Wearable device for evaluating user's sitting posture and providing external force to user, and method for operating same

Abstract

A wearable device is disclosed. The wearable device may comprise: a driving module; a first frame corresponding to a portion of a user's lower body; an angle sensor that senses an angle of the first frame to obtain a first frame angle value; a waist support module connected to the driving module and positioned at a waist portion of the user; an IMU sensor; and at least one processor. The at least one processor may obtain the first frame angle value using the angle sensor, obtain a first rotation angle value of the waist support module using the IMU sensor, determine whether a sitting posture of the user is abnormal on the basis of the first rotation angle value and the first frame angle value, and instruct the driving module to generate a first torque when the sitting posture is determined to be abnormal.

Description

A wearable device for evaluating a user's sitting posture and providing an external force to the user, and an operating method thereof

[0001] Certain embodiments relate to a wearable device for evaluating a user's sitting posture and / or providing an external force to the user, and / or a method of operating the same.

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

[0003] According to one embodiment, a wearable device may include a driving module including a motor and / or a circuit, a first frame corresponding to a part of a user's lower body, an angle sensor for sensing an angle of the first frame to obtain a first frame angle value, a lumbar support module directly or indirectly connected to the driving module and supporting a waist region of the user and / or positioned at the waist region and including a lumbar support, an IMU sensor, and at least one processor including a processing circuit. The processor(s) may be configured to obtain the first frame angle value using the angle sensor, obtain a first rotation angle value of the lumbar support module using the IMU sensor, determine whether the user's sitting posture is an abnormal sitting posture based on the first rotation angle value and the first frame angle value, and control the driving module to generate a first torque when the sitting posture is determined to be the abnormal sitting posture.

[0004] According to one embodiment, the lumbar support module can provide an external force to the user by performing a rotational motion based on the generated first torque.

[0005] According to one embodiment, a method for operating a wearable device may include an operation of sensing an angle of a first frame corresponding to a part of a user's lower body to obtain a first frame angle value, an operation of obtaining a first rotation angle value of a lumbar support module, an operation of determining whether a sitting posture of the user is an abnormal sitting posture based on the first rotation angle value and the first frame angle value, an operation of generating a first torque through a driving module of the wearable device when the sitting posture is determined to be the abnormal sitting posture, and an operation of rotating a lumbar support module connected to the driving module based on the generated first torque to provide an external force to the user.

[0006] According to one embodiment, the wearable device can evaluate or determine whether the user's sitting posture is a normal sitting posture or an abnormal sitting posture.

[0007] In one embodiment, the wearable device may provide an external force to the user to correct the user's sitting posture if the user's sitting posture is abnormal.

[0008] According to one embodiment, the wearable device may provide a mode for strengthening the lower back muscles of a user in a sitting position.

[0009] The above-described and other aspects, features, and advantages of specific embodiments will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0010] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0011] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0012] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0013] FIG. 2b illustrates a left side view of a wearable device according to one embodiment.

[0014] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0015] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0016] FIG. 5 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0017] FIG. 6 is a drawing illustrating an example of a rotation angle of a wearable device according to one embodiment.

[0018] FIGS. 7A, 7B, 8A, and 8B are diagrams illustrating examples of operations of a wearable device according to one embodiment(s) to evaluate a user's sitting posture.

[0019] FIGS. 9 and 10 are drawings illustrating examples of an operation of a wearable device according to one embodiment of the present invention to generate a first torque to rotate a lumbar support module.

[0020] FIGS. 11 and 12 are drawings illustrating examples of an operation of a wearable device according to one embodiment of the present invention to generate a second torque to rotate a lumbar support module.

[0021] FIGS. 13 and 14 are drawings illustrating examples of an operation of a wearable device according to one embodiment of the present invention to rotate a lumbar support module by alternately generating a first torque and a second torque.

[0022] FIG. 15 is a diagram illustrating an example of an operation of a wearable device providing a notification according to one embodiment.

[0023] FIG. 16 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0024] The following detailed structural and functional descriptions are provided solely as examples, and various changes and modifications may be made. Accordingly, the embodiments are not limited to this disclosure, but should be understood to encompass all modifications, equivalents, and alternatives within the scope of the invention and technology of this disclosure.

[0025] While terms such as "first" or "second" may be used to describe various components, the components are not limited to these terms. These terms are used 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 a component is described as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least a third component(s) may be "connected," "coupled," or "joined" between the first and second components. Thus, for example, "connected" can cover both direct and indirect connections.

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

[0031] 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 (e.g., 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."

[0032] 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.

[0033] 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.

[0034] In various embodiments, 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 (120) may vary depending on the body part on which it is worn.

[0035] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0036] 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.

[0037] 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).

[0038] 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).

[0039] 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).

[0040] 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.).

[0041] 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).

[0042] 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 lift may be a movement (or motion) in which the user starts from a standing upright position with both feet in contact with the ground, raises the knees as much as possible without bending the waist, and then returns to the standing position. The leg raise may be a movement (or motion) in which the user starts from a standing upright position with hands on a wall, raises the legs as much as possible without bending the waist, and then returns to the standing position.

[0043] 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).

[0044] 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).

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0051] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a lumbar support module (10) including a lumbar support (or first support), a lumbar frame (or second frame) (20), a driving module (30) including a motor and / or circuit, a thigh fastening portion (40a, 40b), a main belt (50), and a thigh frame (or first frame) (70a, 70b).

[0052] According to one embodiment, the waist support module (10) may be positioned on the user's lumbar region (waist area) while the user wears the wearable device (200). The waist support module (10) may 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 waist support module (10) may be hung over the user's buttocks (hip area) to prevent or reduce the wearable device (200) from being dislodged downward due to gravity while the user wears the wearable device (200). The waist support module (10) may 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 waist support module (10) may be directly or indirectly connected to the waist frame (20). Connecting elements (not shown) that may be connected to the waist frame (20) may be formed at both ends of the waist support module (10).

[0053] According to one embodiment, the lumbar support module (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., the 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 the status of the wearable device (200) (e.g., booting status, sensing status, etc.) may be provided (or output) to the user through the lighting unit (60). Each “processor” herein may include a processing circuit and / or may include multiple processors. For example, the term "processor," as used herein, including in the claims, may encompass various processing circuits, including at least one processor, one or more of which may be configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, where "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms may encompass, for example, without limitation, a situation where one processor performs some of the functions, other processor(s) perform other of the functions, and also encompass a situation where a single processor may perform all of the functions. Additionally, the at least one processor may comprise a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0054] According to one embodiment, the lumbar support module (10) (e.g., lumbar support) may include a housing. The housing of the lumbar support module (10) (e.g., lumbar support) may be positioned close to and / or support the lumbar region of the user when the wearable device (120) is worn on the user's body.

[0055] According to one embodiment, a waist frame (20) may extend from both ends of a waist support module (10). A user's lower back may be accommodated on the inside of the waist frame (20). The waist frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. An end of the waist frame (20) may be directly or indirectly connected to a main belt (50). A drive module (30) may be mounted on the waist frame (20). The waist frame (20) may include a connector (not shown) for mounting the drive module (30).

[0056] 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).

[0057] 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).

[0058] According to one embodiment, the first driving module (30a) and the second driving module (30b) can generate torque. The first driving module (30a) can be directly or indirectly connected to the first thigh frame (70a), and the second driving module (30b) can be directly or indirectly connected to the second thigh frame (70b). The first driving module (30a) can provide the generated torque to the user's left leg through the first thigh frame (70a). The first thigh frame (70a) can provide an external force to the user's left leg by rotating through the torque generated by the first driving module (30a). The second driving module (30b) can provide the generated torque to the user's right leg through the second thigh frame (70b). The second thigh frame (70b) can provide an external force to the user's right leg by rotating through the torque generated by the second driving module (30b).

[0059] According to one embodiment, the thigh 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 thigh frame (70a, 70b) may include a first thigh frame (70a) for supporting the user's left leg and a second thigh frame (70b) for supporting the user's right leg.

[0060] According to one embodiment, the thigh frame (70a, 70b) can transmit torque generated by, for example, the drive module (30a, 30b) to the user's thigh. One end of the thigh frame (70a, 70b) is directly or indirectly connected to the drive module (30a, 30b) and can rotate, and the other end of the thigh frame (70a, 70b) is directly or indirectly connected to the thigh fastening portion (40a, 40b), so that the thigh frame (70a, 70b) can support the user's thigh while transmitting torque generated by the drive module (30a, 30b) to the user's thigh. For example, the thigh frame (70a, 70b) can push or pull the user's thigh. The thigh frame (70a, 70b) can extend along the longitudinal direction of the user's thigh. The thigh frame (70a, 70b) can be bent to wrap at least a portion of the user's thigh circumference.

[0061] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the thigh frame (70a, 70b) and can secure the thigh frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first thigh frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second thigh frame (70b) to the user's right thigh.

[0062] 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 from the other end of the thigh frame (70a, 70b) and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0063] 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 or reducing the user's thigh from being dislodged from the thigh 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.

[0064] 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).

[0065] According to one embodiment, the main belt (50) may be directly or indirectly connected to the waist frame (or second 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 second 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).

[0066] Referring to FIG. 2b, the lumbar support module (10) may be mounted on the back of the user's lower back and may support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first drive module (30a) may be positioned on the user's left lower back. The second frame (20) may extend from an end of the lumbar support module (10) and may be inclined in a direction toward the first drive module (30a). The first main belt (50a) mounted on the second frame (20) may be in a state of wrapping around the user's left abdomen.

[0067] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0068] 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 (or IMU sensor) (360), motor driver circuits (370, 370-1), motors (or actuators) (380, 380-1), and a communication module (390).

[0069] 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.

[0070] 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).

[0071] 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. Each “drive module” herein may include a motor and / or a drive circuit, and optionally, may include an angle sensor.

[0072] 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.

[0073] According to one embodiment, the angle sensor (320) can measure or sense the angle of the first thigh frame (70a) (or the angle of the user's first joint (e.g., the left hip joint, etc.)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the first thigh frame (70a)) to the processor (310).

[0074] According to one embodiment, the angle sensor (320-1) can measure or sense the angle of the second thigh frame (70b) (or the angle of the user's second joint (e.g., the right hip joint)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the second thigh frame (70b)) to the processor (310).

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] According to one embodiment, the IMU (360) can obtain movement information of the wearable device (300, 300-1) (or the user). For example, the IMU (360) can obtain rotation angle values ​​(e.g., an angle value of an X rotation angle, an angle value of a Y rotation angle, and an angle value of a Z rotation angle) of the lumbar support module (10) (or the user). The X rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the X axis, the Y rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Y axis, and the Z rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Z axis. The IMU (360) can transmit the obtained movement information (e.g., rotation angle values) to the processor (310). Depending on the implementation, the IMU (360) may, for example, acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration values ​​and angular acceleration values ​​of the lumbar support module (10) (or the user), and transmit the acquired acceleration values ​​and angular acceleration values ​​to the processor (310). The processor (310) may determine rotation angle values ​​of the lumbar support module (10) (or the user) based on at least some of the acquired acceleration values ​​and angular acceleration values.

[0081] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0082] 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).

[0083] 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).

[0084] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) under the control of the processor (310), and by such control, each of the motors (380, 380-1) can generate torque.

[0085] 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).

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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 lumbar support module (10) of FIGS. 2a and 2b.

[0090] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0091] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., a smartphone, a smartwatch, etc.). 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 (120) and the electronic device (410) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0092] 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).

[0093] 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 a display (412) 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.

[0094] FIG. 5 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0095] Referring to FIG. 5, a wearable device (500) (e.g., wearable device (120), wearable device (200), wearable device (300), wearable device (300-1)) according to one embodiment may include a processor (510) (e.g., processor (310)), an angle sensor (520), a first frame (530), a driving module (540) (e.g., driving module (30)), a lumbar support module (550) (e.g., lumbar support module (10)), and an IMU (or IMU sensor) (560) (e.g., IMU (360)).

[0096] According to one embodiment, the first frame (530) may correspond to a portion of the user's lower body (e.g., a thigh). The first frame (530) may include, for example, a first thigh frame (70a) and / or a second thigh frame (70b).

[0097] According to one embodiment, the angle sensor (520) may include the angle sensor (320) and / or the angle sensor (320-1). The angle sensor (520) may sense the angle of the first frame (530) to obtain a first frame angle value (e.g., a first thigh frame angle value and / or a second thigh frame angle value). The angle sensor (520) may transmit the obtained first frame angle value to the processor (510). The processor (510) may obtain the first frame angle value using the angle sensor (520). For example, the angle sensor (320) may sense the angle of the first thigh frame (70a) to obtain the first thigh frame angle value, and transmit the obtained first thigh frame angle value to the processor (510). The angle sensor (320-1) can sense the angle of the second thigh frame (70b) to obtain a second thigh frame angle value and transmit the obtained second thigh frame angle value to the processor (510). The processor (510) can obtain the first thigh frame angle value using the angle sensor (320) and can obtain the second thigh frame angle value using the angle sensor (320-1).

[0098] According to one embodiment, the drive module (540) may include one or more motors (e.g., motor (380) and / or motor (380-1)) and one or more motor driver circuits (e.g., motor driver circuit (370) and / or motor driver circuit (370-1)). The drive module (540) may include a first drive module (30a) and / or a second drive module (30b).

[0099] According to one embodiment, the lumbar support module (550) can be connected to the drive module (540) and can be positioned at the user's lumbar region.

[0100] According to one embodiment, the IMU (560) can obtain motion values ​​of the lumbar support module (550). The motion values ​​can include, for example, rotation angle values ​​of the lumbar support module (550) (e.g., an angle value of an X rotation angle, an angle value of a Y rotation angle, and an angle value of a Z rotation angle).

[0101] According to one embodiment, the processor (510) may receive movement values ​​of the lumbar support module (550) from the IMU (560). The processor (510) may obtain the movement values ​​of the lumbar support module (550) using the IMU (560). The processor (510) may evaluate the user's sitting posture based on at least some of the movement values ​​of the lumbar support module (550) (e.g., the angle value of the Y rotation angle) and the first frame angle value received from the angle sensor (520). The processor (510) may determine whether the user's sitting posture is an abnormal sitting posture based on at least some of the movement values ​​received from the IMU (560) and the first frame angle value received from the angle sensor (520).

[0102] According to one embodiment, when the processor (510) determines that the user's sitting posture is an abnormal sitting posture, the processor (510) may control the driving module (540) to generate a first torque. The first torque may represent, for example, a torque in a first rotational direction (e.g., clockwise). The lumbar support module (550) may perform a rotational motion based on the first torque generated by the driving module (540), and the lumbar support module (550) may push the user's lumbar region by this rotational motion. As the lumbar support module (550) provides an external force (e.g., a force pushing the lumbar region) to the user's lumbar region, the user's pelvis and spine may rotate, so that the user's abnormal sitting posture may be corrected by the wearable device (500). The wearable device (500) may provide the user with an external force for correcting the user's abnormal sitting posture.

[0103] Hereinafter, the detailed operation of the wearable device (500) will be described with reference to FIGS. 6 to 16.

[0104] FIG. 6 is a drawing illustrating an example of a rotation angle of a wearable device according to one embodiment.

[0105] Referring to Figure 6, the side view may correspond to the Z-axis direction, the top view may correspond to the Y-axis direction (or gravity direction), and the front view may correspond to the X-axis direction.

[0106] According to one embodiment, the IMU (560) may be positioned within the lumbar support module (550) and may acquire movement values ​​of the lumbar support module (550) (or the IMU (560)).

[0107] According to one embodiment, the processor (510) may obtain movement values ​​(e.g., rotation angle values) of the lumbar support module (550) (or IMU (560)) using the IMU (560). The processor (510) may receive a first frame angle value from the angle sensor (520). The processor (510) may obtain the first frame angle value using the angle sensor (520). As will be described in detail with reference to FIGS. 7A, 7B, 8A, and 8B, the processor (510) may evaluate the user's sitting posture based on at least some of the movement values ​​of the lumbar support module (550) and the first frame angle value.

[0108] FIGS. 7A, 7B, 8A, and 8B are diagrams illustrating examples of operations of a wearable device according to one embodiment of the present invention to evaluate a user's sitting posture.

[0109] In the example illustrated in FIG. 7A, the lumbar support module (550) can rotate around a first axis (e.g., Y-axis), and by this rotation, the lumbar support module (550) can form an angle with the first axis (e.g., Y-axis). The angle that the lumbar support module (550) forms with the first axis can correspond to the "Y rotation angle" described above. The "Y rotation angle" can be expressed as a pitch or Euler Y angle. Although not illustrated in FIG. 7A, the lumbar support module (550) can form an angle (e.g., "X rotation angle") with a second axis (e.g., X-axis) and / or an angle (e.g., "Z rotation angle") with a third axis (e.g., Z-axis). The "X rotation angle" can be expressed as a roll or Euler X angle, and the "Z rotation angle" can be expressed as a yaw or Euler Z angle.

[0110] In the example shown in Fig. 7a, the IMU (560) can transmit the movement values ​​(e.g., first movement values) of the lumbar support module (550) to the processor (510). The first rotation angle value (θ) of Fig. 7ay1 ) may be included in the first movement values. Depending on the implementation, the processor (510) may obtain an acceleration value in the X-axis direction, an acceleration value in the Y-axis direction, and an acceleration value in the Z-axis direction of the lumbar support module (550) using the IMU (560), and may use at least one or all of the obtained acceleration values ​​to obtain a first rotation angle value (θ y1 ) can be calculated.

[0111] In the example illustrated in FIG. 7b, the angle sensor (520) can sense the angle of the first frame (530) to obtain the first frame angle value (e.g., the first and second thigh frame angle values). For example, the angle sensor (520) (e.g., the angle sensor (320-1) of FIG. 3a) of the drive module (710) (e.g., the second drive module (30b)) can sense the angle of the second thigh frame (720) (e.g., the second thigh frame (70b)) to obtain the second thigh frame angle value. The second thigh frame angle value can represent the angle value between the Y-axis indicated as 0 degrees in FIG. 7b and the second thigh frame (70b). Although not illustrated in FIG. 7B, an angle sensor (520) (e.g., angle sensor (320) of FIG. 3A) may sense an angle of a first thigh frame (e.g., first thigh frame (70a)) to obtain a first thigh frame angle value. The first thigh frame angle value may represent an angle value between the Y-axis, where 0 degrees is indicated in FIG. 7B, and the first thigh frame (70a).

[0112] In FIG. 8a, a graph (810) of the Y rotation angle over time, a graph (820) of the angle of the second thigh frame over time, and a graph (830) of the angle of the first thigh frame over time are shown.

[0113] According to one embodiment, the processor (510) calculates a Y rotation angle (e.g., a first rotation angle value (θ)) from an average of an angle of the second thigh frame (e.g., a second thigh frame angle value) and an angle of the first thigh frame (e.g., a first thigh frame angle value). y1 )) is subtracted to obtain the angle value (θ) between the Y-axis and the first frame (530) (e.g., the first and second thigh frames (70a, 70b)) f ) (or the angle at which the first frame (530) is opened from the Y-axis) can be determined or calculated. The graph (840) of FIG. 8a is an angle value (θ f ) can be represented as a graph. When the user's upper body moves, the Y rotation angle may change. As a result, the angle of the second thigh frame and the first thigh frame angle may change as shown in the graph (820) and the graph (830). Due to the movement of the user's upper body, the second thigh frame angle value and the first thigh frame angle value each have a first rotation angle value (θ y1 ) may be included as noise. The processor (510) may calculate an average value of the second thigh frame angle value and the first thigh frame angle value, and may calculate a first rotation angle value (θ) from the calculated average value. y1 ) by subtracting the angle value (θ) between the Y-axis and the first frame (530) f ) can be determined. In other words, the processor (510) determines the first rotation angle value (θ) from the average value of the second thigh frame angle value and the first thigh frame angle value. y ) can be corrected by subtracting the average value of the second thigh frame angle value and the first thigh frame angle value. The angle value (θ f ) may correspond to the corrected mean value.

[0114] According to one embodiment, the processor (510) outputs an angle value (θ f) can be used to determine whether the user is in a sitting position. If the user is in a sitting position, the angle value (θ) is displayed as shown in the graph (840). f ) can have a value around -90 degrees. The processor (510) can have an angle value (θ f ) is not around -90 degrees (e.g., the angle value (θ f ) does not fall within the second angle range), it can be determined that the user is not in a sitting position. The processor (510) outputs an angle value (θ f ) is around -90 degrees (e.g., the angle value (θ f ) if it falls within the second angle range), it can be determined that the user is in a sitting position. The second angle range may be, for example, -85 degrees to -95 degrees, but is not limited thereto.

[0115] According to one embodiment, if the processor (510) determines that the user is in a sitting position, the first rotation angle value (θ) y1 ) can be determined whether it falls within the first angle range (or normal range) (e.g., 0 to 20 degrees). The processor (510) determines whether the first rotation angle value (θ) y1 ) is determined to not fall within the first angle range (or normal range), the user's sitting posture may be determined as an abnormal sitting posture. The processor (510) may determine the first rotation angle value (θ y1 ) is judged to fall within the first angle range (or normal range), the user's sitting posture can be judged as a normal sitting posture.

[0116] According to one embodiment, the processor (510) can estimate or determine the angle at which the user's lumbar vertebrae is rotated around the X-axis using the angle value of the X-rotation angle of the lumbar support module (550). The processor (510) can determine whether the user's lumbar vertebrae is forming a rightward tilt or a leftward tilt using the angle value of the X-rotation angle of the lumbar support module (550). For example, the rightward tilt may indicate an angle at which the user's lumbar vertebrae is tilted to the right from the X-axis, and the leftward tilt may indicate an angle at which the user's lumbar vertebrae is tilted to the left from the X-axis. When the angle value of the X-rotation angle is greater than a certain level, the processor (510) can determine that the user's lumbar vertebrae is not in the shape of a normal lumbar vertebra.

[0117] According to one embodiment, the processor (510) can estimate or determine the angle at which the user's lumbar vertebra rotates around the Z-axis using the angle value of the Z-rotation angle of the lumbar support module (550). If the angle value of the Z-rotation angle is above a certain level, the processor (510) can determine that the user's lumbar vertebra is not in the shape of a normal lumbar vertebra.

[0118] Figure 8b shows examples of abnormal sitting postures and examples of normal sitting postures.

[0119] In the example illustrated in FIG. 8B, an abnormal sitting posture (850) may include, for example, a posture in which the user's lumbar spine forms a kyphotic curve when the user is sitting. A normal sitting posture (860) may include, for example, a posture in which the user's lumbar spine forms a lordotic curve when the user is sitting and a posture in which the user's thoracic vertebrae forms a kyphotic curve when the user is sitting.

[0120] According to one embodiment, the processor (510) outputs an angle value (θ f ), at least one or all of the first rotation angle value, the X rotation angle value, or the Z rotation angle value can be transmitted to the electronic device through the communication module (390). The electronic device can display a screen (or GUI) indicating that the user is in a normal sitting posture or an abnormal sitting posture based on the angle value and the first rotation angle value received from the wearable device (500). The electronic device can display the angle by which the user's lumbar vertebrae are rotated about the X-axis and / or the Z-axis.

[0121] FIGS. 9 and 10 are drawings illustrating examples of an operation of a wearable device according to one embodiment of the present invention to generate a first torque to rotate a lumbar support module.

[0122] As shown in the example in Fig. 9, the processor (510) outputs a first rotation angle value (θ y1 ) may be determined to be outside the first angle range (or normal range). In this case, the processor (510) may determine the user's sitting posture as an abnormal sitting posture (e.g., the abnormal sitting posture (850) of FIG. 8b).

[0123] According to one embodiment, if the processor (510) determines that the user's sitting posture is an abnormal sitting posture, the processor (510) may control the driving module (540) (e.g., the first driving module (30a) and / or the second driving module (30b)) to generate a first torque. For example, if the processor (510) determines that the user's sitting posture is an abnormal sitting posture, the processor (510) may control the motor driver circuit (370) and / or the motor driver circuit (370-1) to generate the first torque.

[0124] According to one embodiment, the processor (510) can determine a torque value of a first torque (hereinafter referred to as “first torque value”) and control the drive module (540) so that a first torque having a magnitude corresponding to the first torque value can be generated by the drive module (540). For example, the processor (510) can determine an angular value of a Y rotation angle of the lumbar support module (550) (e.g., a first rotation angle value (θ) y1 )) can be used to determine the first torque value. The larger the angle value of the Y rotation angle, the larger the first torque value can be determined. For another example, the electronic device can receive a magnitude value (or intensity value) used to determine the torque magnitude from the user. The electronic device can transmit the received magnitude value to the wearable device (500). The processor (510) can determine the first torque value based on the magnitude value received from the electronic device. The larger the magnitude value, the larger the first torque value can be determined. For another example, the processor (510) can determine the angle value of the Y rotation angle (e.g., the first rotation angle value (θ) y1 )) and the received size value can be used to determine the first torque value. For another example, the processor (510) can determine the first torque value using the angle value of the Y rotation angle, the received size value, and the user's profile information (e.g., age, gender).

[0125] According to one embodiment, the lumbar support module (550) can provide an external force to the user by performing a rotational motion based on the first torque generated by the driving module (540). This external force may correspond to a force pushing the user's lumbar region. For example, the lumbar support module (550) may be connected to the driving module (540) via the lumbar frame (20). The first torque generated by the driving module (540) may rotate the lumbar frame (20), and the lumbar support module (550) may perform a rotational motion according to the rotation of the lumbar frame (20). The force pushing the user's lumbar region may be provided to the user by the rotational motion of the lumbar support module (550).

[0126] According to one embodiment, the wearable device (500) may increase the magnitude (or intensity) of the first torque to a target magnitude value (e.g., a first target magnitude value to be described later) after generating the first torque. The wearable device (500) may decrease the magnitude of the first torque when the Y rotation angle of the lumbar support module (550) reaches the target angle value (e.g., a first target angle value to be described later).

[0127] According to one embodiment, the IMU (560) may also rotate according to the rotational motion of the lumbar support module (550). The IMU (560) may obtain motion values ​​(hereinafter referred to as “second motion values”) of the lumbar support module (550) (or IMU (560)) that performed the rotational motion based on the first torque. The second motion values ​​may include, for example, rotation angle values ​​of the lumbar support module (550) (or IMU (560)) that performed the rotational motion based on the first torque.

[0128] According to one embodiment, the processor (510) can receive second movement values ​​of the lumbar support module (550) from the IMU (560). The processor (510) can obtain second movement values ​​of the lumbar support module (550) using the IMU (560). The second rotation angle value (θ) of FIG. 9 y2 ) may be included in the second motion values. The second rotation angle value (θ y2 ) may correspond to an angle value of rotation of the lumbar support module (550) around the first axis (e.g., Y axis) that performs a rotational motion based on the first torque, for example.

[0129] According to one embodiment, the processor (510) outputs a second rotation angle value (θ y2 ) can determine whether the first target angle value (e.g., 0 degrees) corresponds to (or has reached). The processor (510) can determine whether the second rotation angle value (θ) corresponds to (or has reached) the first target angle value (e.g., 0 degrees). y2 ) corresponds to the first target angle value (or the second rotation angle value (θ y2 ) has reached the first target angle value, the driving module (540) may perform an operation to prevent or reduce the possibility of generating the first torque or an operation to control the driving module (540) so that the driving module (540) generates a torque of a magnitude smaller than the magnitude of the first torque.

[0130] FIG. 10 illustrates an example of a graph (1010) of the Y rotation angle of the lumbar support module (550) when the lumbar support module (550) performs a rotational motion based on the first torque and an example of a graph (1020) of the first torque.

[0131] In the example illustrated in FIG. 10, the wearable device (500) can generate a first torque through the driving module (540) at a time point (t1). The magnitude of the first torque can increase from the time point (t1). When the magnitude of the first torque reaches a first target magnitude value (τ1) (or falls within a first target magnitude range based on the first target magnitude value (τ1)), the magnitude of the first torque can have the first target magnitude value (τ1) for a certain period of time. The magnitude of the first torque can be maintained at the first target magnitude value (τ1) for a certain period of time.

[0132] According to one embodiment, the processor (510) may, for example, provide a first rotation angle value (θ y1 ) can be used to determine the first target size value (τ1). The first rotation angle value (θ y1 ) can be larger, the first target size value (τ1) can be larger. The processor (510) can be configured to generate a first rotation angle value (θ y1 ) can determine the first target magnitude value (τ1) through the degree to which the first rotation angle value (e.g., 20 degrees to 0) deviates from the first angle range (e.g., the difference between the first rotation angle value and 20 degrees). For another example, the electronic device can receive a target value (or magnitude value) used to determine the target torque magnitude from the user. The electronic device can transmit the received target value (or magnitude value) to the wearable device (500). The processor (510) can determine the first target magnitude value based on the target value (or magnitude value) received from the electronic device. For another example, the processor (510) can determine the first rotation angle value (θ y1 ), the first target size value can be determined using the received target value, and the user's profile information (e.g., age, gender, etc.). As another example, the first target size value may be predetermined.

[0133] According to one embodiment, while the first torque is generated, the second frame (20) can rotate by the generated first torque, and the lumbar support module (550) connected to the second frame (20) can perform a rotational motion by the rotation of the second frame (20) (e.g., rotation in the first rotational direction). By this rotational motion (e.g., rotation in the first rotational direction), the lumbar support module (550) including the lumbar support can provide an external force to a part of the user's body (e.g., waist) (or push a part of the user's body). The wearable device (500) can provide an external force to the user's lumbar region so that the user's lumbar vertebrae can form a lordotic curve when the user's sitting posture is abnormal.

[0134] According to one embodiment, the wearable device (500) may provide an external force to the user, thereby decreasing the Y rotation angle of the lumbar support module (550) after time point (t1). At time point (t2), the processor (510) may obtain second movement values ​​of the lumbar support module (550) using the IMU (560).

[0135] According to one embodiment, the processor (510) obtains a second rotation angle value (θ) among the acquired second motion values. y2 ) can be determined to correspond to the first target angle value.

[0136] According to one embodiment, the processor (510) outputs a second rotation angle value (θ y2 ) is determined to correspond to the first target angle value, the wearable device (500) may operate so as not to provide an external force (e.g., an external force due to a rotational motion of the lumbar support module (550)) to the user. For example, the processor (510) may control the driving module (540) so that the driving module (540) does not generate (or output) the first torque. The processor (510) may control the motor driver circuits (370, 370-1) so that current does not flow to the motors (380, 380-1).

[0137] According to one embodiment, the processor (510) outputs a second rotation angle value (θ y2 ) is determined to correspond to the first target angle value, the wearable device (500) may operate to provide a smaller external force to the user. For example, the processor (510) may control the drive module (540) to generate a first torque having a smaller magnitude (e.g., τ1 / n) than the magnitude (e.g., the first target magnitude value (τ1)). n may be, for example, 5, but is not limited thereto. The drive module (540) may generate a second rotation angle value (θ). y2 ) corresponds to the first target angle value, a first torque having a magnitude (τ1 / n) can be generated.

[0138] FIGS. 11 and 12 are drawings illustrating examples of an operation of a wearable device according to one embodiment of the present invention to generate a second torque to rotate a lumbar support module.

[0139] In the example illustrated in FIG. 11, according to one embodiment, the processor (510) outputs a second rotation angle value (θ y2 ) Afterwards, it can be checked whether the rotation angle values ​​of the lumbar support module (550) acquired using the IMU (560) maintain a state corresponding to the first target angle value (e.g., 0 degrees) for a first time period. The first time period may be, for example, 2 minutes, but is not limited thereto. The first time period can be adjusted.

[0140] According to one embodiment, the processor (510) may control the driving module (540) to generate a second torque when the rotation angle values ​​of the lumbar support module (550) acquired after the second rotation angle value maintain a state corresponding to the first target angle value for a first time period. The second torque may represent, for example, a torque in a second rotation direction (e.g., counterclockwise).

[0141] According to one embodiment, the lumbar support module (550) can perform a rotational motion based on the second torque generated by the driving module (540). The lumbar support module (550) can be connected to the driving module (540) via the lumbar frame (20). The second torque generated by the driving module (540) can rotate the lumbar frame (20), and the lumbar support module (550) can perform a rotational motion in the second rotational direction according to the rotation of the lumbar frame (20). The force applied to the lumbar region of the user can be reduced according to the rotational motion of the lumbar support module (550) in the second rotational direction.

[0142] According to one embodiment, the IMU (560) may also rotate according to the rotational motion of the lumbar support module (550) in the second rotational direction. The IMU (560) may obtain motion values ​​(hereinafter referred to as “third motion values”) of the lumbar support module (550) (or IMU (560)) that performed the rotational motion based on the second torque. The third motion values ​​may include, for example, rotation angle values ​​of the lumbar support module (550) (or IMU (560)) that performed the rotational motion based on the second torque.

[0143] According to one embodiment, the processor (510) can obtain third movement values ​​of the lumbar support module (550) using the IMU (560). The third rotation angle value (θ) of FIG. 11 y3 ) can be included in the third motion values. The third rotation angle value (θ y3 ) may correspond to an angle value of rotation of the lumbar support module (550) around the first axis (e.g., Y axis) that performs a rotational motion based on the second torque, for example.

[0144] According to one embodiment, the processor (510) determines a third rotation angle value (θ y3) can determine whether the second target angle value (e.g., 10 degrees) corresponds to (or has reached). The processor (510) can determine whether the third rotation angle value (θ) corresponds to (or has reached) the second target angle value (e.g., 10 degrees). y3 ) corresponds to the second target angle value (or the third rotation angle value (θ y3 ) has reached the second target angle value, the driving module (540) may perform an operation to prevent or reduce the possibility of generating a second torque or an operation to control the driving module (540) so that the driving module (540) generates a torque of a magnitude smaller than the magnitude of the second torque.

[0145] In FIG. 12, an example of a graph (1210) of the Y rotation angle of the lumbar support module (550) and an example of a graph (1220) of the second torque are shown when the lumbar support module (550) performs a rotational motion based on the second torque.

[0146] In the example illustrated in FIG. 12, the wearable device (500) may generate a first torque having a magnitude (e.g., τ1 / n) or may not generate a first torque before time point (t3), for example.

[0147] The wearable device (500) can generate a second torque through the driving module (540) at time point (t3). The magnitude of the second torque can increase from time point (t3). If the magnitude of the second torque falls within the second target magnitude range (or reaches the second target magnitude value (τ2)), the magnitude of the second torque can have the second target magnitude value (τ2) for a certain period of time. The magnitude of the second torque can be maintained at the second target magnitude value (τ2) for a certain period of time.

[0148] According to one embodiment, while the second torque is generated, the second frame (20) can rotate by the generated second torque, and the lumbar support module (550) connected to the second frame (20) can perform a rotational motion by the rotation of the second frame (20) (e.g., rotation in the second rotational direction). By this rotational motion (e.g., rotation in the second rotational direction), the lumbar support module (550) can move away from a part of the user's body (e.g., waist).

[0149] According to one embodiment, the Y rotation angle of the lumbar support module (550) may increase after the time point (t3) according to the rotational motion of the second rotational direction of the lumbar support module (550). At the time point (t4), the processor (510) may receive third motion values ​​of the lumbar support module (550) from the IMU (560). The processor (510) may receive a third rotation angle value (θ) among the third motion values ​​of the lumbar support module (550). y3 ) can be determined to correspond to the second target angle value (e.g., 10 degrees).

[0150] According to one embodiment, the wearable device (500) has a third rotation angle value (θ y3 ) may not generate the second torque if it is determined that the second target angle value corresponds to the second target angle value. For example, the processor (510) may control the drive module (540) so that the drive module (540) does not generate (or output) the second torque. The processor (510) may control the motor driver circuits (370, 370-1) so that current does not flow to the motors (380, 380-1).

[0151] According to one embodiment, the processor (510) outputs a third rotation angle value (θ y3 ) is determined to correspond to the second target angle value, the drive module (540) may operate to generate a second torque of a smaller magnitude. For example, the processor (510) may generate a third rotation angle value (θ y3) is determined to correspond to the second target angle value, the drive module (540) can be controlled to generate a second torque having a size (e.g., τ2 / n) smaller than the size (e.g., the second target size value (τ2)). n can be, for example, 5, but is not limited thereto. The drive module (540) can generate a third rotation angle value (θ y3 ) corresponds to the second target angle value, a second torque having a magnitude (τ2 / n) can be generated.

[0152] According to one embodiment, the operations of the wearable device (500) described through FIGS. 9 and 10 and the operations of the wearable device (500) described through FIGS. 11 and 12 may be included in a mode (hereinafter, “first mode (or posture correction mode, posture balancing mode)”) in which the wearable device (500) performs assistance so that the user’s sitting posture becomes closer to a normal sitting posture (or so that the user can perform a normal sitting posture). In the first mode, the wearable device (500) may output a first torque when it determines that the user’s sitting posture is an abnormal sitting posture. When the angular value of the Y rotation angle of the lumbar support module (550) performing the rotational motion based on the first torque reaches a first target angle value (e.g., 0 degrees), the wearable device (500) may not output the first torque or may output a torque having a magnitude smaller than the intensity of the first torque (e.g., a torque having a magnitude enough for the angular value of the Y rotation angle to maintain the first target angle value) (e.g., τ1 / n). After a certain period of time has elapsed, the wearable device (500) may output the second torque. When the angular value of the Y rotation angle of the lumbar support module (550) performing the rotational motion based on the second torque reaches a second target angle value (e.g., about 10 degrees), the wearable device (500) may not output the second torque or may output a torque having a magnitude smaller than the intensity of the second torque (e.g., τ2 / n).

[0153] In the embodiment described below, the wearable device (500) can operate in a mode (hereinafter referred to as “second mode (or repeated exercise mode)”) that can strengthen the muscle strength (e.g., lower back muscle strength) of a user in a sitting position by repeatedly outputting a first torque and a second torque. This will be described with reference to FIGS. 13 and 14.

[0154] FIGS. 13 and 14 are diagrams illustrating examples of a wearable device according to one embodiment operating in a mode capable of strengthening the muscle strength of a user in a sitting position.

[0155] In the example illustrated in FIG. 13, if the Y rotation angle of the lumbar support module (550) (or IMU (560)) is further rearward than 0 degrees of the first axis (e.g., Y axis), the Y rotation angle may be positive, and if the Y rotation angle of the lumbar support module (550) (or IMU (560)) is further forward than 0 degrees of the first axis (e.g., Y axis), the Y rotation angle may be negative.

[0156] According to one embodiment, the wearable device (500) calculates the angle value of the Y rotation angle of the lumbar support module (550) when the user is in a sitting position as a fourth rotation angle value (θ y4 ) can be determined. The angle value of the Y rotation angle is the fourth rotation angle value (θ y4 ) in a state in which the wearable device (500) has a first torque. As described through FIGS. 9 and 10, the waist support module (550) can perform a rotational motion by the first torque. As the waist support module (550) performs a rotational motion by the first torque, the angle value of the Y rotation angle, as in the example shown in FIG. 13, becomes a fifth rotational angle value (θ y5 ) can have the angle value of the Y rotation angle as the fifth rotation angle value (θ y5 ) the wearable device (500) can output a second torque.

[0157] According to one embodiment, as described through FIGS. 11 and 12, the lumbar support module (550) can perform a rotational motion by the second torque. As the lumbar support module (550) performs a rotational motion by the second torque, the angle value of the Y rotation angle, as in the example shown in FIG. 13, becomes the fourth rotational angle value (θ y4 ) can have the angle value of the Y rotation angle as the fourth rotation angle value (θ y4 ) the wearable device (500) can output the first torque.

[0158] According to one embodiment, the wearable device (500) can repeatedly output the first torque and the second torque in a second mode (i.e., a mode capable of strengthening the muscle strength of a user in a sitting position). FIG. 14 illustrates examples of a graph (1410) of the Y rotation angle of the lumbar support module (550) and a torque graph (1420) when the wearable device (500) operates in the second mode.

[0159] In the example illustrated in FIG. 14, the wearable device (500) can repeatedly output a first torque and a second torque. In the torque graph (1420), a section with a negative torque value may be a section where the first torque is output, and a section with a positive torque value may be a section where the second torque is output.

[0160] In the example illustrated in FIG. 14, when the wearable device (500) outputs the first torque, the lumbar support module (550) can rotate in the first rotational direction. As the lumbar support module (550) rotates in the first rotational direction, the lumbar support module (550) can rotate forward, and the Y rotational angle of the lumbar support module (550) can have a negative value. When the magnitude value of the first torque is, for example, the magnitude value (τ3) of FIG. 14 (e.g., about -5 Nm), the angular value of the Y rotational angle can be the fifth rotational angle value (e.g., about -15 degrees).

[0161] According to one embodiment, the wearable device (500) can increase the magnitude of the first torque until the magnitude (or intensity) of the first torque reaches a magnitude value (τ3). When the magnitude of the first torque reaches the magnitude value (τ3), the wearable device (500) can maintain the magnitude of the first torque at the magnitude value (τ3) for a predetermined period of time. While the magnitude of the first torque is maintained at the magnitude value (τ3), the angular value of the Y rotation angle of the lumbar support module (550) can maintain a fifth rotation angle value (e.g., about -15 degrees). Depending on the implementation, the wearable device (500) can increase the intensity of the first torque until the angular value of the Y rotation angle of the lumbar support module (550) has the fifth rotation angle value (e.g., about -15 degrees).

[0162] After a certain period of time, the wearable device (500) can reduce the magnitude of the first torque and output a second torque by changing the rotational direction of the torque. When the wearable device (500) outputs the second torque, the lumbar support module (550) can rotate in the second rotational direction. As the lumbar support module (550) rotates in the second rotational direction, the angular value of the Y rotation angle can approach 0 degrees and have a positive number. When the magnitude value of the second torque is, for example, the magnitude value (τ4) of FIG. 14 (e.g., about 3 Nm), the angular value of the Y rotation angle can be a fourth rotational angle value (e.g., about 15) degrees.

[0163] According to one embodiment, the wearable device (500) can increase the magnitude of the second torque until the magnitude of the second torque reaches a magnitude value (τ4). When the magnitude of the second torque reaches the magnitude value (τ4), the wearable device (500) can maintain the intensity of the second torque at the magnitude value (τ4) for a predetermined period of time. While the magnitude of the second torque is maintained at the magnitude value (τ4), the angular value of the Y rotation angle of the lumbar support module (550) can be maintained at, for example, a fourth rotation angle value (e.g., about 15 degrees). Depending on the implementation, the wearable device (500) can increase the magnitude of the second torque until the angular value of the Y rotation angle of the lumbar support module (550) has the fourth rotation angle value (e.g., about 15 degrees).

[0164] According to one embodiment, in the second mode, the wearable device (500) can repeatedly (or alternately) output the first torque and the second torque, as shown in the torque graph (1420).

[0165] According to one embodiment, the processor (510) of the wearable device (500) can determine an angular value (e.g., the first rotation angle value described above) of the Y rotation angle of the lumbar support module (550) to evaluate the user's sitting posture, and can determine (or evaluate) the user's sitting posture as an abnormal sitting posture through the determined first rotation angle value.

[0166] According to one embodiment, the processor (510) may determine a time interval value (hereinafter referred to as “first interval value”) at which the first torque is to be output (or the first torque is to be sustained) and a target magnitude value (hereinafter referred to as “third target magnitude value”) of the first torque based on the degree to which the determined first rotation angle value deviates from a first angle range (e.g., 20 degrees to 0) (e.g., a difference value between the first rotation angle value and 20 degrees), and may determine a time interval value (hereinafter referred to as “second interval value”) at which the second torque is to be output (or the second torque is to be sustained) and a target magnitude value (hereinafter referred to as “fourth target magnitude value”) of the second torque. The third target magnitude value may be, for example, a magnitude value (τ3) of FIG. 14, but is not limited thereto. The fourth target magnitude value may be, for example, a magnitude value (τ4) of FIG. 14, but is not limited thereto. According to the implementation, the electronic device can receive a magnitude value and a time interval value regarding the magnitude of the target torque from the user, and transmit the received magnitude value and time interval value to the wearable device (500). The processor (510) can determine a third target magnitude value and a fourth target magnitude value based on the magnitude value received from the electronic device, and can determine a first interval value and a second interval value based on the time interval value received from the electronic device.

[0167] According to one embodiment, when the wearable device (500) is determined to operate in the second mode (e.g., when the wearable device (500) is determined to operate in the second mode among the first and second modes by user input), the processor (510) may generate an exercise program (or determine a torque pattern) based on the third target size value, the fourth target size value, the first interval value, and the second interval value. In the second mode, the processor (510) may control the driving module (540) to output torque according to the generated exercise program (or the determined torque pattern). The torque output according to the generated exercise program (or the determined torque pattern) may have the form of a torque graph (1420) of FIG. 14.

[0168] FIG. 15 is a diagram illustrating an example of an operation of a wearable device providing a notification according to one embodiment.

[0169] In the example illustrated in FIG. 15, the wearable device (500) can operate in the first mode or the second mode.

[0170] According to one embodiment, the wearable device (500) (e.g., processor (510)) can measure the execution time of a mode (e.g., first mode or second mode) and determine whether the measured execution time exceeds a second time (e.g., 1 hour). The wearable device (500) (e.g., processor (510)) can determine whether the operation time of the mode (e.g., first mode or second mode) has elapsed a second time (e.g., 1 hour).

[0171] According to one embodiment, the wearable device (500) (e.g., processor (510)) may provide a notification to the user when the measured execution time exceeds a second time (or when the operation time of the mode has passed the second time).

[0172] For example, in the first mode or the second mode, the lumbar support module (550) can perform a rotational motion by the first torque (or second torque) generated by the drive module (540). The processor (510) can control the drive module (540) (e.g., the first and second drive modules (30a, 30b)) so that the first torque (or second torque) contributing to the rotational motion of the lumbar support module (550) is not generated when the measured execution time exceeds the second time. The processor (510) can control the drive module (540) so that the drive module (540) can rotate the first frame (530) (e.g., the first and second thigh frames (70a, 70b)). Under the control of the processor (510), the drive module (540) can generate a torque so that the first frame (530) can perform a rotational motion in the first rotational direction. When the first frame (530) performs a rotational motion in a first rotational direction (e.g., clockwise), an external force may be applied to the user's thigh. Under the control of the processor (510), the driving module (540) may generate a torque so that the first frame (530) may perform a rotational motion in a second rotational direction (e.g., counterclockwise). When the first frame (530) performs a rotational motion in the second rotational direction, an external force may not be applied to the user's thigh. By repeating the rotational motion of the first frame (530) in the first rotational direction and the rotational motion of the second rotational direction, the application and non-application of an external force to the user's thigh may be repeated. This repetition may correspond to a notification similar to haptic feedback.

[0173] Depending on the implementation, the wearable device (500) (e.g., processor (510)) may provide a voice notification to the user when the measured execution time exceeds the second time (or when the operating time of the mode has passed the second time).

[0174] In one embodiment, the wearable device (500) (e.g., processor (510)) may provide a notification to the user to allow the user to take a break and / or stretch.

[0175] According to one embodiment, the wearable device (500) (e.g., processor (510)) may detect whether the user's posture has changed from a sitting posture to a standing posture after providing a notification. For example, the processor (510) may detect whether the user's posture has changed from a sitting posture to a standing posture through an acceleration value (e.g., an acceleration value in the direction of gravity) acquired by the IMU (560).

[0176] According to one embodiment, the wearable device (500) (e.g., processor (510)) may request the electronic device to display a stretching posture (or exercise) of the user on the display of the electronic device when the user is performing a standing posture. The wearable device (500) (e.g., processor (510)) may generate and provide a torque to the user so that the user can perform the posture (or exercise) displayed on the display of the electronic device.

[0177] FIG. 16 is a flowchart illustrating an example of a method of operating a wearable device according to one embodiment.

[0178] Referring to FIG. 16, in operation 1610, the wearable device (500) can sense the angle of the first frame (530) corresponding to a part of the user's lower body to obtain a first frame angle value.

[0179] In operation 1620, the wearable device (500) can obtain first movement values ​​of the waist support module (550) of the wearable device (500).

[0180] In operation 1630, the wearable device (500) can determine whether the user's sitting posture is an abnormal sitting posture based on at least some of the acquired first movement values ​​and the acquired first frame angle value.

[0181] In operation 1640, if the wearable device (500) determines that the user's sitting posture is an abnormal sitting posture, the wearable device (500) may generate a first torque through the driving module (540) of the wearable device (500).

[0182] In operation 1650, the wearable device (500) can provide an external force to the user by rotating the lumbar support module (550) connected to the driving module (540) based on the generated first torque.

[0183] The embodiments described through FIGS. 1 to 15 can be applied to the operating method of a wearable device (500).

[0184] According to one embodiment, a wearable device (120; 200; 300; 300-1; 500) may include a driving module (540); a first frame (530) corresponding to a portion of a user's lower body; an angle sensor (520) for sensing an angle of the first frame to obtain a first frame angle value; a lumbar support module (550) connected to the driving module and positioned at a waist area of ​​the user; an IMU (560); and a processor (510). The processor may obtain the first frame angle value using the angle sensor. The processor may obtain a first rotation angle value of the lumbar support module using the IMU. The processor may determine whether the user's sitting posture is an abnormal sitting posture based on the first rotation angle value and the first frame angle value. If the processor determines the sitting posture to be the abnormal sitting posture, the processor may control the driving module to generate a first torque.

[0185] The above-mentioned lumbar support module can provide an external force to the user by performing a rotational motion based on the generated first torque.

[0186] The processor may determine whether the user's posture corresponds to the sitting posture using the first frame angle value and the first rotation angle value, and if the user's posture corresponds to the sitting posture, determine whether the first rotation angle value falls within a first angle range, and if the first rotation angle value does not fall within the first angle range, determine the sitting posture as the abnormal sitting posture.

[0187] The processor may control the driving module to generate the first torque in the first rotation direction when the processor determines that the first rotation angle value does not fall within the first angle range.

[0188] The above-mentioned lumbar support module can provide the external force that pushes the lumbar region by performing a rotational motion in the first rotational direction based on the first torque.

[0189] The processor may determine a second rotation angle value of the lumbar support module using the IMU in a state where the first torque is generated, determine whether the second rotation angle value corresponds to a first target angle value, and, if it is determined that the second rotation angle value corresponds to the first target angle value, perform an operation of preventing the driving module from generating the first torque or an operation of controlling the driving module so that the driving module generates a torque having a smaller intensity than the intensity of the generated first torque.

[0190] The processor can control the driving module to generate a second torque in a second rotation direction when the rotation angle values ​​of the lumbar support module determined after the second rotation angle value maintain a state corresponding to the first target angle value for a first time period.

[0191] The processor may determine a third rotation angle value of the lumbar support module using the IMU in a state where the second torque is generated, determine whether the third rotation angle value corresponds to a second target angle value, and, if it is determined that the third rotation angle value corresponds to the second target angle value, perform an operation of preventing the driving module from generating the second torque or an operation of controlling the driving module so that the driving module generates a torque having a strength lower than the strength of the second torque.

[0192] The first frame may include a first thigh frame corresponding to the user's first thigh and a second thigh frame corresponding to the user's second thigh.

[0193] The processor calculates an average value of a first angle value (e.g., a first thigh frame angle value) obtained by sensing an angle of the first thigh frame and a second angle value (e.g., a second thigh frame angle value) obtained by sensing an angle of the second thigh frame, and subtracts the first rotation angle value from the calculated average value to obtain a third angle value (e.g., an angle value (θ) f )) and determine whether the determined third angle value falls within the second angle range, and if the determined third angle value falls within the second angle range, it can be determined that the user's posture corresponds to the sitting posture.

[0194] The wearable device may further include a second frame (20) that connects the driving module and the waist support module and rotates by the generated first torque.

[0195] The above-mentioned lumbar support module can perform the rotational motion by causing the second frame to rotate by the generated first torque.

[0196] The processor may determine a magnitude value of the first torque based on at least one of the first rotation angle value and a magnitude value regarding a torque magnitude received from an electronic device wirelessly connected to the wearable device, and control the driving module so that the first torque having the determined magnitude value is generated.

[0197] The processor can determine whether the execution time of the first mode providing the external force to the user has passed a second time, and if it is determined that the execution time has passed the second time, the processor can control the wearable device so that a notification is provided to the user.

[0198] When the processor determines that the execution time has elapsed the second time, the processor can control the driving module so that the first frame connected to the driving module repeats a rotational motion in the first rotational direction and a rotational motion in the second rotational direction.

[0199] The first frame can repeatedly provide an external force corresponding to the notification to a part of the lower body by repeating a rotational motion in the first rotational direction and a rotational motion in the second rotational direction.

[0200] The processor may operate in a second mode in which the first torque and the second torque are generated alternately.

[0201] The above-mentioned lumbar support module can alternately perform a rotational motion in a first rotational direction based on the first torque generated in the second mode and a rotational motion in a second rotational direction based on the second torque.

[0202] The processor may determine a magnitude value of at least one of the first torque and the second torque based on the first rotation angle value and determine a time interval value for the duration of at least one of the first torque and the second torque, and control the driving module so that the first torque and the second torque are alternately generated based on the determined magnitude value and the determined time interval value.

[0203] According to one embodiment, a method of operating a wearable device (120; 200; 300; 300-1; 500) may include: an operation of sensing an angle of a first frame (530) corresponding to a part of a lower body of a user to obtain a first frame angle value; an operation of obtaining a first rotation angle value of a lumbar support module (550) of the wearable device; an operation of determining whether a sitting posture of the user is an abnormal sitting posture based on the first rotation angle value and the first frame angle value; an operation of generating a first torque through a driving module (540) of the wearable device when the sitting posture is determined to be the abnormal sitting posture; and an operation of rotating the lumbar support module connected to the driving module based on the generated first torque to provide an external force to the user.

[0204] The above-described judging action may include an action of judging whether the user's posture corresponds to the sitting posture using the first frame angle value and the first rotation angle value; an action of judging whether the first rotation angle value falls within a first angle range when the user's posture corresponds to the sitting posture; and an action of judging the sitting posture as the abnormal sitting posture when the first rotation angle value is determined not to fall within the first angle range.

[0205] The operation of generating the first torque may include an operation of generating the first torque in the first rotation direction through the driving module when it is determined that the first rotation angle value does not fall within the first angle range.

[0206] The action of providing the external force may include an action of providing the external force that pushes the waist area by rotating the waist support module in the first rotational direction based on the first torque.

[0207] The operating method of the wearable device may further include: an operation of obtaining a second rotation angle value of the lumbar support module using an IMU of the wearable device in a state where the first torque is generated; an operation of determining whether the second rotation angle value corresponds to a first target angle value; and an operation of preventing the driving module from generating the first torque or generating a torque having a smaller intensity than the intensity of the generated first torque when the second rotation angle value is determined to correspond to the first target angle value.

[0208] The above operating method may further include an operation of generating a second torque in a second rotation direction when the rotation angle values ​​of the lumbar support module determined after the second rotation angle value maintain a state corresponding to the first target angle value for a first time.

[0209] The first frame may include a first thigh frame corresponding to the user's first thigh and a second thigh frame corresponding to the user's second thigh.

[0210] The above operating method may include an operation of calculating an average value of a first angle value obtained by sensing an angle of the first thigh frame and a second angle value obtained by sensing an angle of the second thigh frame; an operation of determining a third angle value by subtracting the first rotation angle value from the calculated average value and determining whether the determined third angle value falls within a second angle range; and an operation of determining that the user's posture corresponds to the sitting posture when the determined third angle value falls within the second angle range.

[0211] The above operating method may further include an operation of determining whether the execution time of the first mode providing the external force to the user has passed a second time; and an operation of providing a notification to the user when the execution time is determined to have passed the second time.

[0212] Each embodiment herein may be used in combination with other embodiment(s) described herein.

[0213] 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.

[0214] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or may independently or collectively command the processing device. The software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device 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.

[0215] 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.

[0216] 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.

[0217] 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.

[0218] While the present disclosure has been illustrated and described with reference to various embodiments, it is to be understood that the various embodiments are intended to be illustrative and not limiting. Furthermore, those skilled in the art will appreciate that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. It is also to be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

[0219] 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 (500), A drive module (540) including a motor and / or circuit; A first frame (530) corresponding to a part of the user's lower body; An angle sensor (520) that senses the angle of the first frame and obtains a first frame angle value; A lumbar support module (550) connected to the driving module and supporting the lumbar region of the user and / or positioned at the lumbar region and including a lumbar support; IMU sensor (560); and At least one processor (510) comprising a processing circuit Including, At least one of the above processors, individually and / or collectively At least the first frame angle value is acquired through the angle sensor, and at least the first rotation angle value of the lumbar support module is acquired through the IMU sensor, and based on the first rotation angle value and the first frame angle value, it is determined whether the user's sitting posture is an abnormal sitting posture, and based on determining the sitting posture as the abnormal sitting posture, the driving module is controlled so that the driving module generates a first torque. The above lumbar support module provides an external force to the user through a rotational motion based on the first torque generated. Wearable devices.

2. In paragraph 1, The at least one processor individually and / or collectively determines whether the user's posture corresponds to the sitting posture using at least the first frame angle value and the first rotation angle value, and if it is determined that the user's posture corresponds to the sitting posture, it determines whether the first rotation angle value falls within a first angle range, and if it is determined that the first rotation angle value does not fall within the first angle range, it determines the sitting posture as the abnormal sitting posture. Wearable devices.

3. In paragraph 2, The at least one processor individually and / or collectively controls the driving module to generate the first torque in the first rotational direction when the first rotational angle value is determined not to fall within the first angle range, The above lumbar support module provides the external force that pushes the lumbar region by performing a rotational motion in the first rotational direction based on the first torque. Wearable devices.

4. In paragraph 1, The at least one processor individually and / or collectively determines a second rotation angle value of the lumbar support module through at least the IMU sensor in a state where the first torque is generated, determines whether the second rotation angle value corresponds to the first target angle value, and if it is determined that the second rotation angle value corresponds to the first target angle value, performs an operation of preventing the driving module from generating the first torque and / or an operation of controlling the driving module so that the driving module generates a torque having a smaller intensity than the intensity of the generated first torque. Wearable devices.

5. In paragraph 4, The at least one processor controls the driving module to generate a second torque in the second rotation direction when the rotation angle values ​​of the lumbar support module determined after the second rotation angle value individually and / or collectively maintain a state corresponding to the first target angle value for a first time period. Wearable devices.

6. In paragraph 5, The at least one processor individually and / or collectively determines a third rotation angle value of the lumbar support module through at least the IMU sensor in a state where the second torque is generated, determines whether the third rotation angle value corresponds to the second target angle value, and if it is determined that the third rotation angle value corresponds to the second target angle value, performs an operation of preventing the driving module from generating the second torque and / or an operation of controlling the driving module so that the driving module generates a torque having a smaller intensity than the intensity of the second torque. Wearable devices.

7. In paragraph 1, The first frame includes a first thigh frame corresponding to the first thigh of the user and a second thigh frame corresponding to the second thigh of the user, The at least one processor individually and / or collectively calculates an average value of a first angle value acquired by sensing an angle of the first thigh frame and a second angle value acquired by sensing an angle of the second thigh frame, determines a third angle value by at least subtracting the first rotation angle value from the calculated average value, determines whether the determined third angle value falls within a second angle range, and determines that the user's posture corresponds to the sitting posture when the determined third angle value falls within the second angle range. Wearable devices.

8. In paragraph 1, A second frame (20) that connects the above driving module and the above waist support module and rotates by the generated first torque Including more, The above lumbar support module performs the rotational motion by causing the second frame to rotate by the generated first torque. Wearable devices.

9. In paragraph 1, The at least one processor individually and / or collectively determines a magnitude value of the first torque based on at least one of the first rotation angle value and a magnitude value regarding the torque magnitude received from an electronic device wirelessly connected to the wearable device, and controls the driving module so that the first torque of the determined magnitude value is generated. Wearable devices.

10. In paragraph 1, The at least one processor individually and / or collectively determines whether the execution time of the first mode providing the external force to the user has elapsed a second time period, and if the execution time is determined to have elapsed the second time period, controls the wearable device so that a notification is provided to the user. Wearable devices.

11. In paragraph 10, If the above execution time is determined to have elapsed the second time, the at least one processor individually and / or collectively controls the driving module so that the first frame connected to the driving module repeats the rotational motion in the first rotational direction and the rotational motion in the second rotational direction, The above first frame repeatedly provides an external force corresponding to the notification to a part of the lower body by repeating a rotational motion in the first rotational direction and a rotational motion in the second rotational direction. Wearable devices.

12. In paragraph 1, The at least one processor operates individually and / or collectively in a second mode in which the first torque and the second torque are generated alternately, The above lumbar support module alternately performs a rotational motion in the first rotational direction based on the first torque generated in the second mode and a rotational motion in the second rotational direction based on the second torque. Wearable devices.

13. In paragraph 12, The at least one processor individually and / or collectively determines a magnitude value of at least one of the first torque and the second torque based on the first rotation angle value and determines a time interval value for a duration of at least one of the first torque and the second torque, and controls the drive module so that the first torque and the second torque are alternately generated based on the determined magnitude value and the determined time interval value. Wearable devices.

14. In the operating method of a wearable device (500), An action of sensing an angle of a first frame (530) corresponding to a part of the user's lower body to obtain a first frame angle value; An operation of obtaining a first rotation angle value of a waist support module (550) of the wearable device, wherein the waist support module includes a waist support; An action of determining whether the user's sitting posture is an abnormal sitting posture based on the first rotation angle value and the first frame angle value; If the above sitting posture is determined to be an abnormal sitting posture, an operation of generating a first torque through a driving module (540) of the wearable device - the driving module including a motor and / or a circuit; and An operation of providing an external force to the user by rotating the waist support module connected to the driving module based on the first torque generated above. Including, Method of operation of a wearable device.

15. In paragraph 14, The above judging action is, An operation of determining whether the user's posture corresponds to the sitting posture using the first frame angle value and the first rotation angle value; If it is determined that the user's posture corresponds to the sitting posture, an operation of determining whether the first rotation angle value falls within the first angle range; and An operation of determining the sitting posture as an abnormal sitting posture when the first rotation angle value is determined to not fall within the first angle range. Including, Method of operation of a wearable device.

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