is greater than or equal to a predetermined value (operation 927-No), the wearable device (500) may check whether there is a user input within a predetermined time period in operation 919. The user may take off the wearable device (500) in idle mode (720) and move the wearable device (500) in idle mode (720) (e.g., the user may load the wearable device (500) in idle mode (720) into a car and move it and / or the user may carry the wearable device (500) in idle mode (720). In this case, the wearable device (500) may repeatedly determine that the size of the motor sound is smaller than a first threshold value and may repeatedly determine that the wearable device (500) has moved a predetermined distance or more. If such repetitive judgments occur, the wearable device (500) can recognize (or estimate) that the wearable device (500) is moving while being separated from the user. The wearable device (500) can wait for a certain period of time, and if there is no user input for a certain period of time, the mode of the wearable device (500) can be switched from idle mode (720) to sleep mode (710) to reduce power consumption of the wearable device (500).

[0172] The embodiments described through FIGS. 1 to 8 can be applied to the embodiments of FIG. 9.

[0173]

[0174] FIG. 10 is a flowchart illustrating an example of mode switching of a wearable device according to one embodiment.

[0175] Referring to FIG. 10, in operation 1011, the wearable device (500) may operate in sleep mode (710).

[0176] In operation 1013, the wearable device (500) can receive motor sound (e.g., sound generated by the motor (560)) through a microphone (e.g., a microphone within the microphone module (550)).

[0177] In operation 1015, the wearable device (500) can determine whether the magnitude value of the received motor sound (e.g., the magnitude value of the motor sound at the first frequency) is greater than a second threshold value (e.g., 50 dB).

[0178] If the wearable device (500) determines that the received motor sound level (e.g., the motor sound level at the first frequency) is less than or equal to the second threshold value (operation 1015-No), the wearable device (500) may perform operation 1011. The wearable device (500) may maintain the sleep mode (710).

[0179] If the wearable device (500) determines that the magnitude value of the received motor sound (e.g., the magnitude value of the motor sound at the first frequency) is greater than the second threshold value (operation 1015 - Yes), in operation 1017, the mode of the wearable device (500) can be switched from the sleep mode (710) to the idle mode (720).

[0180] In operation 1019, the wearable device (500) can determine whether the user is performing an exercise (e.g., an exercise (or target exercise) selected by the user). The exercise (or target exercise) selected by the user may include, for example, a walking in place exercise, a walking forward exercise, a squat exercise, etc. The wearable device (500) can determine whether the user is performing an exercise during a time interval by using sensor values ​​acquired by a sensor (e.g., an IMU (570) or angle sensors) during a time interval. If the wearable device (500) determines that the wearable device (500) has moved a certain distance or more by using the sensor values ​​acquired during the time interval, the wearable device (500) can determine that the user is performing an exercise.

[0181] If the wearable device (500) determines that the user is exercising (operation 1019 - Yes), in operation 1021, the mode of the wearable device (500) can be switched from idle mode (720) to active mode (730). The wearable device (500) can be switched from idle mode (720) to active mode (730) so as to provide external force (e.g., resistance or assistance force) to the user.

[0182] In operation 1023, the wearable device (500) can generate torque (or external force). The wearable device (500) can supply power to the motors (560, 560-1) in active mode (730). The motors (560, 560-1) can generate torque through the supplied power.

[0183] If the wearable device (500) determines that the user is not exercising (operation 1019 - No), the number of repetitions may be updated in operation 1025. The number of repetitions in operation 1025 may indicate the number of times operation 1019 has been repeated.

[0184] In operation 1027, the wearable device (500) can determine whether the updated repetition count is less than a predetermined value. If the updated repetition count is less than the predetermined value (operation 1027 - Yes), the wearable device (500) can repeatedly perform operation 1019.

[0185] If the number of updated repetitions is greater than or equal to a predetermined value (operation 1027-No), the wearable device (500) may determine in operation 1015 whether the received motor sound volume value is greater than a second threshold value. After determining that the received motor sound volume value is greater than the second threshold value, the wearable device (500) may repeatedly determine that the user is not performing exercise. In this case, the wearable device (500) may determine again whether the received motor sound volume value is greater than the second threshold value.

[0186] The embodiments described through FIGS. 1 to 9 can be applied to the embodiments of FIG. 10.

[0187]

[0188] FIG. 11 and FIG. 12 are drawings illustrating examples of a microphone module of a wearable device according to one embodiment.

[0189] Referring to FIG. 11, a microphone module (1100) (e.g., microphone module (550)) may include a microphone hole (1110), a microphone (1120), a PCB (Printed Circuit Board) (1130), and a sound insulation (or attenuation) unit (1140).

[0190] According to one embodiment, the microphone hole (1110) may be directed toward, for example, the motor (560). A sound reception portion of the microphone (1120) may be directed toward the microphone hole (1110), and sound generated by the motor (560) may be input to the microphone (1120) through the microphone hole (1110).

[0191] According to one embodiment, the soundproofing unit (1140) may surround the microphone (1120) and block or attenuate external sounds (e.g., external sounds of the first driving module (30a) where the motor (560) is located). Even if the microphone (1120) receives external sounds having a frequency matching the first frequency (e.g., 1 kHz) of the motor (560), the sound level value at the first frequency of the motor (560) may be greater than the sound level value of the external sounds having a frequency matching the first frequency (e.g., 1 kHz). The processor (510) may distinguish the motor sound (e.g., the motor sound having the first frequency as a center frequency) from the external sounds having the first frequency through the sound level value.

[0192] An example of a cross-section of a motor (560) and a microphone module (1100) is shown in FIG. 12.

[0193] In the example illustrated in FIG. 12, the microphone module (1100) may be positioned proximate to the motor (560) (e.g., the housing of the motor (560)).

[0194] According to one embodiment, a microphone (1120) (e.g., microphone (1220) of FIG. 12) may be positioned on a PCB (1130) (e.g., PCB (1230) of FIG. 12). A microphone hole (1110) (e.g., microphone hole (1210) of FIG. 12) may be formed in the PCB (1130) (e.g., PCB (1230) of FIG. 12).

[0195] According to one embodiment, a sound insulation unit (1140) (e.g., a sound insulation unit (1240) of FIG. 12) may surround a microphone (1220). The sound insulation unit (1240) may attenuate or block the external sound of the motor (560). The sound insulation unit (1240) may be made of, for example, polycarbonate (PC). When the thickness of the sound insulation unit (2140) is, for example, 4 mm and the thickness of the housing (or injection molded product) of the first driving module (30a) is, for example, 2 mm, the external sound of the first driving module (30a) may be attenuated by 35 dB or more and input to the microphone (1220). The processor (510) may distinguish a motor sound (e.g., a motor sound having the first frequency as a center frequency) from an external sound having the first frequency through a sound level value.

[0196]

[0197] Figure 13 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0198] Referring to FIG. 13, in operation 1310, the wearable device (500) (e.g., processor (510)) may receive a first sound generated by the motor (560) through the microphone (1120). The first sound may include, for example, a sound generated by the motor (560) rotating due to the user's movement without current application in the active mode (730) (or idle mode (720)).

[0199] In operation 1320, the wearable device (500) (e.g., processor (510)) may obtain first sensor values ​​(e.g., at least some of acceleration values ​​in the x-axis direction, acceleration values ​​in the y-axis direction, or acceleration values ​​in the z-axis direction) through an inertial sensor (e.g., IMU (570)).

[0200] At operation 1330, the wearable device (500) (e.g., processor (510)) may determine whether a magnitude value at a first frequency (e.g., center frequency) of the first sound is less than or equal to a first threshold value.

[0201] In operation 1340, the wearable device (500) (e.g., processor (510)) may determine whether the wearable device (500) has moved a certain distance or more based on at least some of the first sensor values.

[0202] In operation 1350, if the wearable device (500) (e.g., processor (510)) determines that the magnitude value of the first sound at the first frequency is less than or equal to the first threshold value and determines that the wearable device (500) has not moved more than a certain distance, the wearable device (500) may be controlled to be in sleep mode.

[0203] According to one embodiment, when the wearable device (500) (e.g., processor (510)) determines that the magnitude value of the first sound at the first frequency is less than or equal to the first threshold value in the active mode (730) and determines that the wearable device (500) has not moved more than a certain distance, the mode of the wearable device (500) may be switched from the active mode (730) to the idle mode (720).

[0204] According to one embodiment, the wearable device (500) (e.g., processor (510)) may switch the mode of the wearable device (500) from idle mode (720) to sleep mode (710) if there is no user input for a certain period of time after the mode of the wearable device (500) is switched from active mode (730) to idle mode (720). The wearable device (500) (e.g., processor (510)) may switch the mode of the wearable device (500) from idle mode (720) to active mode (730) if there is a user input within a certain period of time.

[0205] According to one embodiment, when the wearable device (500) (e.g., processor (510)) determines that the magnitude value of the first sound at the first frequency is less than or equal to the first threshold value in the idle mode (720) and that the wearable device (500) has not moved more than a certain distance, the mode of the wearable device (500) may be switched from the idle mode (720) to the sleep mode (710).

[0206] According to one embodiment, the wearable device (500) (e.g., processor (510)) may repeatedly perform an operation of determining whether a magnitude value of a first sound at a first frequency is less than or equal to a first threshold value and an operation of determining whether the wearable device has moved a certain distance or more a predetermined number of times (e.g., a predetermined value of operation 827 of FIG. 8). If the wearable device (500) (e.g., processor (510)) repeatedly determines that the magnitude value of the first sound at a first frequency is less than or equal to the first threshold value and repeatedly determines that the wearable device (500) has moved a certain distance or more, the wearable device (500) may check whether there is a user input to the wearable device (500) within a certain period of time. If there is no user input within the certain period of time, the wearable device (500) (e.g., processor (510)) may control the wearable device (500) to be in a sleep mode (710).

[0207] According to one embodiment, the wearable device (500) (e.g., processor (510)) may generate a sound (e.g., a voice signal, a sound effect, etc.) indicating that the wearable device (500) is in a sleep mode. The wearable device (500) (e.g., processor (510)) may provide the generated sound to the user through the speaker of the wearable device (500).

[0208] The embodiments described through FIGS. 1 to 12 can be applied to the embodiments described through FIG. 13.

[0209]

[0210] Figure 14 is a flowchart illustrating an operating method of a wearable device according to one embodiment.

[0211] Referring to FIG. 14, in operation 1410, the wearable device (500) (e.g., processor (510)) may receive a second sound generated by the motor (560) through the microphone (1120) in the sleep mode (710). The second sound may include, for example, a sound generated by the motor (560) rotating by the user's movement without being supplied with current in the sleep mode (710).

[0212] At operation 1420, the wearable device (500) (e.g., processor (510)) can determine the magnitude value of the second sound at the first frequency.

[0213] In operation 1430, the wearable device (500) (e.g., processor (510)) may determine whether the identified size value is greater than or equal to a second threshold value.

[0214] In operation 1440, the wearable device (500) (e.g., processor (510)) may switch the mode of the wearable device (500) from sleep mode (710) to idle mode (720) if the identified size value is greater than or equal to a second threshold value.

[0215] In operation 1450, the wearable device (500) (e.g., processor (510)) may obtain second sensor values ​​(e.g., at least some of acceleration values ​​in the x-axis direction, acceleration values ​​in the y-axis direction, or acceleration values ​​in the z-axis direction) through an inertial sensor in idle mode (720).

[0216] At operation 1460, the wearable device (500) (e.g., processor (510)) may determine whether the user is exercising based on at least some of the second sensor values.

[0217] In operation 1470, the wearable device (500) (e.g., processor (510)) may switch the mode of the wearable device (500) from idle mode (720) to active mode (730) if it determines that the user is exercising.

[0218] According to one embodiment, the wearable device (500) (e.g., the processor (510)) may provide a sound (e.g., a voice signal, a sound effect, etc.) indicating that the wearable device (500) is in the active mode (730) (or a sound indicating that the wearable device (500) has switched to the active mode (730)) to the user. For example, when the wearable device (500) enters the active mode (730), the wearable device (500) may generate a voice signal (e.g., a voice signal of “Shall we start exercising again?”, a voice signal of “Please come back exactly 15 minutes after stopping”, or a voice signal of “Please wear the waist belt and thigh belt properly”) through the TTS method, and may provide the generated voice signal to the user through the speaker. For example, when the wearable device (500) enters the active mode (730), the wearable device (500) may provide a sound effect to the user through the speaker that may indicate that the wearable device (500) has entered the active mode (730).

[0219] The embodiments described through FIGS. 1 to 13 can be applied to the embodiments described through FIG. 14.

[0220]

[0221] According to one embodiment, a wearable device (120; 200; 300; 300-1; 500) may include a driving module (30a) including a motor (560) and a control circuit (502-1) for controlling the motor, a microphone module (550) including a microphone (1120), an inertial sensor (360; 570), and a processor (310; 510) operatively connected to the microphone and the inertial sensor. The processor may receive a first sound generated by the motor from the microphone. The processor may receive first sensor values ​​acquired by the inertial sensor from the inertial sensor. The processor may determine whether a magnitude value of the received first sound at a first frequency is less than or equal to a first threshold value. The processor may determine whether the wearable device has moved a certain distance or more based on at least some of the received first sensor values. The processor may control the wearable device to be in sleep mode when it determines that the size value is less than or equal to the first threshold value and that the wearable device has not moved more than the predetermined distance.

[0222] The processor may, when determining that the size value is less than or equal to the first threshold value in an active mode including a state in which the motor can generate torque and determining that the wearable device has not moved more than the predetermined distance, switch the mode of the wearable device from the active mode to an idle mode. The idle mode may include a state in which the motor cannot generate torque.

[0223] The processor may switch the mode of the wearable device from the idle mode to the sleep mode if there is no user input for a certain period of time after switching from the active mode to the idle mode. The processor may switch the mode of the wearable device from the idle mode to the active mode if there is a user input within the certain period of time.

[0224] Power may be supplied to the control circuit in the idle mode, and power may not be supplied to the control circuit in the sleep mode.

[0225] The processor may switch the mode of the wearable device from the idle mode to the sleep mode when it determines that the magnitude value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance in the idle mode including a state in which torque generation of the motor is not possible by the control circuit.

[0226] The processor may repeatedly perform an operation of determining whether a magnitude value of the first sound received at the first frequency is less than or equal to a first threshold value and an operation of determining whether the wearable device has moved more than a predetermined distance a predetermined number of times. If the processor repeatedly determines that the magnitude value of the first sound received at the first frequency is less than or equal to the first threshold value and repeatedly determines that the wearable device has moved more than the predetermined distance, the processor may check whether there is a user input to the wearable device within a predetermined time period. If there is no user input within the predetermined time period, the processor may control the wearable device to be in the sleep mode.

[0227] The processor may control a speaker of the wearable device to provide a sound to the user indicating that the wearable device is in the sleep mode.

[0228] The processor may receive a second sound generated by the motor from the microphone in the sleep mode. The processor may determine a magnitude value of the received second sound at the first frequency. The processor may determine whether the determined magnitude value is greater than or equal to a second threshold value, and if the determined magnitude value is greater than or equal to the second threshold value, the processor may switch the mode of the wearable device from the sleep mode to an idle mode including a state in which the wearable device is woken up. The processor may receive second sensor values ​​acquired by the inertial sensor from the inertial sensor in the idle mode. The processor may determine whether the user is exercising based on at least some of the received second sensor values. If the processor determines that the user is exercising, the processor may switch the mode of the wearable device from the idle mode to an active mode including a state in which torque generation of the motor is possible.

[0229] The second sound may include a sound generated by the motor rotating by the user's movement without current supply in the sleep mode.

[0230] The processor may control a speaker of the wearable device to provide a sound to the user indicating that the wearable device is in the active mode.

[0231] The above microphone module may further include a microphone hole formed so that the microphone receives the first sound; and a sound insulation part surrounding the microphone.

[0232] According to one embodiment, a wearable device (120; 200; 300; 300-1; 500) may include a drive module (30a) including a motor (560) and a control circuit (502-1) for controlling the motor, a microphone module (550) including a microphone (1120), an inertial sensor (360; 570), a memory (350) for storing one or more commands, and a processor (310; 510) operatively connected to the microphone, the inertial sensor, and the memory.

[0233] The above instructions, when executed by the processor, may cause the wearable device to perform the following operations: receiving a first sound generated by the motor through the microphone, acquiring first sensor values ​​through the inertial sensor, determining whether a magnitude value at a first frequency of the received first sound is less than or equal to a first threshold value, determining whether the wearable device has moved more than a predetermined distance based on at least some of the acquired first sensor values, and controlling the wearable device to be in a sleep mode when it is determined that the magnitude value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance.

[0234] The above command, when executed by the processor, may cause the wearable device to perform an operation of switching the mode of the wearable device from the active mode to an idle mode when it is determined that the magnitude value is less than or equal to the first threshold value in an active mode including a state in which the motor is capable of generating torque and the wearable device has not moved more than the predetermined distance.

[0235] The above command, when executed by the processor, may cause the wearable device to perform an operation of: switching the mode of the wearable device from the idle mode to the sleep mode if there is no user input for a certain period of time after switching from the active mode to the idle mode, and switching the mode of the wearable device from the idle mode to the active mode if there is a user input within the certain period of time.

[0236] The above command, when executed by the processor, may cause the wearable device to perform an operation of switching the mode of the wearable device from the idle mode to the sleep mode when it is determined that the magnitude value is less than or equal to the first threshold value in an idle mode including a state in which torque generation of the motor is not possible by the control circuit and the wearable device has not moved more than the predetermined distance.

[0237] The above instructions, when executed by the processor, may cause the wearable device to perform: an operation of repeatedly performing an operation of determining whether a magnitude value of the first sound received at the first frequency is less than or equal to a first threshold value and an operation of determining whether the wearable device has moved more than a predetermined distance a predetermined number of times; an operation of checking whether there is a user input to the wearable device within a predetermined time period when it is repeatedly determined that the magnitude value of the first sound received at the first frequency is less than or equal to the first threshold value and when it is repeatedly determined that the wearable device has moved more than the predetermined distance; and an operation of controlling the wearable device to be in the sleep mode when there is no user input within the predetermined time period.

[0238] The above instructions, when executed by the processor, may cause the wearable device to perform an action of: providing a sound to the user through a speaker of the wearable device indicating that the wearable device is in the sleep mode.

[0239] The above instructions, when executed by the processor, may cause the wearable device to perform the following operations: receiving a second sound generated by the motor through the microphone in the sleep mode; determining a magnitude value of the received second sound at the first frequency; determining whether the determined magnitude value is greater than or equal to a second threshold value; if the determined magnitude value is greater than or equal to the second threshold value, switching the mode of the wearable device from the sleep mode to an idle mode including a state in which the wearable device is woken up; acquiring second sensor values ​​through the inertial sensor in the idle mode; determining whether the user is exercising based on at least some of the acquired second sensor values; and if it is determined that the user is exercising, switching the mode of the wearable device from the idle mode to an active mode including a state in which torque generation of the motor is possible.

[0240] The above instructions, when executed by the processor, may cause the wearable device to perform an action of: providing a sound to the user through a speaker of the wearable device indicating that the wearable device is in the active mode.

[0241] According to one embodiment, a method of operating a wearable device (120; 200; 300; 300-1; 500) may include an operation of receiving a first sound generated by a motor (560) of the wearable device through a microphone (1120) of the wearable device, an operation of acquiring first sensor values ​​through an inertial sensor (360; 570) of the wearable device, an operation of determining whether a magnitude value of the received first sound at a first frequency is less than or equal to a first threshold value, an operation of determining whether the wearable device has moved more than a predetermined distance based on at least some of the acquired first sensor values, and an operation of controlling the wearable device to be in a sleep mode when it is determined that the magnitude value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance.

[0242] The method of operating the wearable device may further include an operation of switching the mode of the wearable device from the active mode to an idle mode when it is determined that the size value is less than or equal to the first threshold value in an active mode including a state in which the torque generation of the motor is possible and the wearable device has not moved more than the predetermined distance. The idle mode may include a state in which the torque generation of the motor is not possible by the control circuit.

[0243] The operating method of the wearable device may further include an operation of switching the mode of the wearable device from the idle mode to the sleep mode when there is no user input for a certain period of time after switching from the active mode to the idle mode, and switching the mode of the wearable device from the idle mode to the active mode when there is a user input within the certain period of time.

[0244] The method of operating the wearable device may further include an operation of switching the mode of the wearable device from the idle mode to the sleep mode when it is determined that the size value is less than or equal to the first threshold value in an idle mode including a state in which torque generation of the motor is not possible by the control circuit and the wearable device has not moved more than the predetermined distance.

[0245]

[0246] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0247] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0248] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0249] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0250] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0251] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In a wearable device (120; 200; 300; 300-1; 500), A drive module (30a) including a motor (560) and a control circuit (502-1) for controlling the motor; A microphone module (550) including a microphone (1120); Inertial sensor (360; 570); and A processor (310; 510) operatively connected to the above microphone and the above inertial sensor. Including, The above processor, Receive a first sound generated by the motor from the microphone, receive first sensor values ​​acquired by the inertial sensor from the inertial sensor, determine whether a size value at a first frequency of the received first sound is less than or equal to a first threshold value, determine whether the wearable device has moved more than a predetermined distance based on at least some of the received first sensor values, and control the wearable device to be in a sleep mode when it is determined that the size value is less than or equal to the first threshold value and that the wearable device has not moved more than the predetermined distance. Wearable devices.

2. In paragraph 1, The above processor, When it is determined that the size value is less than or equal to the first threshold value in the active mode including the state in which the torque generation of the motor is possible and the wearable device has not moved more than the predetermined distance, the mode of the wearable device is switched from the active mode to the idle mode, The above idle mode includes a state in which the above torque generation of the above motor is not possible. Wearable devices.

3. In paragraph 2, The above processor, If there is no user input for a certain period of time after switching from the active mode to the idle mode, the mode of the wearable device is switched from the idle mode to the sleep mode, and if there is a user input within the certain period of time, the mode of the wearable device is switched from the idle mode to the active mode. Wearable devices.

4. In paragraph 2, In the above idle mode, power is supplied to the above control circuit. In the above sleep mode, the power is not supplied to the control circuit, Wearable devices.

5. In any one of paragraphs 1 to 4, The above processor, When it is determined that the size value is less than or equal to the first threshold value in the idle mode including the state in which the torque generation of the motor is not possible and the wearable device has not moved more than the predetermined distance, the mode of the wearable device is switched from the idle mode to the sleep mode. Wearable devices.

6. In any one of paragraphs 1 to 5, The above processor, An operation of determining whether the magnitude value of the first sound received at the first frequency is less than or equal to the first threshold value and an operation of determining whether the wearable device has moved more than a predetermined distance are repeatedly performed a predetermined number of times, and if it is repeatedly determined that the magnitude value of the first sound received at the first frequency is less than or equal to the first threshold value and if it is repeatedly determined that the wearable device has moved more than the predetermined distance, it is checked whether there is a user input to the wearable device within a predetermined time period, and if there is no user input within the predetermined time period, the wearable device is controlled to be in the sleep mode. Wearable devices.

7. In any one of paragraphs 1 to 6, The above processor, Controlling the speaker of the wearable device so that a sound indicating that the wearable device is in the sleep mode is provided to the user; Wearable devices.

8. In any one of paragraphs 1 to 7, The above processor, In the sleep mode, a second sound generated by the motor is received from the microphone, a magnitude value of the received second sound at the first frequency is determined, and whether the determined magnitude value is greater than or equal to a second threshold value is determined, if the determined magnitude value is greater than or equal to the second threshold value, the mode of the wearable device is switched from the sleep mode to an idle mode including a state in which the wearable device is woken up, and in the idle mode, second sensor values ​​acquired by the inertial sensor are received from the inertial sensor, and whether the user is exercising based on at least some of the received second sensor values ​​is determined, and if it is determined that the user is exercising, the mode of the wearable device is switched from the idle mode to an active mode including a state in which torque generation of the motor is possible. Wearable devices.

9. In paragraph 8, The second sound above is, Including the sound generated by the motor rotating by the user's movement without current supply in the sleep mode; Wearable devices.

10. In paragraph 8, The above processor, Controlling the speaker of the wearable device so that a sound indicating that the wearable device is in the active mode is provided to the user; Wearable devices.

11. In any one of paragraphs 1 to 10, The above microphone module, a microphone hole formed so that the microphone receives the first sound; and Sound insulation surrounding the above microphone Including more, Wearable devices.

12. In the operating method of a wearable device (120; 200; 300; 300-1; 500), An operation of receiving a first sound generated by a motor (560) of the wearable device through a microphone (1120) of the wearable device; An operation of acquiring first sensor values ​​through an inertial sensor (360; 570) of the wearable device; An operation for determining whether the magnitude value of the first frequency of the received first sound is less than or equal to a first threshold value; An operation of determining whether the wearable device has moved a certain distance or more based on at least some of the first sensor values ​​acquired above, and If it is determined that the above size value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance, an operation for controlling the wearable device to be in sleep mode Including, Method of operation of a wearable device.

13. In paragraph 12, An operation of switching the mode of the wearable device from the active mode to the idle mode when it is determined that the size value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance in the active mode including a state in which the torque generation of the motor is possible. Including more, The above idle mode includes a state in which the torque generation of the above motor is not possible by the control circuit. Method of operation of a wearable device.

14. In paragraph 13, An operation of switching the mode of the wearable device from the idle mode to the sleep mode when there is no user input for a certain period of time after switching from the active mode to the idle mode, and switching the mode of the wearable device from the idle mode to the active mode when there is a user input within the certain period of time. Including more, Method of operation of a wearable device.

15. In any one of paragraphs 12 to 14, An operation of switching the mode of the wearable device from the idle mode to the sleep mode when it is determined that the size value is less than or equal to the first threshold value and the wearable device has not moved more than the predetermined distance in the idle mode including a state in which torque generation of the motor is not possible by the control circuit. Including more, Method of operation of a wearable device.

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