Wearable device having joint angle correction function, and method for operating wearable device

Abstract

A wearable device having a joint angle correction function, and a method for operating the wearable device are disclosed. The method for operating the wearable device comprises the operations of: using sensor data acquired from a sensor of the wearable device. so as to determine the number of steps of a user wearing the wearable device; tracking an angle range for a user joint angle on the basis of the determined number of steps and the user joint angle measured by the wearable device; determining a joint angle correction value on the basis of the tracked angle range; determining a corrected joint angle on the basis of the measured joint angle and the determined joint angle correction value; and controlling the torque output of the wearable device on the basis of the corrected joint angle.

Description

Wearable device having joint angle compensation function and method of operating the wearable device

[0001] Certain embodiments relate to a wearable device having a joint angle compensation function and a method of operating the wearable device.

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

[0003] An operating method of a wearable device according to an exemplary aspect may include an operation of determining a step count of a user wearing the wearable device using sensor data acquired from a sensor of the wearable device, an operation of tracking an angular range for a joint angle of the user based on the determined step count and a joint angle of the user measured by the wearable device, an operation of determining a joint angle correction value based on the tracked angular range, an operation of determining a corrected joint angle based on the measured joint angle and the determined joint angle correction value, and an operation of controlling a torque output of the wearable device based on the corrected joint angle.

[0004] A wearable device according to an exemplary aspect may include a driving module including a motor, a torque transmission frame for transmitting torque generated by the motor to a user's leg, a sensor including an angle sensor for measuring a joint angle of the user corresponding to an angle of the torque transmission frame, and one or more processors for correcting the joint angle and controlling the motor based on the corrected joint angle. The one or more processors may determine a step count of the user wearing the wearable device using sensor data acquired from the sensor, track an angular range for the joint angle of the user based on the determined step count and the joint angle of the user measured by the wearable device, determine a joint angle correction value based on the tracked angular range, determine a corrected joint angle based on the measured joint angle and the determined joint angle correction value, and control a torque output of the motor based on the corrected joint angle.

[0005] These and / or other aspects, features and advantages will become apparent and more readily understood from the following description of exemplary embodiments taken in conjunction with the accompanying drawings.

[0006] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to various embodiments.

[0007] FIG. 2 is a drawing for explaining an exercise assistance system according to various embodiments.

[0008] FIG. 3 illustrates a rear schematic diagram of a wearable device according to various embodiments.

[0009] FIG. 4 illustrates a left side view of a wearable device according to various embodiments.

[0010] FIG. 5 is a diagram illustrating configurations of a wearable device according to various embodiments.

[0011] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to various embodiments.

[0012] FIG. 7 is a diagram illustrating configurations of an electronic device according to various embodiments.

[0013] FIG. 8 is a diagram for explaining a system that performs joint angle correction according to various embodiments and controls torque of a wearable device based on the corrected joint angle.

[0014] FIG. 9 is a diagram illustrating joint angles measured by a wearable device according to various embodiments.

[0015] Figures 10 and 11 are drawings for explaining the occurrence of distortion in joint angles measured by a wearable device.

[0016] FIG. 12 is a diagram for explaining an operation of determining the number of steps according to various embodiments.

[0017] FIG. 13 is a diagram for explaining an operation of tracking an angle range for a joint angle according to various embodiments.

[0018] FIG. 14 is a diagram for explaining an operation of determining a joint angle correction value according to various embodiments.

[0019] FIG. 15 is a drawing for explaining configurations of joint angle compensators according to various embodiments.

[0020] FIG. 16 is a drawing for explaining the configurations of a joint angle compensator according to various embodiments.

[0021] FIGS. 17 and 18 are flowcharts for explaining operations of a method of operating a wearable device according to various embodiments.

[0022] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0023] 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.

[0024] 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.

[0025] Hereinafter, embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0026] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to various embodiments.

[0027] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercising, and / or working. The wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a person who wears the wearable device (100) and walks, exercises, or works.

[0028] A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.) and / or upper body (torso, arms, wrists, etc.)) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0029] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of the user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from the driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a user with abnormal walking habits or walking posture.

[0030] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110) or to provide various exercise experiences to the user (110). The exercise assistance mode may include a resistance mode and an assistance mode. The resistance mode of the exercise assistance mode refers to a mode that impedes the body movement of the user (110) or provides resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs in the resistance mode, thereby further enhancing the exercise effect on the legs of the user (110). The assist mode of the exercise assistance mode refers to a mode in which an assistive force is applied to the body of the user (110) to assist the body movement of the user (110). In the assist mode, an assistive force, which is a force in the same direction as the body movement, is provided to the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) and exercises, the wearable device (100) may provide an assistive force to assist the body movement. In the assistive mode, the wearable device (100) may provide a force in the same direction as the leg movement direction of the user (110), and the user (110) may perform an exercise with less force through the force provided from the wearable device (100). In an exercise program performed using the wearable device (100), the resistance mode and the assistive mode may be operated in combination. For example, the wearable device (100) may provide an assistive force and a resistance force in combination for each exercise section or time section, such as providing an assistive force in some exercise sections and a resistance force in other exercise sections.In the exercise assistance mode, various exercise programs can be operated according to the exercise purpose and / or the physical ability of the user (110). The exercise program is exercise content that the user (110) performs using the wearable device (100), and may include, for example, aerobic exercise, strength training, postural balancing exercise, or any combination thereof. The type of exercise program is not limited thereto and may vary. Depending on the exercise program performed by the wearable device (100), the resistance mode and the assistance mode may be appropriately operated in an alternating manner, and a target exercise speed that matches the appropriate physical condition (e.g., heart rate) of the user (110) while performing the exercise may be guided to the user.

[0031] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using a sensor (e.g., an angle sensor (125)) or an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks and / or exercises, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index (e.g., number of steps, total walking distance, stride) or the exercise ability index (e.g., muscle strength, exercise endurance, postural balance) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100).

[0032] In a specific embodiment, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is used as an example, but is not limited thereto. As described above, the wearable device (100) may also be worn on other body parts (e.g., upper arms, lower arms, hands, calves, or feet) other than the waist and thighs. The shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0033] The wearable device (100) may include a support frame (e.g., a waist support frame (20) of FIGS. 3 and 4) for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110), a drive module (120) for generating a torque applied to the legs of the user (110) (e.g., a first drive module (45) and a second drive module (35) of FIG. 3), a torque transmission frame for transmitting the torque generated by the drive module (120) to the legs of the user (110) (e.g., a first torque transmission frame (55) and a second torque transmission frame (50) of FIG. 3), a sensor circuit including one or more sensors for obtaining sensor data including movement information on the body movement of the user (110) (e.g., leg movement, upper body movement), and a control circuit (130) for controlling the operation of the wearable device (100) (e.g., a control circuit (510) of FIG. 5). there is.

[0034] In one embodiment, the wearable device (100) may include an angle sensor (125) and an inertial sensor (135). The angle sensor (125) may measure a rotation angle of a torque transmission frame of the wearable device (100) corresponding to a hip joint angle of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensor (125) may be positioned near a motor included in the drive module (120) connected to the torque transmission frame. The inertial sensor (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure changes in acceleration and / or angular velocity according to movements of the user (110). The inertial sensor (135) can measure, for example, a movement value of a waist support frame (e.g., waist support frame (20) of FIG. 3) or a base body (e.g., base body (80) of FIG. 3) of a wearable device (100). The movement value of the waist support frame or base body measured by the inertial sensor (135) can correspond to a waist movement value (or upper body movement value) of a user (110).

[0035] In one embodiment, the control circuit (130) and the inertial sensor (135) may be placed within a base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the waist area of ​​the user (110) while the user (110) is wearing the wearable device (100). The base body may be formed or attached to the outside of the waist support frame of the wearable device (100). The base body may support the lumbar region of the user (110).

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

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

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

[0039] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement and / or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., aerobic exercise such as power walking and outdoor walking, strength training such as squats, split lunges, dumbbell squats, and lunge and knee ups, stretching, postural balancing exercise, or any combination thereof) and / or an exercise intensity to be applied to the exercise program via the electronic device (210). The wearable device (100) may control a driving module (e.g., a driving module (120) of FIG. 1) of the wearable device (100) according to the exercise program and / or exercise intensity selected by the user. For example, the wearable device (100) can adjust the strength of the resistance and / or assist force generated by the drive module according to the exercise intensity selected by the user. The wearable device (100) can control the drive module to generate a resistance force corresponding to the exercise intensity selected by the user. As the exercise intensity increases, the magnitude of the resistance force applied to the user can also increase.

[0040] The wearable device (100) can transmit sensor data measured through a sensor (e.g., an angle sensor (125) or an inertial sensor (135) of FIG. 1) to an electronic device (210), and can receive a control signal for controlling the operation of the wearable device (100) from the electronic device (210).

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

[0042] In one embodiment, a user may execute a program (e.g., an application) on an electronic device (210) to control a wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the motor of the drive module, the volume of audio output from an audio output circuit (e.g., the audio output circuit (550) of FIG. 5), the brightness of a lighting unit (e.g., the lighting unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed on the electronic device (210) may provide a graphical user interface for interaction with the user. The electronic device (210) may be a variety of devices. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

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

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

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

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

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

[0048] In one embodiment, the smart glasses (226) can provide information to the user through a glass-shaped display. For example, in exercise mode, the smart glasses (226) can output information such as current exercise speed, target exercise speed, current exercise volume achieved, exercise time, and biometric information through the display. Additionally, the smart glasses (226) can output a screen to guide the user on their exercise route.

[0049] FIG. 3 illustrates a rear schematic diagram of a wearable device according to various embodiments. FIG. 4 illustrates a left side view of a wearable device according to various embodiments.

[0050] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a torque transmission frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, at least one of these components (e.g., the lighting unit (85)) may be omitted from the wearable device (100), or one or more other components may be added.

[0051] The base body (80) can be positioned on the lumbar or stomach of the user while the user is wearing the wearable device (100). In one embodiment, the base body (80) can be mounted on the lumbar of the user to provide a cushioning feeling to the user's waist and support the user's waist. The base body (80) can be hung over the user's buttocks (hip area) to prevent the wearable device (100) from falling downward due to gravity while the user is wearing the wearable device (100). The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's waist while the user is wearing the wearable device (100). The base body (80) can be connected to the waist support frame (20). Waist support frame connection elements (not shown) that can be connected to the waist support frame (20) can be provided at both ends of the base body (80).

[0052] In one embodiment, a lighting unit (85) may be provided on the outer surface of the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a processor (not shown) (e.g., a processor (512) of FIG. 5) of the wearable device (100). According to an embodiment, the lighting unit (85) may be controlled so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) through the lighting unit (85).

[0053] In one embodiment, a display (not shown) may be provided on the outer surface of the base body (80). The display may provide a screen for various visual information related to the wearable device (100) (e.g., status information of the wearable device (100)) and a user interface.

[0054] The waist support frame (20) can support the user's body (e.g., waist) when the wearable device (100) is worn on the user's body. The waist support frame (20) can extend from both ends of the base body (80). The user's waist can be accommodated on the inside of the waist support frame (20). The waist support frame (20) can include at least one rigid body beam. Each beam can have a curved shape with a preset curvature so as to surround the user's waist. A waist fastening part (60) can be connected to an end of the waist support frame (20). A first driving module (45) and a second driving module (35) can be directly or indirectly connected to the waist support frame (20).

[0055] In one embodiment, a processor, a memory (e.g., a memory (514) of FIG. 5), an inertial sensor (e.g., an inertial sensor (135) of FIG. 1, an inertial sensor (522) of FIG. 5), a communication circuit (e.g., a communication circuit (516) of FIG. 5), an audio output circuit (e.g., an audio output circuit (550) of FIG. 5), and a battery (not shown) may be disposed inside the base body (80). The base body (80) may protect the components disposed inside. The processor may generate a control signal that controls the operation of the wearable device (100). The processor may control a motor (or actuator) of each of the first driving module (45) and the second driving module (35) that generates torque based on electric energy stored in the battery.

[0056] In one embodiment, the wearable device (100) may include one or more sensors. The wearable device (100) may include one or more sensors that acquire sensor data including movement information of the user and / or movement information of components of the wearable device (100). For example, the one or more sensors may include, but are not limited to, an inertial sensor (e.g., the inertial sensor (135) of FIG. 1 and the inertial sensor (522) of FIG. 5) for measuring a movement value of the user's upper body or a movement value of the lumbar support frame (20) and / or an angle sensor (e.g., the angle sensor (125) of FIG. 1 and the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) for measuring a movement value of the user's hip joint or a movement value of the torque transmission frame (50, 55). For example, the one or more sensors may further include at least one of a position sensor, a torque sensor, a pressure sensor, a temperature sensor, a biosignal sensor (e.g., a heart rate sensor, an electrocardiogram sensor), a distance sensor, or a proximity sensor.

[0057] The waist fastening member (60) can be directly or indirectly connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0058] The first driving module (45) and the second driving module (35) can generate an external force (or torque) applied to the user's body based on a control signal generated by the processor. For example, the first driving module (45) and the second driving module (35) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the first driving module (45) can be positioned corresponding to the user's right hip joint position, and the second driving module (35) can be positioned corresponding to the user's left hip joint position. The first driving module (45) can include a first actuator and a first joint member, and the second driving module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the processor may control the strength and direction of the force generated by the motor by adjusting the voltage and / or current supplied to the motor.

[0059] In one embodiment, the first joint member and the second joint member can receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. In one embodiment, the first joint member and the second joint member can be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member can be directly or indirectly connected to the first actuator, and the other side can be directly or indirectly connected to the first torque transmission frame (55). The first joint member can be rotated by the power received from the first actuator. An encoder or a hall sensor that can act as an angle sensor for measuring a rotation angle of the first joint member or the first torque transmission frame (55) (corresponding to the user's joint angle) can be disposed on one side of the first joint member. One side of the second joint member can be connected to the second actuator, and the other side can be connected to the second torque transmission frame (50). The second joint member can be rotated by power transmitted from the second actuator. An encoder or hall sensor that can function as an angle sensor for measuring the rotation angle of the second joint member or the second torque transmission frame (50) can also be arranged on one side of the second joint member.

[0060] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0061] In one embodiment, the first torque transmission frame (55) and the second torque transmission frame (50) can transmit the torque generated by the first driving module (45) and the second driving module (35) to the user's body (e.g., the leg) when the wearable device (100) is worn on the user's leg. The transmitted torque can act as an external force applied to the user's leg movement. One end of each of the first torque transmission frame (55) and the second torque transmission frame (50) can be directly or indirectly connected to a joint member and rotated. The other end of each of the first torque transmission frame (55) and the second torque transmission frame (50) is directly or indirectly connected to the first thigh fastening portion (2) and the second thigh fastening portion (1), so that the first torque transmission frame (55) and the second torque transmission frame (50) can support the user's thigh while transmitting the torque generated by the first driving module (45) and the second driving module (35) to the user's thigh. For example, the first torque transmission frame (55) and the second torque transmission frame (50) can push or pull the user's thigh. The first torque transmission frame (55) and the second torque transmission frame (50) can extend along the length of the user's thigh and can be bent to wrap at least a portion of the user's thigh circumference. The first torque transmission frame (55) can be a torque transmission frame for transmitting torque to the user's right leg, and the second torque transmission frame (50) can be a torque transmission frame for transmitting torque to the user's left leg.

[0062] The first thigh fastening part (2) and the second thigh fastening part (1) are directly or indirectly connected to the first torque transmission frame (55) and the second torque transmission frame (50), respectively, and can fasten the wearable device (100) to the user's leg (particularly, the thigh). The first thigh fastening part (2) may be a thigh fastening part for fastening the wearable device (100) to the user's right thigh, and the second thigh fastening part (1) may be a thigh fastening part for fastening the wearable device (100) to the user's left thigh.

[0063] In one embodiment, the first thigh fastening portion (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening portion (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover can apply torque generated from the first driving module (45) and the second driving module (35) to the user's thigh, respectively. The first cover and the second cover are each disposed on one side of the user's thigh, and can push or pull the user's thigh. The first cover and the second cover can be disposed along the circumferential direction of the user's thigh. The first cover and the second cover can extend in both directions with the other end of the first torque transmission frame (55) and the second torque transmission frame (50) as the center, respectively, and can include a curved surface corresponding to the user's thigh. One end of each of the first cover and the second cover can be directly or indirectly connected to the first fastening frame and the second fastening frame. The other end of each of the first cover and the second cover can be directly or indirectly connected to the first strap and the second strap, respectively.

[0064] The first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being detached from the wearable device (100) or reducing the possibility of detachment. The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0065] The first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0066] FIG. 5 is a diagram illustrating configurations of a wearable device according to various embodiments.

[0067] Referring to FIG. 5, the wearable device (100) may include a control circuit (510), a communication circuit (516), one or more sensors (e.g., an inertial sensor (522, a first angle sensor (524), a second angle sensor (524-1)), a drive module (530, 530-1), an input circuit (540), an audio output circuit (550) including a speaker, and a haptic circuit (560).

[0068] The drive module (530) may include a motor (534) and a motor driver circuit (532) for driving the motor (534), and the drive module (530-1) may include a motor (534-1) and a motor driver circuit (532-1) for driving the motor (534-1). In the embodiment of FIG. 5, two drive modules are illustrated, but this is merely an example, and there may be one or three or more drive modules. The drive module (530) including the motor driver circuit (532) and the motor (534) may correspond to the first drive module (45) of FIG. 3, and the drive module (530-1) including the motor driver circuit (532-1) and the motor (534-1) may correspond to the second drive module (35) of FIG. 3.

[0069] One or more sensors may include one or more sensors that acquire sensor data (or sensed values). The one or more sensors may transmit the acquired sensor data to the control circuit (510). The one or more sensors may include, for example, an inertial sensor (522), a first angle sensor (524), and / or a second angle sensor (524-1). Each of these sensors may be present in multiples, and some may be omitted.

[0070] The inertial sensor (522) can measure the movement value of the user's body. The inertial sensor (522) can sense the acceleration of the X-axis, Y-axis, and Z-axis and the angular velocity of the X-axis, Y-axis, and Z-axis according to the user's movement. The inertial sensor (522) can measure, for example, the movement value of the user's upper body. The movement value of the user's upper body can correspond to the movement value of the waist support frame of the wearable device (100) (e.g., the waist support frame (20) of FIGS. 3 and 4). In one embodiment, the inertial sensor (522) can be located on a printed circuit board present inside the base body (80) of the wearable device (100), and can measure a signal indicating the degree of inclination of the wearable device (100) and / or the acceleration of the wearable device (100).

[0071] The first angle sensor (524) and the second angle sensor (524-1) can measure the hip joint angle according to the user's leg movement. The first angle sensor (524) can sense the hip joint angle of the user's right leg, and the second angle sensor (524-1) can sense the hip joint angle of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder and / or a hall sensor. The hip joint angle of the right leg sensed by the first angle sensor (524) may correspond to a movement value (e.g., a rotation angle value) of the first torque transmission frame of the wearable device (e.g., the first torque transmission frame (55) of FIG. 3), and the hip joint angle of the left leg sensed by the second angle sensor (524-1) may correspond to a movement value (e.g., a rotation angle value) of the second torque transmission frame of the wearable device (e.g., the second torque transmission frame (50) of FIG. 3).

[0072] In one embodiment, the one or more sensors may further include a torque sensor for sensing a torque value, a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a biosignal of a user, a distance sensor for measuring a distance to an object, a pressure sensor for measuring a pressure value, and / or a temperature sensor for measuring an ambient temperature.

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

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

[0075] In one embodiment, the wearable device (100) may further include a battery (not shown) for supplying power to each component of the wearable device (100) and a power management circuit (not shown) for controlling the power supply. The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0076] The drive module (530, 530-1) can generate an external force applied to the user's leg under the control of the control circuit (510). The drive module (530, 530-1) is located at a location corresponding to the user's hip joint position and can generate a torque applied to the user's leg based on a control signal generated by the control circuit (510). The control circuit (510) can transmit the control signal to the motor driver circuit (532, 532-1), and the motor driver circuit (532, 532-1) can control the operation of the motor (534, 534-1) by generating a current signal (or voltage signal) corresponding to the control signal and supplying it to the motor (534, 534-1). Depending on the control signal, the current signal may not be supplied to the motor (534, 534-1). The motor (534, 534-1) can generate an assistive force that assists the user's leg movement or a resistive force that impedes the leg movement when a current signal is supplied to the motor (534, 534-1) and the motor is driven.

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

[0078] The processor (512) may, for example, execute software to control at least one other component (e.g., a hardware or software component) of the wearable device directly or indirectly connected to the processor (512), and may perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication circuit (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the result data after the processing in the memory (514). The processor (512) may include one or more processors, and the operations of the wearable device (100) described in the present disclosure may be performed by one processor or by a combination of multiple processors.

[0079] According to one embodiment, the processor (512) may include at least one of a main processor (e.g., a central processing unit (CPU) or an application processor) and / or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith. The processor (512) may also be implemented as a system on chip (SoC) or an integrated circuit (IC) that performs processing. The auxiliary processor may be implemented separately from the main processor or as a part thereof.

[0080] The memory (514) can store various data used by at least one component (e.g., the processor (512)) of the control circuit (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include at least one instruction executable by the processor (512). The memory (514) can include one or more memories, and the instructions for controlling the processor (512) to perform operations of the wearable device (100) described in the present disclosure can be stored in one memory or can be divided and stored in multiple memories. The memory (514) can include volatile memory or non-volatile memory.

[0081] The communication circuit (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control circuit (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) of FIG. 2 or another wearable device (220)), and the performance of communication through the established communication channel. The communication circuit (516) may, for example, transmit sensor data acquired by a sensor to an external electronic device (e.g., the electronic device (210) of FIG. 2) and receive a control signal from the external electronic device. In one embodiment, the communication circuit (516) may include one or more communication processors that operate independently from the processor (512) and support direct (e.g., wired) communication or wireless communication. In one embodiment, the communication circuit (516) may include a wireless communication circuit (e.g., a cellular communication circuit, a short-range wireless communication circuit, or a global navigation satellite system (GNSS) communication circuit) and / or a wired communication circuit. The wireless communication circuitry may communicate with other components of the wearable device (100) and / or external devices via, for example, Bluetooth, WiFi (wireless fidelity), ANT (advanced and adaptive network technology), IrDA (infrared data association), a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a local area network (LAN) or a wide area network (WAN).

[0082] The haptic circuit (560) can provide haptic feedback to a user under the control of the processor (512). The haptic circuit (560) can include one or more haptic actuators. The haptic actuators can include, for example, a piezo actuator, a bander type actuator, and / or a vibration motor-based actuator. The haptic actuators can be one or more. In one embodiment, the haptic actuator can be located in at least one of a base body (e.g., the base body (80) of FIG. 3), a torque transmission frame (e.g., the first torque transmission frame (75) of FIG. 3, the second torque transmission frame (70)), and a thigh fastening part (e.g., the first thigh fastening part (2) of FIG. 3, the second thigh fastening part (1)) of the wearable device (100).

[0083] The wearable device (100) can generate a torque to assist the movement of a user (e.g., a wearer wearing the wearable device (100)). For example, when the wearable device (100) operates in a walking assistance mode, the wearable device (100) can generate an appropriate torque to be applied to the user based on the hip joint angle measured through the first angle sensor (524) and / or the second angle sensor (524-1). The user's walking pattern can be estimated based on the measured hip joint angle, and a torque corresponding to each walking pattern can be provided to the user through the wearable device (100). At this time, depending on the purpose of walking assistance, an assistive force to assist walking or a resistive force to enhance walking movement may be provided through the wearable device (100). When resistance is provided to enhance walking motion or for other motions, the hip joint angle may be measured with a slight distortion by the first angle sensor (524) and / or the second angle sensor (524-1). This is because the wearable device (100) (more specifically, the lumbar support frame (e.g., the lumbar support frame (20) of FIG. 3)) may be slightly distorted due to a torque in a direction that is intended to impede the user's leg movement, and the hip joint angle may be measured with a distortion due to the distortion of the wearable device (100). Alternatively, the hip joint angle may also be measured with a distortion if the wearable device (100) is incorrectly worn on the user's body (e.g., worn askew). A distorted measurement of the hip joint angle may mean that the hip joint angle measured when the wearable device (100) is distorted is measured differently from the hip joint angle measured when the wearable device (100) is not distorted. The stronger the resistance provided by the wearable device (100), the greater the degree of distortion of the wearable device (100), and accordingly, the greater the distortion of the hip joint angle may appear.Hip joint angles measured differently from reality due to distortion may reduce the accuracy of judging the user's gait pattern (or gait phase) and determining torque parameters (e.g., torque intensity, torque generation time).

[0084] In one embodiment, the wearable device (100) can correct (calibrate or compensate) the distortion of the hip joint angle as described above. The wearable device (100) can estimate the degree of twist of the wearable device (100) from the measured hip joint angle, and can correct the hip joint angle in real time based on the estimated degree of twist. The wearable device (100) can determine the number of steps of the user based on sensor data, and track the range of motion (ROM) of the user's legs (e.g., the angle range for the hip joint angle) based on the determined number of steps. The wearable device (100) can calculate the torsion angle from the range of motion of the user's legs, and determine the joint angle compensation value from the torsion angle. The wearable device (100) can perform angle compensation by applying the joint angle compensation value to the measured hip joint angle, and can perform torque control based on the compensated hip joint angle. Angle correction allows for more accurate hip joint angle measurements of the user's leg movements. This more accurate hip joint angle also allows for more accurate torque control, reducing user discomfort caused by inaccurate torque provision. The wearable device (100) performing angle correction is described in more detail below with reference to FIGS. 8-18.

[0085] A wearable device (100) having a joint angle correction function according to one embodiment may include a driving module (530; 530-1) including a motor (534; 534-1), a torque transmission frame (e.g., a first torque transmission frame (55) and a second torque transmission frame (50) of FIG. 3) for transmitting torque generated by the motor (534; 534-1) to the user's leg, a sensor including an angle sensor (e.g., a first angle sensor (524), a second angle sensor (524-1)) for measuring a joint angle (e.g., a hip joint angle) of the user corresponding to an angle of the torque transmission frame, and one or more processors (512) for correcting the joint angle and controlling the motor (534; 534-1) based on the corrected joint angle. The one or more processors (512) may determine the number of steps of a user wearing the wearable device (100) using sensor data acquired from the sensors. For example, a gait pattern may be estimated from sensor data of a hip joint angle measured from a first angle sensor (524) and / or a second angle sensor (524-1), and a step count may be counted whenever a specific gait point (e.g., heel strike, toe-off) is detected in the estimated gait pattern. As another example, a gait pattern may be estimated from sensor data of acceleration and / or angular velocity measured from an inertial sensor (522), and a step count may be counted whenever a specific gait point is detected in the estimated gait pattern. The method of counting the step count is not limited thereto.

[0086] In one embodiment, one or more processors (512) may track an angular range for the user's joint angles based on the determined step count and the user's joint angles measured by the wearable device (100). The one or more processors (512) may determine an angular range for a change in a first joint angle corresponding to the movement of the user's right leg and an angular range for a change in a second joint angle corresponding to the movement of the user's left leg from a previously measured joint angle each time the step count changes. The one or more processors (512) may extract extreme values ​​of the joint angles from the previously measured joint angle data each time the step count changes, and determine an angular range for the joint angles based on the extracted extreme values. The extreme values ​​may include a maximum value and a minimum value. In one embodiment, the previously measured joint angle data may be data for joint angles measured during a section in which the step count was maintained immediately before the step count changed.

[0087] In one embodiment, one or more processors (512) may determine a joint angle correction value based on the tracked angle range. One or more processors (512) may determine an angular error based on the angular range for the determined joint angle, and may determine a joint angle correction value based on the angular error.

[0088] In one embodiment, the one or more processors (512) can determine a first average value based on local maxima and local minima extracted from an angular range for a joint angle of a first joint of the user (e.g., a right hip joint). For example, an average value of local maxima and local minima extracted from an angular range of one cycle for the joint angle of the first joint can be determined as the first average value. The one or more processors (512) can determine a second average value based on local maxima and local minima extracted from an angular range for a joint angle of a second joint of the user (e.g., a left hip joint). For example, an average value of local maxima and local minima extracted from an angular range of one cycle for the joint angle of the second joint can be determined as the second average value. The one or more processors (512) can determine an angular error based on the first average value and the second average value.

[0089] In one embodiment, one or more processors (512) may determine an angular error for a joint angle of the first joint based on a result obtained by subtracting the first average value from the second average value. For example, a result obtained by subtracting the first average value from the second average value may be determined as an angular error for the joint angle of the first joint.

[0090] In one embodiment, one or more processors (512) may determine an angular error for a joint angle of a second joint based on a result obtained by subtracting the second average value from the first average value. For example, a result obtained by subtracting the second average value from the first average value may be determined as an angular error for a joint angle of the first joint.

[0091] In one embodiment, the one or more processors (512) can determine a corrected joint angle based on the measured joint angle and the determined joint angle correction value. The one or more processors (512) can determine a first joint angle correction value that depends on an angular error for the determined joint angle of the first joint and a second joint angle correction value that depends on an angular error for the determined joint angle of the second joint. The one or more processors (512) can determine the corrected joint angle for the first joint by adjusting the measured joint angle of the first joint based on the first joint angle correction value. The one or more processors (512) can determine the corrected joint angle for the second joint by adjusting the measured joint angle of the second joint based on the second joint angle correction value.

[0092] In one embodiment, one or more processors (512) can control the torque output of the motors (534; 534-1) based on the corrected joint angles. The magnitude of the torque and / or the timing of application of the torque can be determined based on the corrected joint angles.

[0093] FIG. 6 is a diagram illustrating interaction between a wearable device and an electronic device according to various embodiments.

[0094] Referring to FIG. 6, a wearable device (100) can communicate with an electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0095] In one embodiment, the electronic device (210) may execute an application for checking the status of the wearable device (100) or controlling or operating the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0096] In one embodiment, a user may input a command (e.g., a command to execute a walking assistance mode or an exercise assistance mode) for controlling the operation of the wearable device (100) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) 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 (100). The wearable device (100) may operate according to the received control command and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may analyze the control result and / or sensor data to provide the user with result information (e.g., current exercise status information, exercise result information, exercise posture evaluation information, physical ability evaluation information) through the GUI screen.

[0097] FIG. 7 is a diagram illustrating configurations of an electronic device according to various embodiments.

[0098] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication circuit (730), a display circuit (740), an audio output circuit (750), and an input circuit (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output circuit (750)), or may have one or more other components added (e.g., a sensor circuit, a haptic circuit, a battery).

[0099] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store a command or data received from another component (e.g., communication circuit (730)) in the memory (720), process the command or data stored in the memory (720), and store the resulting data in the memory (720). The processor (710) may include one or more processors, and the operations of the electronic device (210) described in the present disclosure may be performed by one processor or by a combination of multiple processors.

[0100] According to one embodiment, the processor (710) may include at least one of a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction with the main processor. The processor (512) may also be implemented as a system on a chip (SoC) or an integrated circuit that performs processing.

[0101] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication circuit (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and instructions related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include one or more memories, and instructions for controlling the processor (710) to perform operations of the electronic device (210) described in the present disclosure can be stored in one memory or can be divided and stored in multiple memories. The memory (720) can include a volatile memory or a non-volatile memory.

[0102] The communication circuit (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication circuit (730) may include a communication circuit for performing a communication function. The communication circuit (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication circuit (730) may include a wireless communication circuit (e.g., a Bluetooth communication circuit, a cellular communication circuit, a Wi-Fi communication circuit, or a GNSS communication circuit) or a wired communication circuit (e.g., a LAN communication circuit or a power line communication circuit) that performs wireless communication. The communication circuit (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0103] The display circuit (740) can visually provide information to an external device (e.g., a user) of the electronic device (210). The display circuit (740) can include, for example, an LCD or OLED display, a holographic device, or a projector device. The display circuit (740) can further include a control circuit for controlling display operation. In one embodiment, the display circuit (740) can further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by a touch. The display circuit (740) can output a user interface screen for controlling the wearable device (100) or providing various information (e.g., exercise evaluation information, setting information of the wearable device (100).

[0104] The audio output circuit (750) can output an audio signal to the outside of the electronic device (210). The audio output circuit (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100).

[0105] The input circuit (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (710)) from an external source (e.g., a user) of the electronic device (210). The input circuit (760) can include an input component circuit and can receive user input. The input circuit (760) can include, for example, a key (e.g., a button) and / or a touch recognition circuit for recognizing a touch on a screen.

[0106] FIG. 8 is a diagram for explaining a control system that performs joint angle correction according to various embodiments and controls torque of a wearable device based on the corrected joint angle.

[0107] Referring to FIG. 8, the control system may include a user-wearable device system (810), a torque controller (820), a step count determiner (830), an angle range tracker (840), an angle error determiner (850), and a joint angle corrector (860). In one embodiment, the operations of the torque controller (820), the step count determiner (830), the angle range tracker (840), the angle error determiner (850), and the joint angle corrector (860) may be performed by a processor included in the wearable device (100) (e.g., the processor (512) of FIG. 5).

[0108] The user-wearable device system (810) is a system in which a user wearing a wearable device (100) interacts with the wearable device (100), and the wearable device (100) uses an angle sensor (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5) to measure the user's joint angle (e.g., hip joint angle). , and the torque control signal determined by the torque controller (820) , A torque to be applied to the user can be generated based on the following: In one embodiment, represents the joint angle of the user's right hip joint over time, can represent the joint angle of the user's left hip joint over time. represents a torque control signal for controlling the torque applied to the user's right leg over time, may represent a torque control signal for controlling the torque to be applied to the user's left leg over time.

[0109] Joint angle compensator (860) measures joint angles in real time , Corrected joint angles by compensating for the distortion contained in each , can determine the corrected joint angle. The torque controller (820) , Torque control signal based on , can determine. In one embodiment, the torque controller (820) has a corrected joint angle , In addition, other additional information can be input. The joint angle compensator (860) is a joint angle , Corrected joint angles by correcting , The process of determining is as follows:

[0110] The step count determiner (830) can determine the number of steps of a user wearing the wearable device (100) using sensor data acquired from sensors of the wearable device (100) (e.g., the inertial sensor (522), the first angle sensor (524), and the second angle sensor (524-1) of FIG. 5). For example, the step count determiner (830) can measure a change in an acceleration value according to the user's movement through the inertial sensor, and can count the number of steps whenever a specific pattern (e.g., a bouncing value) that appears when the user's foot touches the ground is detected in the measured acceleration value. However, the method of counting the number of steps may vary and is not limited thereto. The number of steps can be counted in real time while the user is walking while wearing the wearable device (100).

[0111] The number of steps determined by the step count determiner (830) and the joint angle measured by the wearable device (100) , can be transmitted to the angle range tracker (840). The angle range tracker (840) determines the number of steps and the joint angle. , The angle range for the user's joint angle can be tracked based on the angle range tracker (840). In one embodiment, the angle range tracker (840) measures the joint angle corresponding to the movement of the user's right leg from the previously measured joint angle (e.g., the most recently measured joint angle) each time the number of steps changes. The angular range of the change and the joint angle corresponding to the movement of the user's left leg The angular range for the change can be determined. The angular range tracker (840) can track new extrema (maximum and minimum values) of the joint angle from the previously measured joint angle whenever the number of steps changes (or whenever the number of steps is counted).

[0112] The angle error determiner (850) determines the angle error based on the angle range tracked by the angle range tracker (840). , The angle range tracked by the angle range tracker (840) may change each time the number of steps changes, and the angle error determiner (850) determines the angle error for the joint angle of the first joint (e.g., the right hip joint) based on the angle range of the joint angle that is updated each time the number of steps changes. and angular error for joint angle of the second joint (e.g. left joint) can be calculated.

[0113] Joint angle measured by wearable device (100) , and the angle error determined by the angle error determiner (850). , can be transmitted to the joint angle compensator (860). The joint angle compensator (860) can detect the angle error , Determine the joint angle correction value based on the measured joint angle, and compare the determined joint angle correction value with the measured joint angle. , Corrected joint angles applied to , can be determined. The joint angle compensator (860) can be used to determine, for example, the angle error , Joint angle correction values ​​that make each one 0 , and determine the joint angle correction value , Each joint angle , In addition to the corrected joint angles , In one embodiment, the joint angle corrector (860) may be input with other additional information (e.g., the user's walking speed). The joint angle corrector (860) may adjust whether or not to correct the joint angle or the timing of correction based on the other additional information. For example, if the user's walking speed is less than a threshold, the joint angle corrector (860) may , Joint angles without compensation , can be transmitted to the torque controller (820). In this case, the torque controller (820) transmits the uncorrected joint angle , A torque control signal can be generated based on this.

[0114] FIG. 9 is a diagram illustrating joint angles measured by a wearable device according to various embodiments.

[0115] Referring to Figure 9, the user's joint angle (e.g., hip joint angle) can be measured by an angle sensor of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5). In one embodiment, the joint angle can be defined as a value of 0 degrees when the torque transfer frame of the wearable device (100) (e.g., the first torque transfer frame (55) or the second torque transfer frame (50) of FIG. 3) is aligned with the gravity line (900) that is perpendicular to the horizon. The movement of the torque transfer frame can correspond to the movement of the user's legs. Joint angle can be defined as a negative value when the torque transmission frame is in the forward direction of the user, and a positive value when it is in the backward direction of the user. For example, as shown in Fig. 9, the joint angle when the user extends the right leg in the forward direction can be measured at -38 degrees. However, the joint angle The method of defining is not limited to this.

[0116] Figures 10 and 11 are drawings for explaining the occurrence of distortion in joint angles measured by a wearable device.

[0117] Referring to FIG. 10, when a user wears a wearable device (100) and performs an exercise such as walking, the wearing state of the wearable device (100) may change due to the engagement of forces. For example, if a resistance force is provided from the wearable device (100) to impede the movement of the user's right leg, and the user moves the right leg in a direction opposite to the direction in which the resistance force of the wearable device (100) acts, the wearable device (100) (or the waist support frame (20) of the wearable device (100)) may rotate or twist in the direction (1010). The greater the resistance force provided by the wearable device (100), the greater the rotation or twisting of the wearable device (100). Even if the wearable device (100) is initially firmly fastened to the user's waist to prevent the wearable device (100) from slipping off the user's waist, it is difficult to avoid rotation or twisting of the wearable device (100) as described above because the user's body is not a rigid body.

[0118] If rotation or twisting of the wearable device (100) did not occur, the range of the joint angle measured by the angle sensor of the wearable device (100) would have the range (1020). However, if rotation or twisting of the wearable device (100) occurs, the range of the measured joint angle may be measured as the range (1030). In this way, if rotation or twisting of the wearable device (100) occurs, the joint angle may be measured in a distorted manner.

[0119] FIG. 11 illustrates graphs (1112, 1114, 1122, 1124) representing joint angles measured over time when a user wearing a wearable device (100) is walking. Graphs (1112) and (1114) represent the joint angle of a first joint (e.g., right hip joint) and the joint angle of a second joint (e.g., left hip joint) measured when no rotation or twisting of the wearable device (100) occurs (1110), respectively. Graphs (1122) and (1124) represent the joint angle of a first joint (e.g., right hip joint) and the joint angle of a second joint (e.g., left hip joint) measured when a rotation or twisting of the wearable device (100) occurs (1120), respectively. The joint angle of the first joint represented by the graph (1112) and the graph (1122) can be measured by the first angle sensor of the wearable device (100) (e.g., the first angle sensor (524) of FIG. 5). The joint angle of the second joint represented by the graph (1114) and the graph (1124) can be measured by the second angle sensor of the wearable device (100) (e.g., the second angle sensor (524-1) of FIG. 5).

[0120] If rotation or twisting of the wearable device (100) has not occurred, the joint angle of the first joint and the joint angle of the second joint will have the same or similar extreme values, as shown in graphs (1112) and (1114). Comparing graphs (1112), (1114), (1122), and (1124), it can be seen that when rotation or twisting of the wearable device (100) has occurred, one joint angle is measured as a more positive value, and the other joint angle is measured as a more negative value. Graphs (1122) and (1124) show a case where the joint angle of the first joint is measured as being more biased in the positive direction, and the joint angle of the second joint is measured as being more biased in the negative direction.

[0121] FIG. 12 is a diagram for explaining an operation of determining the number of steps according to various embodiments.

[0122] Referring to FIG. 12, graphs (1220) and (1230) respectively represent joint angles of a first joint (e.g., a right hip joint) and a second joint (e.g., a left hip joint) measured over time when a user wears a wearable device (100) and walks. The joint angles of the first joint and the joint angles of the second joint can be measured by an angle sensor of the wearable device (100) (e.g., the first angle sensor (524) and the second angle sensor (524-1) of FIG. 5).

[0123] The processor of the wearable device (100) (e.g., the processor (512) of FIG. 5) can determine the number of steps of a user wearing the wearable device (100) using sensor data acquired from a sensor of the wearable device (100) (e.g., the inertial sensor (522), the first angle sensor (524), or the second angle sensor (524-1) of FIG. 5). The method of determining the number of steps based on the sensor data may vary and is not limited to a specific method. The graph (1210) shows a change in the number of steps determined over time when the user wears the wearable device (100) and walks. The number of steps may be counted for each step of the user and may increase. In one embodiment, when the number of steps is counted when the user's foot touches the ground, a relationship in which the number of steps increases may appear at a moment when at least one of the joint angle of the first joint and the joint angle of the second joint becomes 0 degrees or approaches 0 degrees. The number of steps may be counted in real time while the user walks.

[0124] FIG. 13 is a diagram for explaining an operation of tracking an angle range for a joint angle according to various embodiments.

[0125] Referring to FIG. 13, a graph (1310) represents a joint angle of a first joint (e.g., a right hip joint) measured over time when a user wears a wearable device (100) and walks. A processor of the wearable device (100) (e.g., processor (512) of FIG. 5) can track an angular range for the joint angle of the first joint. The processor can determine an angular range for a change in the joint angle from a previously measured joint angle whenever the user's step count changes (e.g., whenever the step count increases).

[0126] The processor can track the angular range through which the joint angles move over time. In one embodiment, the processor can extract local minimum and local maximum values ​​of the joint angles from previously measured joint angle data each time the step count changes, and determine the angular range for the joint angles based on the extracted local minimum and local maximum values. The processor can extract local minimum and local maximum values ​​from previously tracked and stored joint angle values ​​each time the step count is counted. For example, assuming that the stride time, which refers to the time interval between two consecutive points where the same foot touches the ground during a user's walking, is 2 seconds or less, and the joint angle values ​​of the first joint, which are measured every 10 milliseconds (ms), are measured up to 200 times during one gait cycle, the local minimum and local maximum values ​​of the joint angle values ​​in the most recent (or previous gait cycle) can be extracted each time the step count is counted. This process can be performed for each gait cycle so that the angular range for the joint angles can be continuously updated. A graph (1320) for the maximum values ​​extracted each time the number of steps changes in the joint angle of the first joint represented by the graph (1310) and a graph (1330) for the minimum values ​​are shown. Graph (1320) and graph (330) represent graphs that connect the maximum values ​​and minimum values ​​of the joint angle of the first joint for each step of the user, respectively.

[0127] The processor may also track the angular range of joint angles of the second joint (e.g., the left hip joint) in the same manner as described above. Each time the user's step count changes (e.g., each time the step count increases), the processor may determine the angular range of change in the first joint angle corresponding to the movement of the user's right leg from the previously measured joint angles, and the angular range of change in the second joint angle corresponding to the movement of the user's left leg.

[0128] FIG. 14 is a diagram for explaining an operation of determining a joint angle correction value according to various embodiments.

[0129] The processor of the wearable device (100) (e.g., the processor (512) of FIG. 5) can determine an angle error for each joint angle based on the angle range tracked by the process described in FIG. 13, and determine a joint angle correction value based on the determined angle error.

[0130] Referring to FIG. 14, graphs (1410) and (1420) respectively represent the joint angle of a first joint (e.g., right hip joint) and the joint angle of a second joint (e.g., left hip joint) measured over time while a user is walking while wearing a wearable device (100). Looking at graphs (1410) and (1420), it can be seen that the joint angle of the first joint and the joint angle of the second joint are measured with a bias in a positive or negative direction, so it can be inferred that the joint angles were measured while the wearable device (100) was rotated or twisted.

[0131] The processor can determine an angular error for each gait cycle based on an angular range for previously determined joint angles. The angular error may represent a distorted angle or a torsion angle. The angular error is illustrated in the drawing. and It can respond to the difference between the two. can represent the average value of the maximum and minimum values ​​extracted from the angle range for the joint angle of the first joint. can represent the average value of the maximum and minimum values ​​extracted from the angle range for the joint angle of the second joint.

[0132] Within the Nth gait cycle (N is a natural number greater than or equal to 1) and Indicates , can be calculated using the following mathematical equations 1 and 2. represents the average value of the maximum and minimum values ​​of the angle range for the joint angle of the first joint within the Nth gait cycle, represents the average value of the maximum and minimum values ​​of the angle range for the joint angle of the second joint within the Nth gait cycle.

[0133]

[0134]

[0135] Here, represents the maximum value extracted from the angle range of the joint angle of the first joint measured within the Nth gait cycle, is the Nth gait cycle represents the maximum value extracted from the angle range of the joint angle of the second joint measured within the Nth gait cycle, represents the local minimum value extracted from the angle range of the joint angle of the second joint measured within the Nth gait cycle. is the point in time that belongs to the Nth gait cycle section represents a set of . is point t n Indicates the joint angle value of the first joint in , Silver point of view Indicates the joint angle value of the second joint in .

[0136] In one embodiment, an angular error for a joint angle of a first joint and the angular error for the joint angle of the second joint can be calculated using the following mathematical equations 3 and 4.

[0137]

[0138]

[0139] In one embodiment, the angular error As in mathematical formula 3, at It is determined by subtracting the value of , and the angle error As in mathematical formula 4, at can be determined by subtracting the value. If there was no rotation or twist of the wearable device (100), class Since they will have similar values and The value of will be closer to 0. The greater the rotation or twist of the wearable device (100), the class The gap between the two is growing, and The value will increase.

[0140] In one embodiment, the processor measures the angle error for the joint angle of the first joint. Determine the joint angle correction value that makes the joint angle of the second joint 0, and the angle error for the joint angle of the second joint A joint angle correction value that makes the angle 0 can be determined. FIG. 15 is a drawing for explaining the configurations of a joint angle corrector according to various embodiments.

[0141] Referring to FIG. 15, the joint angle compensator (860) measures the joint angle measured by the wearable device (100). , and the corrected joint angle based on the joint angle correction value. , can be decided. corresponds to the corrected joint angle of the right leg (or first joint), may correspond to the corrected joint angle of the left leg (or the second joint). The joint angle corrector (860) may include a joint angle correction value determiner (1510), an adder (1520), and an adder controller (1530). In one embodiment, the operations of the joint angle correction value determiner (1510), the adder (1520), and the adder controller (1530) may be performed by a processor included in the wearable device (100) (e.g., the processor (512) of FIG. 5).

[0142] The joint angle correction value determiner (1510) can determine a first joint angle correction value that depends on an angle error for the joint angle of the first joint and a second joint angle correction value that depends on an angle error for the joint angle of the second joint. In one embodiment, the joint angle correction value determiner (1510) determines an angle error determined through the above mathematical equations 3 and 4. , Based on joint angles , Joint angle correction values ​​to be applied to each , can be determined. The joint angle correction value determiner (1510) can determine, for example, the angle error , Joint angle correction value that makes this 0 , In one embodiment, the joint angle compensation value determiner (1510) may include a proportional integral derivative (PID) controller (not shown) for determining the joint angle compensation value. The PID controller may determine the input angle error , is reported as an error value, and the angle error , Joint angle correction value to make it 0 , can output. The PID controller can output a joint angle compensation value as a result of linearly combining, for example, the value proportional to the angle error itself, the derivative of the angle error, and the integral of the angle error.

[0143] The joint angle compensator (860) determines the joint angle compensation value Joint angles based on Joint angles corrected by adjusting can be determined. The joint angle compensator (860) determines the joint angle compensation value Joint angles based on Joint angles corrected by adjusting can be decided.

[0144] For example, the adder (1520) of the joint angle compensator (860) can determine the corrected joint angle by adding the determined joint angle compensation value to the measured joint angle. The adder (1520) can determine the joint angle Angle correction value can be added, and the joint angles corrected by this can be obtained. The adder (1520) is a joint angle Angle correction value can be added, and the joint angles corrected by this can be obtained. The adder (1520) may not perform joint angle correction under the control of the adder controller (1530). If the joint angle correction is not performed, the adder (1520) may output the input value as is.

[0145] The adder controller (1530) can control whether to perform angle correction by the adder (1520). For example, if a non-calibration condition, which is a condition for not performing correction, is satisfied, the adder controller (1530) can not connect the joint angle correction value determiner (1510) and the adder (1520) via the switch (1540). If the joint angle correction value determiner (1510) and the adder (1520) are not connected to each other, the adder (1520) can calculate the input joint angle without an angle correction process. , can be output as is. The adder controller (1530) can input other information such as walking speed and can determine whether the non-compensation condition is satisfied based on the input other information. Cases in which the non-compensation condition is satisfied may include, but are not limited to, cases in which the user's walking speed is lower than a threshold, cases in which the user is determined to have stopped walking, or cases in which a special situation (e.g., the user falls, walking on a slope / stairs) is determined to have occurred. If the non-compensation condition is not satisfied, the adder controller (1530) can connect the joint angle compensation value determiner (1510) and the adder (1520) through the switch (1540). In this case, the angle compensation value is output from the joint angle compensation value determiner (1510). , This is passed to the adder (1520), and the adder (1520) adds the angle correction value , Corrected joint angles based on , can be calculated. FIG. 16 is a drawing for explaining the configurations of a joint angle compensator according to various embodiments.

[0146] Referring to FIG. 16, the joint angle compensator (1610) (e.g., the joint angle compensator (860) of FIG. 8) may be implemented with a plurality of adders (1620, 1630). The adder (1620) adds the joint angle measured by the wearable device (100). Angular error Half of (joint angle correction value) Corrected joint angles by adding (corresponding to) can output. The adder (1620) outputs the joint angle measured by the wearable device (100). Angular error Half of (joint angle correction value) Corrected joint angles by adding (corresponding to) can output. The joint angle compensator (1610) has a simple configuration and does not require any other information to determine whether the non-compensation condition is satisfied.

[0147]

[0148] FIGS. 17 and 18 are flowcharts illustrating operations of a method of operating a wearable device according to various embodiments. In one embodiment, at least one of the operations in FIGS. 17 and 18 may be performed simultaneously or in parallel with another operation, and the order of the operations may be changed. Furthermore, at least one of the operations may be omitted, and another operation may be additionally performed.

[0149] Referring to FIG. 17, in operation (1710), a processor of a wearable device (100) (e.g., processor (512) of FIG. 5) may determine a joint angle correction value based on a joint angle of a user measured by an angle sensor of the wearable device (100) (e.g., first angle sensor (524) and second angle sensor (524-1) of FIG. 5). The processor may determine the joint angle correction value by performing the operations described in FIGS. 12-16.

[0150] In operation (1720), the processor may determine whether a set non-compensation condition is satisfied. The non-compensation condition may include, but is not limited to, a case where the user's walking speed is less than a threshold or a case where the user's walking is determined to have stopped.

[0151] If the non-compensation condition is satisfied (e.g., the user's walking speed is less than a threshold) (yes in operation (1720)), then in operation (1730) the processor can control the torque output of the wearable device based on the joint angle measured by the angle sensor of the wearable device (100) without performing a compensation operation on the joint angle.

[0152] If the non-compensation condition is not satisfied (e.g., if the user's walking speed is not less than the threshold) (e.g., if the answer to operation (1720) is 'No'), the processor may perform a joint angle compensation operation in operation (1740). For example, the processor may perform the joint angle compensation operation and determine the compensated joint angle by performing the operations described in FIG. 15 or FIG. 16. Operation (1740) is described in more detail in FIG. 18.

[0153] In operation (1750), the processor can control the torque output of the wearable device (100) based on the corrected joint angle. The processor can determine the profile of the torque (e.g., the output pattern of the torque) to be output through the drive module (e.g., the drive module (530) and the drive module (530-1) of FIG. 5) of the wearable device (100) based on the corrected joint angle.

[0154] FIG. 18 is a flowchart for explaining in more detail the operations of correcting a joint angle according to one embodiment and controlling the torque of a wearable device (100) based on the corrected joint angle.

[0155] Referring to FIG. 18, in operation (1810), the wearable device (100) may determine the number of steps of a user wearing the wearable device (100) using sensor data acquired from sensors of the wearable device (100) (e.g., the inertial sensor (522), the first angle sensor (524), and the second angle sensor (524-1) of FIG. 5). For example, a walking pattern may be estimated from sensor data of acceleration and / or angular velocity measured from the inertial sensor of the wearable device (100), and the number of steps may be counted whenever a specific walking point is detected in the estimated walking pattern. The method of counting the number of steps is not limited thereto.

[0156] In operation (1820), the wearable device (100) may track an angular range for the user's joint angles based on the determined number of steps and the user's joint angles measured by the wearable device (100). The wearable device (100) may determine an angular range for a change in a first joint angle corresponding to the movement of the user's right leg from a previously measured joint angle and an angular range for a change in a second joint angle corresponding to the movement of the user's left leg from a previously measured joint angle whenever the number of steps changes. The wearable device (100) may extract extrema of the joint angles from the previously measured joint angle data whenever the number of steps changes, and determine an angular range for the joint angles based on the extracted extrema. The extrema may include local maxima and local minima. In one embodiment, the previously measured joint angle data may be data for joint angles measured during a section in which the number of steps is maintained immediately before the number of steps changes.

[0157] In operation (1830), the wearable device (100) can determine a joint angle correction value based on the tracked angle range. The wearable device (100) can determine an angle error based on the angle range for the determined joint angle, and determine a joint angle correction value based on the angle error.

[0158] In one embodiment, the wearable device (100) may determine a first average value based on local maxima and local minima extracted from an angular range for a joint angle of a first joint of the user (e.g., a right hip joint). For example, an average value of local maxima and local minima extracted from an angular range of one cycle for the joint angle of the first joint may be determined as the first average value. The wearable device (100) may determine a second average value based on local maxima and local minima extracted from an angular range for a joint angle of a second joint of the user (e.g., a left hip joint). For example, an average value of local maxima and local minima extracted from an angular range of one cycle for the joint angle of the second joint may be determined as the second average value. The wearable device (100) may determine an angular error based on the first average value and the second average value.

[0159] In one embodiment, the wearable device (100) may determine an angular error for the joint angle of the first joint based on a result obtained by subtracting the first average value from the second average value. For example, a result obtained by subtracting the first average value from the second average value may be determined as the angular error for the joint angle of the first joint.

[0160] In one embodiment, the wearable device (100) may determine an angular error for the joint angle of the second joint based on a result obtained by subtracting the second average value from the first average value. For example, a result obtained by subtracting the second average value from the first average value may be determined as the angular error for the joint angle of the first joint.

[0161] In operation (1840), the wearable device (100) can determine a corrected joint angle based on the measured joint angle and the determined joint angle correction value. The wearable device (100) can determine a first joint angle correction value that depends on an angular error for the determined joint angle of the first joint and a second joint angle correction value that depends on an angular error for the determined joint angle of the second joint. The wearable device (100) can determine the corrected joint angle for the first joint by adjusting the measured joint angle of the first joint based on the first joint angle correction value. The wearable device (100) can determine the corrected joint angle for the second joint by adjusting the measured joint angle of the second joint based on the second joint angle correction value.

[0162] In operation (1850), the wearable device (100) can control the torque output of the wearable device (100) based on the corrected joint angle. The wearable device (100) can control the torque output of a motor (e.g., motor (534; 534-1) of FIG. 5) of the wearable device (100) based on the corrected joint angle. The strength of the torque and / or the timing of application of the torque can be determined based on the corrected joint angle.

[0163]

[0164] According to one embodiment, a method for operating a wearable device (100) may include an operation (1810) of determining a step count of a user wearing the wearable device (100) using sensor data acquired from a sensor of the wearable device (100), an operation (1820) of tracking an angular range for a joint angle of the user based on the determined step count and a joint angle of the user measured by the wearable device (100), an operation (1830) of determining a joint angle correction value based on the tracked angular range, an operation (1840) of determining a corrected joint angle based on the measured joint angle and the determined joint angle correction value, and an operation (1850) of controlling a torque output of the wearable device (100) based on the corrected joint angle.

[0165] The operation (1820) of tracking the angle range for the above joint angle may include an operation of determining an angle range for a change in a first joint angle corresponding to a movement of the user's right leg and an angle range for a change in a second joint angle corresponding to a movement of the user's left leg from a previously measured joint angle each time the number of steps changes.

[0166] The operation of determining the joint angle correction value may include an operation of determining the joint angle correction value based on an angle range for a change in the first joint angle and an angle range for a change in the second joint angle.

[0167] The operation (1820) of tracking the angle range for the joint angle may include an operation of extracting extreme values ​​of the joint angle from previously measured joint angle data each time the number of steps changes, and an operation of determining the angle range for the joint angle based on the extracted extreme values.

[0168] The joint angle data previously measured above may be data on the joint angle measured during the section in which the step count was maintained immediately before the step count changed.

[0169] The operation (1830) of determining the joint angle correction value may include an operation of determining an angle error based on an angle range for the joint angle, and an operation of determining the joint angle correction value based on the angle error.

[0170] The operation of determining the angle error may include an operation of determining a first average value based on maximum and minimum values ​​extracted from an angle range for a joint angle of a first joint of the user, an operation of determining a second average value based on maximum and minimum values ​​extracted from an angle range for a joint angle of a second joint of the user, and an operation of determining the angle error based on the first average value and the second average value.

[0171] The operation of determining the angle error may include an operation of determining the angle error for the joint angle of the first joint based on a result of subtracting the first average value from the second average value, and an operation of determining the angle error for the joint angle of the second joint based on a result of subtracting the second average value from the first average value.

[0172] The operation (1830) of determining the joint angle correction value may include an operation of determining the joint angle correction value that makes the angle error 0.

[0173] The operation (1830) of determining the joint angle correction value may include an operation of determining a first joint angle correction value that depends on an angle error for a joint angle of a first joint of the user and a second joint angle correction value that depends on an angle error for a joint angle of a second joint of the user.

[0174] The operation of determining the corrected joint angle may include an operation of determining the corrected joint angle for the first joint by adjusting the measured joint angle of the first joint based on the first joint angle correction value, and an operation of determining the corrected joint angle for the second joint by adjusting the measured joint angle of the second joint based on the second joint angle correction value.

[0175] The operation of determining the corrected joint angle may include an operation of determining the corrected joint angle by adding the determined joint angle correction value to the measured joint angle.

[0176] The operation (1810) of determining the number of steps of the user may include an operation of increasing the number of steps of the user when the signal value of the signal obtained from the inertial sensor (135, 522) included in the wearable device (100) is greater than or equal to a threshold value.

[0177] A computer-readable recording medium according to one embodiment can record instructions that, when executed by one or more processors (512), cause the one or more processors (512) to perform the method of operation.

[0178] A wearable device (100) according to one embodiment may include a drive module (530, 530-1) including a motor (534, 534-1), a torque transmission frame (50, 55) for transmitting torque generated by the motor (534, 534-1) to a user's leg, a sensor including an angle sensor (125, 524, 524-1) for measuring a joint angle of the user corresponding to an angle of the torque transmission frame (50, 55), and one or more processors (512) for correcting the joint angle and controlling the motor (534, 534-1) based on the corrected joint angle.

[0179] The one or more processors (512) may determine the number of steps of the user wearing the wearable device (100) using sensor data acquired from the sensor, track an angular range for the user's joint angle based on the determined number of steps and the user's joint angle measured by the wearable device (100), determine a joint angle correction value based on the tracked angular range, determine a corrected joint angle based on the measured joint angle and the determined joint angle correction value, and control a torque output of the motor (534, 534-1) based on the corrected joint angle.

[0180] The one or more processors (512) may determine an angular range for a change in a first joint angle corresponding to a movement of the user's right leg and an angular range for a change in a second joint angle corresponding to a movement of the user's left leg from a previously measured joint angle each time the number of steps changes.

[0181] The one or more processors (512) may extract extreme values ​​of joint angles from previously measured joint angle data each time the number of steps changes, and determine an angle range for the joint angles based on the extracted extreme values.

[0182] The one or more processors (512) may determine an angle error based on an angle range for the joint angle, and determine the joint angle correction value based on the angle error.

[0183] The one or more processors (512) may determine a first average value based on maximum and minimum values ​​extracted from an angle range for a joint angle of a first joint of the user, determine a second average value based on maximum and minimum values ​​extracted from an angle range for a joint angle of a second joint of the user, and determine the angular error based on the first average value and the second average value.

[0184] The one or more processors (512) may determine an angular error for a joint angle of the first joint based on a result obtained by subtracting the first average value from the second average value, and may determine an angular error for a joint angle of the second joint based on a result obtained by subtracting the second average value from the first average value.

[0185] The one or more processors (512) may determine a first joint angle correction value depending on an angular error for a joint angle of a first joint of the user and a second joint angle correction value depending on an angular error for a joint angle of a second joint of the user, and may determine a corrected joint angle for the first joint by adjusting the measured joint angle of the first joint based on the first joint angle correction value, and may determine a corrected joint angle for the second joint by adjusting the measured joint angle of the second joint based on the second joint angle correction value.

[0186]

[0187] The various embodiments of correcting joint angles described above can be applied not only to wearable devices for leg assistance but also to wearable devices for upper limb assistance. In this case, the joint angles of the arm moving forward and backward around the user's shoulder axis can be corrected.

[0188] The various embodiments of the present disclosure and the terminology used therein are not intended to limit the technical features described in the present disclosure to specific embodiments, but should be understood to include various modifications, equivalents, or substitutes of the embodiments. In connection with the description of the drawings, similar reference numerals may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the items, unless the context clearly indicates otherwise. In the present disclosure, each of the phrases "A or B," "at least one of A and B," "at least one of A or B," "A, B, or C," "at least one of A, B, and C," and "at least one of A, B, or C" can include any one of the items listed together in the corresponding phrase among the phrases, or all possible combinations thereof. Terms such as "first," "second," or "first" or "second" may be used merely to distinguish the corresponding component from other corresponding components and do not limit the corresponding components in any other respect (e.g., importance or order). When a component (e.g., a first) is referred to as "coupled" or "connected" to another (e.g., a second) component, with or without the terms "functionally" or "communicatively," it means that the component can be connected to the other component directly (e.g., wired), wirelessly, or through at least a third component(s).

[0189] The term "module" used in various embodiments of the present disclosure may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit. A module may be an integrally formed component, or a minimum unit or part of such a component that performs one or more functions. For example, according to one embodiment, a module may be implemented in the form of an application-specific integrated circuit (ASIC). Accordingly, each "module" in this specification may include a circuit.

[0190] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, or computer storage medium or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may be distributed across networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium. Various embodiments of the present disclosure may be implemented as software comprising one or more instructions stored on a storage medium that can be read by a machine. For example, a processor of the device may recall at least one of the one or more instructions stored from the storage medium and execute it. This enables the device to operate to perform at least one function in accordance with the recalled at least one instruction. The one or more instructions may include code generated by a compiler or code executable by an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0191] According to one embodiment, the method according to the embodiments may be provided as a computer program product. The computer program product may be traded between sellers and buyers as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or may be provided through an application store (e.g., Play Store). TM ) or directly between two user devices (e.g., smart phones), online distribution (e.g., downloading or uploading). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or an intermediary server.

[0192] According to various embodiments, each component (e.g., a module or a program) of the above-described components may include one or more entities, and some of the entities may be separated and placed in other components. According to various embodiments, one or more components or operations of the aforementioned components may be omitted, or one or more other components or operations may be added. Alternatively or additionally, a plurality of components (e.g., a module or a program) may be integrated into a single component. In such a case, the integrated component may perform one or more functions of each of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. According to various embodiments, the operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, omitted, or one or more other operations may be added.

[0193] While this disclosure has been illustrated and described with reference to various embodiments, it will be understood that the various embodiments are illustrative and not limiting. It will be further understood by those skilled in the art that various changes in form and detail may be made without departing from the true spirit and scope of the present disclosure, including the appended claims and their equivalents. Furthermore, it will be understood that any embodiment(s) described herein may be used in conjunction with any other embodiment(s) described herein.

Claims

1. In the operating method of a wearable device (100), An operation (1810) of determining the number of steps of a user wearing the wearable device (100) using sensor data acquired from a sensor of the wearable device (100); An operation (1820) of tracking an angular range for a joint angle of the user based on the determined number of steps and the joint angle of the user measured by the wearable device (100); An action (1830) of determining a joint angle compensation value based on the above-mentioned tracked angle range; An operation (1840) of determining a corrected joint angle based on the measured joint angle and the determined joint angle correction value; and An operation (1850) for controlling the torque output of the wearable device (100) based on the above-mentioned corrected joint angle 2. In paragraph 1, The action (1820) of tracking the angle range for the above joint angle is: An action of determining an angle range for a change in a first joint angle corresponding to the movement of the user's right leg from the previously measured joint angles and an angle range for a change in a second joint angle corresponding to the movement of the user's left leg whenever the number of steps changes. A method of operation comprising:

3. In paragraph 2, The operation for determining the above joint angle compensation value is: An operation for determining the joint angle correction value based on the angle range for the change in the first joint angle and the angle range for the change in the second joint angle. A method of operation comprising:

4. In any one of paragraphs 1 to 3, The action (1820) of tracking the angle range for the above joint angle is: An operation of extracting extreme values ​​of joint angles from previously measured joint angle data whenever the above step count changes; and An operation for determining an angle range for the joint angle based on the extracted extreme values. A method of operation comprising:

5. In paragraph 4, The joint angle data measured previously above, Data on joint angles measured during the section where the step count was maintained immediately before the above step count changed. How it works.

6. In any one of paragraphs 1 to 5, The operation (1830) of determining the above joint angle compensation value is: An operation for determining an angular error based on an angular range for the above joint angle; and An operation for determining the joint angle compensation value based on the above angle error. A method of operation comprising:

7. In paragraph 6, The operation for determining the above angular error is: An operation of determining a first average value based on maximum and minimum values ​​extracted from an angle range for a joint angle of the first joint of the user; An operation of determining a second average value based on the maximum and minimum values ​​extracted from the angle range for the joint angle of the second joint of the user; and An operation for determining the angular error based on the first average value and the second average value. A method of operation comprising:

8. In paragraph 7, The operation for determining the above angular error is: An operation of determining an angle error for a joint angle of the first joint based on a result of subtracting the first average value from the second average value; and An operation for determining an angle error for a joint angle of the second joint based on a result of subtracting the second average value from the first average value. A method of operation comprising:

9. In any one of paragraphs 6 to 8, The operation (1830) of determining the above joint angle compensation value is: An action to determine the joint angle compensation value that makes the above angle error 0. A method of operation comprising:

10. In any one of paragraphs 6 to 9, The operation (1830) of determining the above joint angle compensation value is: An operation of determining a first joint angle correction value dependent on an angular error for a joint angle of a first joint of the user and a second joint angle correction value dependent on an angular error for a joint angle of a second joint of the user. Including, The action of determining the above-mentioned corrected joint angle is: An operation of determining a corrected joint angle for the first joint by adjusting the measured joint angle of the first joint based on the first joint angle correction value; and An operation for determining a corrected joint angle for the second joint by adjusting the measured joint angle of the second joint based on the second joint angle correction value. A method of operation comprising:

11. In any one of paragraphs 1 to 10, The action of determining the above-mentioned corrected joint angle is: An operation of determining the corrected joint angle by adding the determined joint angle correction value to the measured joint angle. A method of operation comprising:

12. In any one of paragraphs 1 to 11, The operation (1810) of determining the number of steps of the user is as follows: An operation for increasing the number of steps of the user when the signal value of the signal acquired from the inertial sensor (135; 522) included in the wearable device (100) is greater than or equal to a threshold value. A method of operation comprising:

13. In a wearable device (100), A drive module (530; 530-1) including a motor (534; 534-1); A torque transmission frame (50; 55) for transmitting the torque generated by the above motor (534; 534-1) to the user's leg; A sensor including an angle sensor (125; 524; 524-1) for measuring the joint angle of the user corresponding to the angle of the torque transmission frame (50; 55); and One or more processors (512) for correcting the above joint angles and controlling the motors (534; 534-1) based on the corrected joint angles. Including, The above one or more processors (512) Using the sensor data acquired from the above sensor, the number of steps of the user wearing the wearable device (100) is determined, Tracking the angle range for the user's joint angle based on the determined number of steps and the user's joint angle measured by the wearable device (100), Determine the joint angle compensation value based on the above-mentioned tracked angle range, Determine a corrected joint angle based on the measured joint angle and the determined joint angle correction value, Controlling the torque output of the motor (534; 534-1) based on the above-mentioned corrected joint angle. Wearable device (100).

14. In paragraph 13, The above one or more processors (512) Each time the number of steps changes, determining an angle range for a change in a first joint angle corresponding to the movement of the user's right leg from the previously measured joint angles and an angle range for a change in a second joint angle corresponding to the movement of the user's left leg. Wearable device (100).

15. In paragraph 13 or 14, The above one or more processors (512) Determine the angle error based on the angle range for the above joint angle, and determine the joint angle correction value based on the angle error. Wearable device (100).

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