Walking assistance wearable robot for estimating physical ability of wearer and supporting selective muscle-strengthening exercise, and wearable robot system

Abstract

The present invention relates to a walking assistance wearable robot for assisting walking exercise of a wearer, comprising: a fixing unit, which can be mounted on a body part of the wearer; a driving unit, which can be mounted on the fixing unit, wherein the driving unit calculates the degree of change in the state trajectory of the wearer, calculates output torque on the basis of same, and calculates the output torque to be a value that is less than or equal to a threshold during the predetermined time period within a range, not exceeding a threshold, that includes the point at which the sign of the calculated output torque changes, the predetermined time period being 0.5-1 second.

Description

Walking assistance wearable robot and wearable robot system for estimating the wearer's physical ability and supporting selective muscle strengthening exercise The present invention relates to a walking assistance wearable robot and a wearable robot system for estimating a wearer's physical ability and supporting selective muscle strengthening exercise. Wearable robots have been developed since the 1960s, and have been used to enhance the strength of high-load, high-risk workers and protect their bodies; wearable assistive devices to assist movement, rehabilitation, and posture correction for the elderly and patients; and prosthetic limbs and arms to replace body functions for the disabled. Wearable robots have been developed since the 1960s in non-commercial areas such as the military / welfare for the disabled, and since 2010, their business areas have expanded to commercial areas such as rehabilitation / industry / health. Wearable robots have to move while worn by people, so if they are heavy and bulky, they not only hinder human movement, but can also injure people if the control is wrong. Therefore, although they may be heavy and difficult to move, they were first used in areas where the wearer's needs are high, such as helping high-load, high-risk workers that people cannot do, or helping people who cannot walk to walk. The degree of walking, balance, and muscle strength ability due to aging varies greatly from person to person. In order to maximize the effective assistance and exercise effects of wearable robotic devices, physical ability assessment is necessary and individualized customization is necessary. However, existing physical function and walking ability assessments require separate measurement protocols and experts familiar with them without wearing wearable devices, which makes measurement difficult due to the high cost and time required and the possibility of error in measurement. Therefore, if the wearer's physical ability can be confirmed with a wearable device without a separate walking ability measurement, it will not only be helpful in operating group exercise according to level, but also enable the suggestion and automation of personalized exercise programs for individuals when exercising alone. Hereinafter, a wearable device and method capable of estimating the wearer's physical ability using a wearable walking exercise robot that utilizes a backdrivable actuator are provided. In addition, many people in work environments that require walking assistance repeat complex movements that mix walking and work movements that are known to them for long periods of time. For example, sanitation workers often repeat various movements while walking for long periods of time, such as collecting trash on the ground and riding in a vehicle. At this time, it is necessary to perform walking assistance by activating the device torque only when walking without interfering with the worker's movements by deactivating the device torque in movements that do not require walking assistance. In the case of prior art US11,590,383B2, a process is included of estimating a user's gait phase, pre-planning / determining an assistive torque corresponding thereto, and identifying one or more gait segments of the gait phase corresponding to selected lower body muscles. Finally, a strategy is used to apply a resistance impulse torque that impedes movement to the corresponding gait segment. The method that includes the process of identifying these gait phases and gait segments has low recognition accuracy during irregular gait, making it difficult to apply torque to the intended gait segment, and consequently making it difficult to achieve the purpose of selective muscle strengthening. In addition, the pre-planned abrupt waveform torque trajectory shape that does not reflect the wearer's every-moment movements in real time can suddenly interrupt natural gait, which can act as a factor that interferes with gait stability and comfort. In particular, pre-planned, rapid waveform torque trajectory shapes that do not reflect the wearer's every-second movements in real time can be dangerous for the elderly or those with impaired walking, and as a result, it is difficult to apply high loads (for the purpose of increasing exercise effectiveness) in a safe manner. In addition, while the prior art only considered resistance to strengthen muscle strength, the present invention also includes a content that enables strengthening of ankle muscles that are separated from the hip by increasing walking speed using auxiliary power. Existing walking assistance wearable robots have mainly used a rigid frame structure applied to the waist and hip joint area to stably fix the wearer's body. This structure has the advantage of increasing stability when the user performs various movements while wearing the robot, but has the problem of restricting the wearer's movement and causing discomfort. In particular, when the rigid frame surrounds the side of the hip joint, interference may occur depending on the wearer's body shape or body size, causing discomfort, and it has been a factor in increasing the wearer's fatigue when used for a long time. The rigid frame structure of existing wearable robots requires custom adjustment to the body shape, and in many cases, the feeling of wearing them differs due to differences in body shape between users. This problem has been a major obstacle to the commercialization and popularization of wearable robots, and additional structural and design changes have been required to provide customization according to various body shapes. This has caused the weight of the product to increase and the overall system to become more complex. To solve this problem, some wearable robots have attempted to increase the comfort of the wearer by applying soft materials or flexible structures. However, some parts of the frame still have rigid elements, so they cannot provide complete flexibility for the user's various movements, and there are limitations in implementing a perfect fit according to the body type. In particular, since interference in the hip joint area could not be completely eliminated, there was difficulty in implementing a natural assistive function according to the wearer's movement. Accordingly, the present invention proposes a wearable robot that can effectively assist the wearer's walking movement while minimizing interference according to body shape or body size by removing the rigid frame in the lateral direction of the hip joint and applying a soft waist wearing part. The present invention focuses on providing a flexible waist wearable so that a user can wear it comfortably regardless of body type, and on optimizing the connection structure between the waist wearable and the driving unit to provide a natural assistive function during walking. Based on this technical background, the present invention aims to provide a soft and stable thigh wearable designed to maintain comfort for a wearer even when used for a long period of time and to naturally follow the movements of the human body. The thigh wearable of the present invention maximizes the wearing comfort through a lightweight structure and ergonomic design, and supports smooth sliding and rotational movements with the thigh frame joint to enhance the performance of a walking assistance robot. The present invention can provide a device, method and system capable of estimating or evaluating a wearer's physical ability to maximize the efficient assistance and exercise effects of a wearable robot. The present invention can provide a personalized exercise program based on estimating the physical ability of a wearer using a wearable robot. The present invention quantifies physical ability based on the device power of a wearable robot to solve various problems of existing methods for evaluating walking and physical ability, and thereby provides a service for estimating physical ability in a more convenient way. The present invention uses a wearable robot capable of estimating a wearer's walking ability during walking exercise to create and provide a graphical user interface that displays real-time walking information of a wearer, statistical information according to accumulated walking information, and a walking analysis report based on the wearer's walking analysis information. The present invention estimates the walking ability of a wearable robot wearer based on a deep learning model, and can provide at least one of a report and a personalized exercise program based on the estimated walking ability. Conventional feedforward control-based walking assistance techniques estimate the user's current walking phase and speed, and plan and apply assist torque in advance accordingly. That is, in the case of conventional techniques, the current walking phase is estimated based on the user's periodic walking movements, and then assist torque is applied according to the walking phase. This approach works fine during periodic walking motions, but it has difficulty responding quickly to rapid motion changes, resulting in user-device mismatch. In addition, in the case of conventional technology, an additional bio-signal sensor (EMG) can be used to detect the user's walking motion in advance, but there is a problem that separate sensor signal processing is required and the sensor must be in contact with the user's skin. In addition, irregular gait pattern changes can be due to changes in the walking environment, such as turning while walking, and going up / down stairs / slopes. In the past, the wearer's work movements and walking environment were estimated and the pre-planned assist torque was changed and applied according to the environment. However, this method is vulnerable to complex walking environments and rapid changes in walking patterns because it relies on the walking environment recognition performance. Existing walking assistance wearable robots based on recognition of walking speed, cadence, and number of steps may take at least 1 to 2 steps (about 0.5 seconds or more) to update control rules. In the case of workers, there are cases where they perform rapid movements immediately after stopping while walking, which may cause a mismatch between walking assistance and work movements. Existing various fitness exercises are difficult for the elderly to learn easily, and require correction / assistance from a professional trainer to confirm the correct exercise posture, whereas walking exercise can be performed easily and safely without the need to learn a separate exercise posture. However, walking exercise has the disadvantage of being difficult to provide various exercise effects and high exercise loads. In addition, existing research results show that adding weight to the pelvic position (waist) or ankles is not effective for walking (improvement) training, so it is difficult to achieve walking posture improvement and left / right balance correction when walking with existing walking exercise. Accordingly, if lower body muscle strength can be (selectively) strengthened through walking exercise, the advantages of walking exercise can be utilized while minimizing its disadvantages. Therefore, the present invention aims to selectively strengthen lower body muscle strength during walking exercise using a wearable robot. The present invention seeks to provide a wearable robot that can adapt to various body shapes and sizes and that can be easily put on and taken off by the wearer. Additionally, if a wearable robot is not used, we would like to provide a wearable robot that is easy to carry. Since wearable robots must adhere to the user's body and assist movement, if they are heavy and bulky, they will restrict the user's free movement and cause discomfort when worn, and if the control is not correct, there is a risk of injury to the user. Due to these problems, existing wearable robots have been mainly used for special purposes such as industrial, military, or medical purposes, and there have been limitations in developing them to a level where they can be used by the general public on a daily basis. Among the existing technologies, H Company's walking assistance device and devices with a similar structure feature driving units placed on both sides of the hip joint and batteries and control units placed on the back, and the waist wearable is designed to support the device. However, this structure increases the weight of the device, and due to the fixed frame shape and size, it does not effectively support users with various body shapes and sizes, and there are problems in that the device may slip down or the seal with the body may be reduced. In addition, the way the waist wearable supports the counteraction of the assistive force causes great discomfort to the user's waist. On the other hand, Soft Exoskeleton, which uses fabric materials similar to clothing and cable actuators, stands out for its attempts to improve the wearing comfort, but has problems such as poor wearing comfort due to the pressure of contact with the skin during the process of assisting the joints due to the cable structure, and low driving efficiency. There is also a limitation that torque transmission efficiency is reduced due to cable friction, and assistance is only possible in one direction. Devices that use a single actuator and apply a differential structure are attempts to symmetrically transmit the actuator output to both legs, and attempt to fix the wearable part through a joint structure that is tailored to the wearer's body. However, a complex joint structure that requires rigidity to align the hip joint axis and the rotation center of the actuator is required, which causes problems such as increased weight and complex structure. Therefore, the present invention seeks to solve the following problems. The weight of the wearable robot is reduced so that the wearer does not feel heavy even when wearing the device, and the motion of the wearer is not restricted, allowing free movement. This ensures that there is no inconvenience in everyday movements such as getting in and out of a car, sitting down or spreading the legs, or sitting or lying down on a chair. It is designed to accommodate users with various body shapes and sizes, so that the wearer can easily put on and take off the device by themselves. In addition, when the device is not in use, it can be folded into a compact form or disassembled and carried in a bag. The device adheres closely to the wearer's thighs and waist without slipping down, and the device's assistive force is improved to not put excessive pressure on the waist or skin, maximizing the wearing comfort. Beyond simply assisting walking, it provides flexibility and adaptability of movement that can effectively support the wearer's various movements (walking, climbing stairs, running, etc.), and enables personalized assistance tailored to the user's condition and needs. In order to solve these problems, the present invention proposes a wearable robot including a thigh wearable part that is lightweight and designed to be customized for the user. The thigh wearable part is designed to smoothly adhere to the user's thigh to provide excellent wearing comfort, and to support flexible sliding and rotational movements with the thigh frame joint part to naturally adapt to the wearer's movements. Through this, it complements the shortcomings of existing technologies and enables the implementation of a wearable robot with a mobility level that can be used by ordinary people in daily life. Existing wearable robots are heavy and bulky, which may restrict the wearer's movements or cause discomfort. The present invention aims to solve this problem by making the frame structure lightweight and ergonomically designed so that the wearer can move naturally. Shock and vibration generated in the process of transmitting auxiliary power cause discomfort to the wearer and reduce the efficiency of the device. The present invention aims to solve this problem by effectively suppressing shock and vibration through a urethane bearing and a sliding mechanism to provide smooth and stable auxiliary power. Existing technologies have limitations in that they do not sufficiently reflect the user's individual walking characteristics (walking, climbing stairs, sitting, etc.) or cause discomfort in certain movements. The present invention provides user-tailored assistance through 2-stage and 2.5-stage sliding mechanisms and aims to flexibly respond to various walking characteristics. The left-right leaning phenomenon that may occur when the thigh frame slides may hinder the stability of the operation and reduce the durability of the device. The present invention aims to prevent the left-right leaning phenomenon during sliding by implementing a left-right symmetrical structure and a certain angle in the thigh cover and thigh inner member. Existing wearable robots may not respond immediately to the wearer's movements or may have limited joint range of motion, which may cause discomfort when worn. The present invention seeks to provide natural and comfortable walking support by implementing a structure that adapts to the user's movements and responds nimbly. Since wearable robots are devices that people wear and move around, their usability is limited if the battery life is short. The present invention aims to minimize power consumption through a lightweight structure and efficient design. A wearable robot capable of estimating a wearer's physical ability during walking motion, comprising: a fixing part that can be mounted on a body part; and a driving part that can be mounted on the fixing part; wherein the driving part can estimate the wearer's physical ability based on power of the driving part due to the wearer's walking motion. Additionally, the driving unit can estimate the wearer's physical ability based on a value obtained by normalizing the power of the driving unit by torque. Additionally, the driving unit can calculate a ratio of power to torque of the driving unit by dividing the power of the driving unit by the RMS (Root Mean Square) torque of the driving unit. In addition, the driving unit can sense the hip angle of the wearer and calculate an angular velocity based on the sensed hip angle; and the power of the driving unit can be calculated by multiplying the calculated angular velocity and the torque. Additionally, the calculated angular velocity can be calculated based on the wearer's walking when the wearer uses a backdrivable actuator. In addition, the torque can be calculated by selecting at least one of the calculated plurality of operation state values ​​and calculating the weighted sum of the selected operation state values ​​when the driving unit calculates a plurality of operation state values ​​based on the calculated angular velocity. Additionally, the driving unit can accumulate the ratio of the power to torque of the driving unit calculated for each step. Additionally, the above-described multiple operation state values ​​can be stored by repeating shift operations through the state trajectory memory buffer. A method for estimating a wearer's physical ability during walking using a wearable robot including a driving unit, the method comprising: a step of accumulating a ratio of power to torque of the driving unit calculated by the driving unit for each walking session; and a step of calculating statistics on the accumulation. A method for estimating a wearer's physical ability while walking using a wearable robot including a driving unit, the method comprising: a step of receiving, from a server device, statistical information on the accumulation of a ratio of power to torque of the driving unit calculated by the driving unit for each walking time; and a step of displaying the statistics on the received accumulation. A method for estimating a wearer's physical ability while walking using a wearable robot including a driving unit, the method comprising: a step of proposing exercise information based on a database according to a correlation between a ratio of power to torque of the driving unit calculated by the driving unit and the wearer's physical condition. A method for estimating a wearer's physical ability while walking using a wearable robot including a driving unit, the method comprising: a step of proposing movement information based on a deep learning model learned using a ratio of power to torque of the driving unit calculated by the driving unit and the wearer's physical condition as learning data. A method for estimating a wearer's physical ability while walking using a wearable robot including a driving unit, the method comprising: a step of predicting an exercise effect based on a deep learning model trained using as learning data a ratio of power to torque of the driving unit calculated by the driving unit and at least one of the wearer's physical condition, wearable robot usage information, and exercise effect. In addition, the wearer's physical condition may be a condition that takes into account at least one or at least two or more of the wearer's age, gender, height, weight, and athletic ability. A method for estimating a wearer's physical ability while walking using a wearable robot including a driving unit, the method comprising: a step of receiving, from a server device, exercise information based on a database according to a correlation between a ratio of power to torque of the driving unit calculated by the driving unit and the wearer's physical condition; and a step of displaying the received exercise information. In a server device for managing the movement of a wearable robot wearer, the server device can receive gait information of a wearer wearing a wearable robot linked to the first user terminal from a first user terminal, and can transmit the received gait information of the wearer to a second user terminal. Additionally, feedback information based on the walking information of the wearer received by the second user terminal can be received from the second user terminal. Additionally, feedback information based on the gait information of the wearer received by the second user terminal may include exercise intensity based on the gait information of the wearer. Additionally, the feedback information based on the gait information of the wearer received by the second user terminal includes information for controlling exercise intensity based on the gait information of the wearer in real time. A system for managing the movement of a wearer wearing a wearable robot capable of estimating the physical ability of the wearer during walking movement, the system comprises: a first user terminal for outputting analysis information on the movement of the wearer; a server device for receiving analysis information on the movement of the wearer output by the first user terminal; and a second user terminal for receiving analysis information on the movement of the wearer transmitted by the server device. Additionally, the server device can receive feedback information based on information about the wearer's movement transmitted to the second user terminal from the second user terminal, and can transmit the received feedback information to the first user terminal. Additionally, the feedback information received by the server device includes exercise intensity based on the wearer's gait information. Additionally, the analysis information on the wearer's movement output by the first user terminal is based on the ratio of power to torque produced by the wearable robot. Additionally, the analysis information on the wearer's movement output by the first user terminal is at least one of the wearer's agility or lower body muscle strength. A method for generating a graphical user interface for providing information on gait of a wearable robot wearer according to one embodiment of the present invention may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, including the steps of: receiving real-time gait information of the wearer from the wearable robot; and generating a graphical user interface based on the received real-time gait information of the wearer. In addition, the graphical user interface may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the graphical user interface including at least one of a status information display area of ​​the wearable robot, a real-time walking information display area of ​​the wearer that has received the information, a movement start / end selection area, a walking map selection area, and a robot movement setting area. In addition, the graphical user interface may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, wherein the graphical user interface includes an area for displaying information on gait of a plurality of wearable robot wearers, and the area includes a robot movement setting area capable of controlling each of the plurality of wearable robots. In addition, the graphical user interface may be a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer in which the position of the robot movement setting area can be fixed. In addition, the status information display area of ​​the wearable robot may include at least one of a usage time information display area, a battery remaining information display area, and a torque gauge bar information display area of ​​the wearable robot, and the torque gauge bar may be a method for generating a graphic user interface for providing information on the walking of a wearable robot wearer that is displayed in real time in proportion to a torque value applied to the wearable robot by the wearable robot based on a hip angle of the wearer. In addition, the received real-time walking information display area of ​​the wearer may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the method including at least one of a distance information display area, a step count information display area, a speed information display area, and a calorie consumption information display area of ​​the wearer. In addition, the robot movement setting region is a region for setting at least one of a walking mode and a torque intensity, the walking mode includes at least one torque transmission mode, each of the torque transmission modes is a mode for transmitting a torque corresponding to a walking purpose, and the torque intensity includes at least one of a plurality of stages providing differential torque, which may be a method for generating a graphic user interface for providing information about walking of a wearable robot wearer. In addition, the robot movement setting area may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, in which an area for setting the walking mode and the torque intensity can be separated. In addition, the step of generating a graphical user interface based on the received real-time walking information of the wearer may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, including the steps of: receiving input information based on the walking map selection area from a user terminal; collecting current location information of the wearer after receiving the input information; generating a walking map based on the collected current location information of the wearer and a map development tool; and generating a graphical user interface that displays the walking map based on the generated walking map and the received real-time walking information of the wearer. In addition, the graphical user interface displaying the above walking map may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, which is at least one of a walking map display area including the wearer's current location information and distance information and a walking time information display area of ​​the wearer. In addition, the step of receiving real-time gait information of the wearer from the wearable robot may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, including the step of transmitting at least one of a gait mode and torque intensity information set in a user terminal to the wearable robot; and the step of receiving real-time gait information of the wearer generated from the wearable robot based on at least one of the set gait mode and torque intensity information after the transmitting. In addition, the step of transmitting at least one of the set walking mode and torque intensity information may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, including the step of displaying a graphical user interface that displays the robot movement setting area on the user terminal; and the step of receiving a setting of at least one of the walking mode and torque intensity from the user terminal and transmitting the setting to the wearable robot. A method for generating a graphical user interface for providing information on gait of a wearable robot wearer according to one embodiment of the present invention may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, comprising: a step of receiving gait information of the wearer from the wearable robot; a step of generating gait analysis information of the wearer based on the received gait information of the wearer; and a step of generating a graphical user interface based on the generated gait analysis information of the wearer. In addition, the graphical user interface may be a graphical user interface that displays statistical information based on the accumulated walking information of the wearer, and the graphical user interface that displays statistical information based on the accumulated walking information of the wearer may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the graphical user interface including at least one of a category selection area, a statistical information display area based on the accumulated walking information, an overall walking information display area for a selected date, and a walking record information display area for a selected date. In addition, the statistical information display area according to the accumulated gait information may display the statistical information according to the accumulated gait information in the form of a bar or chart, and may include an average trend line indicating an average of the statistical information according to the accumulated gait information displayed as the bar or chart, and the bar or chart may have a plurality of areas according to date, and the plurality of areas may have relative sizes in proportion to the statistical information according to the accumulated gait information, which may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer. In addition, the entire walking information display area of ​​the selected date may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the method including at least one of a step count information display area, a distance information display area, a calorie consumption information display area, and a walking time information display area. In addition, the method for generating a graphic user interface for providing information on walking of a wearable robot wearer may include a display area for gait record information of the selected date, which includes a plurality of areas in which gait record information of the selected date is displayed, and an area in which detailed gait record information is displayed based on input information of at least one of the plurality of areas. In addition, the graphical user interface may be a graphical user interface that displays a gait analysis report of the wearer, and the graphical user interface that displays the gait analysis report of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, the graphical user interface including at least one of a comprehensive gait score and age information display area, a statistical information display area according to accumulated gait information, a gait index diagram area, and a gait detailed analysis information display area. In addition, the statistical information display area according to the accumulated gait information may display the statistical information according to the accumulated gait information in the form of a bar or chart, and may include an average trend line indicating an average of the statistical information according to the accumulated gait information displayed as the bar or chart, and the bar or chart may have a plurality of areas according to date, and the plurality of areas may have relative sizes in proportion to the statistical information according to the accumulated gait information, which may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer. In addition, the above gait index graphical representation area can graphically represent the wearer's walking ability so as to compare the wearer's gait index score with the gait index score according to the age average, and the gait index score can be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, such as the scores for speed, agility, muscle strength, stability, and balance. In addition, the above-described gait detailed analysis information display area may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, the method including at least one of a score display area for each gait index and a feedback display area according to a score for each gait index. In addition, the step of generating the gait analysis information of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, including the steps of: receiving the gait information of the wearer from the wearable robot; generating the physical / motor ability information of the wearer based on the received gait information of the wearer; and generating the gait analysis information of the wearer based on at least one of the generated physical / motor ability information of the wearer and statistical information based on the accumulated gait information of the wearer stored in an external server. In addition, the step of receiving the gait information of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, including the steps of: transmitting at least one of a gait mode and torque intensity information set in a user terminal to the wearable robot; receiving real-time gait information of the wearer generated from the wearable robot based on at least one of the set gait mode and torque intensity information after the transmission; and receiving quantified physical / motor ability values ​​of the wearer generated based on the received real-time gait information of the wearer. In addition, the step of transmitting at least one of the set walking mode and torque intensity information may include a step of displaying a graphical user interface displaying the robot movement setting area on the user terminal; and a step of receiving a setting of at least one of the walking mode and torque intensity from the user terminal and transmitting at least one of the set walking mode and torque intensity information to the wearable robot, which may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer. In addition, the step of generating a graphical user interface based on the generated gait analysis information of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, which is preceded by a step of receiving an input of exercise termination from a user terminal and transmitting the input exercise termination information to the wearable robot. In addition, the present invention may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, in which, after the exercise termination information is input, if the necessary conditions for generating the gait analysis information of the wearer are not met, a graphical user interface is generated that displays a notification that the gait analysis information has not been generated. A method for generating a graphical user interface for providing information on gait of a wearable robot wearer according to one embodiment of the present invention may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, comprising: a step of obtaining information on gait of the wearer; a step of training a deep learning model based on the obtained information on gait of the wearer; a step of estimating gait analysis information of the wearer based on the trained deep learning model; and a step of generating a graphical user interface based on the estimated gait analysis information of the wearer. In addition, the graphical user interface may be a graphical user interface that displays a report on the estimation of the wearer's walking ability, and the graphical user interface that displays the report on the estimation of the wearer's walking ability may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the graphical user interface including at least one of an estimated comprehensive walking score display area, a wearer's basic information display area, an estimated walking index diagram area, and an estimated walking detailed analysis information display area. In addition, the estimated gait index graphical representation area may graphically represent the estimated gait ability of the wearer so as to compare the estimated score for each gait index of the wearer with the gait index score according to the age average, and the estimated score for each gait index may be a method for generating a graphical user interface for providing information on the gait of the wearable robot wearer, wherein the estimated score for each gait index is a score of speed, agility, muscle strength, stability, and balance. In addition, the estimated gait detailed analysis information display area may be a method for generating a graphical user interface for providing information on gait of a wearable robot wearer, wherein the estimated gait detailed analysis information display area includes at least one of an estimated score display area for each gait index and a feedback display area according to an estimated score for each gait index. In addition, the graphical user interface may be a graphical user interface that displays customized program information of the wearer, and the graphical user interface that displays customized program information of the wearer may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer, the graphical user interface including at least one of a proposed customized program display area, a comprehensive gait score display area, a gait index diagram area, and a proposed program detail display area. In addition, the comprehensive gait score display area may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, which indicates an expected gait score of the wearer that is expected to improve after proceeding with the proposed customized program. In addition, the above gait index graphical representation area can graphically represent the walking ability of the wearer so that the estimated score for each gait index of the wearer and the gait index score according to the age average can be compared with the gait index score of the wearer's expected walking score, and the gait index score can be a method for generating a graphical user interface for providing information on the walking of the wearable robot wearer, wherein the gait index score is a score of speed, agility, muscle strength, stability, and balance. In addition, the step of training the deep learning model may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, in which, when the acquired information on the gait of the wearer is in a plurality of different forms, the acquired information on the gait of the wearer is combined into multimodal data, and the deep learning model is trained based on the combined multimodal data. In addition, the step of obtaining information about the gait of the wearer may be a method for generating a graphical user interface for providing information about the gait of a wearable robot wearer, including the steps of: receiving the gait information of the wearer from the wearable robot; generating gait analysis information of the wearer based on the received gait information of the wearer; and obtaining information about the gait of the wearer based on the generated gait analysis information of the wearer. In addition, the step of generating the gait analysis information of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, including the steps of: receiving the gait information of the wearer from the wearable robot; generating the physical / motor ability information of the wearer based on the received gait information of the wearer; and generating the gait analysis information of the wearer based on at least one of the generated physical / motor ability information of the wearer and statistical information based on the accumulated gait information of the wearer stored in an external server. In addition, the step of receiving the gait information of the wearer may be a method for generating a graphical user interface for providing information on the gait of a wearable robot wearer, including the steps of: transmitting at least one of a gait mode and torque intensity information set in a user terminal to the wearable robot; receiving real-time gait information of the wearer generated from the wearable robot based on at least one of the set gait mode and torque intensity information after the transmitting; and receiving quantified physical / motor ability values ​​of the wearer generated based on the received real-time gait information of the wearer. In addition, the step of transmitting at least one of the set walking mode and torque intensity information may include a step of displaying a graphical user interface displaying the robot movement setting area on the user terminal; and a step of receiving a setting of at least one of the walking mode and torque intensity from the user terminal and transmitting at least one of the set walking mode and torque intensity information to the wearable robot, which may be a method for generating a graphical user interface for providing information on walking of a wearable robot wearer. A non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors to generate a graphical user interface displaying information about a gait of a wearable robot wearer according to one embodiment of the present invention, wherein the one or more programs may be a non-transitory computer-readable storage medium including instructions for performing at least one of the above-described methods. A device for generating a graphical user interface for providing information on walking of a wearable robot wearer according to one embodiment of the present invention may be a device for generating a graphical user interface for providing information on walking of a wearable robot wearer, the device including: an input unit and a communication unit; a display unit; one or more processor units; and a memory unit storing one or more programs configured to be executed by the one or more processors, wherein the one or more programs include commands for performing at least one of the above-described methods. The present invention relates to a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a fixed part that can be mounted on a body part of the wearer; and a driving part that can be mounted on the fixed part; wherein the driving part is configured to calculate a degree of change in a state trajectory of the wearer accumulated over a predetermined period of time and to derive an output torque based thereon. Additionally, the above-mentioned predetermined time is 0.5 seconds or more and 1 second or less. In addition, the driving unit may be configured not to calculate the output torque or to calculate it as a value below the threshold when the state trajectory movement distance of the wearer for the predetermined time is equal to or less than a first threshold value, and may be configured to calculate the output torque as a value above the threshold when the state trajectory movement distance of the wearer for the predetermined time is equal to or greater than a second threshold value. Additionally, the first threshold value and the second threshold value are configured with the same value, or the second threshold value is configured with a value greater than the first threshold value. In addition, the driving unit is configured to change the value of the torque intensity adjustment parameter for calculating the output torque to a value less than or equal to a threshold value or to 0 when the state trajectory movement distance of the wearer for the predetermined time is less than or equal to a first threshold value. Additionally, the driving unit is configured to gradually change the value of the torque intensity adjustment parameter for calculating the output torque to a value below a threshold value or to 0. In addition, the driving unit is configured to restore the value of the torque intensity adjustment parameter for calculating the output torque to a set value when the state trajectory movement distance of the wearer is equal to or greater than a second threshold value for the predetermined period of time. Additionally, the driving unit is configured to gradually restore the value of the torque intensity adjustment parameter for calculating the output torque to a set value. The present invention relates to a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a fixed part that can be mounted on a body part of the wearer; and a driving part that can be mounted on the fixed part; wherein the driving part is configured to calculate an output torque when a state trajectory movement distance of the wearer accumulated for a predetermined period of time is equal to or greater than a threshold value and the number of continuous steps of the wearer after stopping is equal to or greater than a predetermined number of steps. In addition, the driving unit is configured to restore the value of the torque intensity adjustment parameter for calculating the output torque to a set value when the state trajectory movement distance of the wearer for the predetermined time is greater than or equal to a threshold value. Additionally, the driving unit is configured to gradually restore the value of the torque intensity adjustment parameter for calculating the output torque to a set value. Additionally, the driving unit is configured to count the number of consecutive steps taken by the wearer after stopping by counting the point in time when the motion status value of the wearer is 0. Additionally, the driving unit is configured to count the number of consecutive steps taken by the wearer after stopping by counting the point in time when one target body part of the wearer and the other target body part intersect. In addition, the driving unit is configured to count the number of consecutive steps taken by the wearer after stopping by counting the point in time when the motion state value of the wearer has a predetermined value. The present invention relates to a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a fixed part that can be mounted on a body part of the wearer; and a driving part that can be mounted on the fixed part; wherein the driving part is configured to calculate a degree of change in a state trajectory of the wearer and calculate an output torque based thereon, and calculate the output torque as a value below a critical value for a predetermined period of time within a range below a critical value including a point in time at which a sign of the calculated output torque changes. Additionally, the above-mentioned predetermined time is 0.5 seconds or more and 1 second or less. In addition, the driving unit may be configured not to calculate the output torque or to calculate it as a value below the threshold when the state trajectory movement distance of the wearer for the predetermined time is equal to or less than a first threshold value, and may be configured to calculate the output torque as a value above the threshold when the state trajectory movement distance of the wearer for the predetermined time is equal to or greater than a second threshold value. Additionally, the first threshold value and the second threshold value are configured with the same value, or the second threshold value is configured with a value greater than the first threshold value. In addition, the driving unit is configured to change the value of the torque intensity adjustment parameter for calculating the output torque to a value less than or equal to a threshold value or to 0 when the state trajectory movement distance of the wearer for the predetermined time is less than or equal to a first threshold value. The present invention relates to a method for calculating output torque of a driving unit of a walking assistance wearable robot for assisting a walking motion of a wearer, comprising: a step of calculating a state trajectory movement distance of the wearer accumulated for a predetermined period of time; a step of counting the number of consecutive steps taken by the wearer after stopping; and a step of calculating output torque when the calculated state trajectory movement distance of the wearer is equal to or greater than a threshold value and the counted number of consecutive steps taken after stopping is equal to or greater than a predetermined number of steps. The present invention relates to a method for calculating output torque of a driving unit of a walking assistance wearable robot for assisting a walking movement of a wearer, the method comprising: a step of calculating a state trajectory movement distance of the wearer accumulated for a predetermined period of time; a step of calculating an output torque based on the calculated state trajectory movement distance of the wearer; and a step of calculating the output torque as a value below a critical value for a predetermined period of time in a range below a critical value including a point in time at which a sign of the calculated output torque changes. A walking assistance wearable robot for assisting the walking movement of a wearer, which receives target muscle information to be exercised from a user terminal, comprises: a fixed part that can be mounted on a body part of the wearer; and a driving part that can be mounted on the fixed part; wherein the driving part is configured to set parameters based on the received target muscle information and to calculate output torque based thereon. In addition, the driving unit is configured to calculate an angular velocity based on the wearer's walking, calculate an operating state value based on the calculated angular velocity, and calculate the output torque based on the same. In addition, the above-described set parameter is a parameter representing at least one piece of information among output timing information of the calculated torque, intensity control information of the calculated torque, filter information for calculating the output torque, or asymmetry information for calculating the output torque. Additionally, the output timing information of the torque calculated above includes position information of the calculated operation state value. In addition, the torque intensity adjustment information produced above can be expressed as a torque intensity adjustment parameter, and the torque intensity adjustment parameter is a negative number when the driving unit outputs a resistance torque, and a positive number when the driving unit outputs an auxiliary torque. In addition, the driving unit is configured to calculate the output torque by multiplying the weighted sum of the calculated operation state values ​​by the torque intensity adjustment parameter. In addition, the memory unit may further be included, and the driving unit is configured to be able to calculate an output torque according to a set exercise mode, and the memory unit is configured to store parameters according to the exercise mode as a lookup table, and the set parameters are configured as parameters according to target muscle information received from the user terminal based on the lookup table. Additionally, the lookup table is composed of a combination of at least one of output timing information of the torque to be produced, intensity adjustment information of the torque to be produced, filter information for producing the output torque, or asymmetry information for producing the output torque. In addition, the device may further include a memory unit; and the memory unit may store an exercise mode based on the received target muscle information and parameters according to the exercise mode in the form of a lookup table; and the driving unit may select an exercise mode based on the received target muscle information, and may be configured to calculate the output torque based on parameters according to the selected exercise mode. Additionally, the driving unit is configured to receive the parameter value from the user terminal and calculate the output torque based on the parameter value. The present invention relates to a walking assistance wearable robot system for assisting a walking motion of a wearer, wherein the system comprises the user terminal and the wearable robot, wherein the wearable robot is configured to receive target muscle information to be exercised from the user terminal, set parameters based on the received target muscle information, calculate output torque based thereon, and transmit information related to the walking motion to the user terminal, and the user terminal is configured to receive the transmitted information related to the walking motion. In addition, the wearable robot is configured to calculate an angular velocity based on the wearer's walking, calculate a motion state value based on the calculated angular velocity, and calculate the output torque based on the same. In addition, the above-described set parameter is a parameter representing at least one piece of information among output timing information of the calculated torque, intensity control information of the calculated torque, filter information for calculating the output torque, or asymmetry information for calculating the output torque. Additionally, the output timing information of the torque calculated above includes position information of the calculated operation state value. In addition, the torque intensity adjustment information produced above can be expressed as a torque intensity adjustment parameter, and the torque intensity adjustment parameter is a negative number when the driving unit outputs a resistance torque, and a positive number when the driving unit outputs an auxiliary torque. In addition, the wearable robot is configured to calculate the output torque by multiplying the weighted sum of the calculated motion state values ​​by the torque intensity adjustment parameter. In addition, the wearable robot is configured to be able to calculate output torque according to a set exercise mode, and is configured to store parameters according to the exercise mode as a lookup table, and the set parameters are configured as parameters according to target muscle information received from the user terminal based on the lookup table. Additionally, the lookup table is composed of a combination of at least one piece of information from among output timing information of the calculated torque, intensity adjustment information of the calculated torque, filter information for calculating the output torque, or asymmetry information for calculating the output torque. In addition, the wearable robot is configured to store an exercise mode based on the received target muscle information and parameters according to the exercise mode in the form of a lookup table, select an exercise mode based on the received target muscle information, and calculate the output torque based on parameters according to the selected exercise mode. In addition, the wearable robot is configured to receive the parameter value from the user terminal and calculate the output torque based thereon. Additionally, the user terminal is configured to provide audiovisual feedback information based on the information related to the received walking exercise, wherein the audiovisual feedback information includes exercise score information of the wearer, walking performance information of the wearer, or exercise information of the wearer. Additionally, the walking performance information includes at least one of the wearer's speed information, the wearer's posture information, the wearer's stride information, the wearer's regularity information, the wearer's asymmetry information, and the wearer's walking score information. Additionally, the exercise information includes at least one of exercise elapsed time information for each exercise mode of the wearer, accumulated exercise time information of the wearer, and exercise elapsed time information of the current exercise mode of the wearer. Additionally, the exercise score information is configured to be calculated based on the wearer's state trajectory movement distance. Additionally, the exercise score information is configured to be calculated based on the median or average value of the wearer's state trajectory movement distance over a predetermined period of time. Additionally, the user terminal is configured to provide the calculated exercise score information after normalizing it into a score of 100. The present invention relates to a walking assistance wearable robot for assisting a walking motion of a wearer who receives target exercise information to be exercised from a user terminal, the robot comprising: a fixed part that can be mounted on a body part of the wearer; and a driving part that can be mounted on the fixed part; wherein the driving part is configured to set parameters based on the received target exercise information and to calculate output torque based thereon. The present invention relates to a walking assistance wearable robot system for assisting a wearer's walking motion, wherein the system comprises the user terminal and the wearable robot, wherein the wearable robot is configured to receive target movement information to be exercised from the user terminal, set parameters based on the received target movement information, calculate output torque based thereon, and transmit information related to the walking motion to the user terminal, and the user terminal is configured to receive the transmitted information related to the walking motion. The present invention relates to a waist-worn part of a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a waist-worn part mountable on the waist of the wearer; and a driving part mountable on the waist-worn part; wherein the waist-worn part comprises a waist-worn part member; a waist-worn buckle part connected to the waist-worn part; and wherein the driving part comprises driving part fixing frames positioned on both sides of the driving part; and wherein the waist-worn buckle part is configured to be coupled to and uncoupled from the driving part fixing frames. In addition, the driving unit fixing frame is configured to have an incline of 0 degrees or more and 30 degrees or less with respect to the vertical plane of the driving unit. In addition, the waist wearing buckle part includes a drive part fixing member, and the drive part fixing member further includes an inner connecting member; and the drive part fixing member further includes a button member located on the inner connecting member; and an elastic member located on the inside of the waist wearing buckle part; and when the waist wearing buckle part and the drive part fixing frame are coupled, the button member is configured to move in the direction of travel of the drive part fixing frame, and accordingly, the elastic member is configured to contract, and when the button member and the drive part fixing frame are coupled, the elastic member is relaxed to prevent the drive part fixing frame from detaching from the button member. In addition, the button member is configured to have an inclined portion, and when the waist wearing buckle portion and the driving member fixing frame are coupled, the driving member fixing frame is configured to contact the inclined portion of the button member and move in the forward direction. In addition, the waist wearing buckle part includes a drive part fixing member, and the drive part fixing member further includes an inner connecting member; a button member located on the inner connecting member; a handle member located on the inner connecting member; and an elastic member located on the inside of the waist wearing buckle part; and when the waist wearing buckle part and the drive part fixing frame are released, the handle member moves in the progressing direction of the drive part fixing frame at the time of release, and the elastic member moves in the progressing direction according to the movement of the inner connecting member in the progressing direction, so that the button member and the drive part fixing frame are released. In addition, the waist wearing part and the waist wearing buckle part are configured to be fixed by a band. In addition, the waist wearing part and the waist wearing buckle part are configured to be fixed by Velcro. The present invention relates to a waist-worn part of a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a waist-worn part mountable on the waist of the wearer; and a driving part mountable on the waist-worn part; wherein the waist-worn part comprises: a waist-worn part member; a waist-worn buckle part connected to the waist-worn part; and wherein the waist-worn buckle part further comprises: a driving part fixing part coupled to the driving part; and a swing part connected to the driving part fixing part. Additionally, the swing member is configured to connect the waist wearing member and the waist wearing buckle member. In addition, the swing member is configured to be able to swing at an angle of 0 degrees or more and 30 degrees or less based on the posture before the swing. In addition, the driving unit includes a driving unit fixing frame positioned on both sides of the driving unit, and the waist wearing buckle part is configured to be coupled and uncoupled from the driving unit fixing frame. In addition, the driving unit fixing frame is configured to have an incline of 0 degrees or more and 30 degrees or less with respect to the vertical plane of the driving unit. In addition, the waist wearing buckle part further includes a button member located on the inside of the waist wearing buckle part; and an elastic member located on the inside of the waist wearing buckle part; and when the waist wearing buckle part and the drive part fixing frame are coupled, the button member is configured to move in the advancing direction of the drive part fixing frame, and accordingly, the elastic member is configured to contract, and when the button member and the drive part fixing frame are coupled, the elastic member is relaxed to prevent the drive part fixing frame from detaching from the button member. In addition, the button member is configured to have an inclined portion, and when the waist wearing buckle portion and the driving member fixing frame are coupled, the driving member fixing frame is configured to contact the inclined portion of the button member and move in the forward direction. In addition, the waist wearing buckle part further includes an inner connecting member; a button member located on the inner connecting member; a handle member located on the inner connecting member; and an elastic member located on the inside of the waist wearing buckle part; and when the waist wearing buckle part and the drive unit fixing frame are released, the handle member moves in the progressing direction of the drive unit fixing frame at the time of release, and the elastic member moves in the progressing direction according to the movement of the inner connecting member in the progressing direction, so that the button member and the drive unit fixing frame are released. In addition, the waist wearing part and the waist wearing buckle part are configured to be fixed by a band. In addition, the waist wearing part and the waist wearing buckle part are configured to be fixed by Velcro. The present invention relates to a walking assistance wearable robot for assisting a walking movement of a wearer, comprising: a waist wearing unit that can be mounted on the waist of the wearer; and a driving unit that can be mounted on the fixing unit; wherein the waist wearing unit includes a waist wearing unit member; a waist wearing buckle unit connected to the waist wearing unit member; wherein the waist wearing buckle unit further includes a driving unit fixing unit that can be coupled to the driving unit; and a swing member connected to the driving unit fixing unit; wherein the driving unit includes a driving unit fixing frame positioned on both sides of the driving unit; wherein the driving unit fixing frame has an inclination of 0 degrees or more and 30 degrees or less with respect to a vertical plane of the driving unit, and the waist wearing unit member and the waist wearing buckle unit are configured to be connected by the swing member. In addition, the driving unit fixing frame is configured to have an incline of 5 degrees or more and 20 degrees or less with respect to the vertical plane of the driving unit. The present invention relates to a wearable robot for assisting walking motion, comprising: a waist wearing part that can be mounted on the waist of a wearer; and a driving part that is coupled to the waist wearing part and assists walking of the wearer; the waist wearing part includes: a waist wearing member that can be worn in close contact with the waist of the wearer; and a waist wearing buckle member that is coupled to the waist wearing member and is coupled to the driving part; and the waist wearing buckle member includes: a driving part fixing member that can be coupled to the driving part; and a swing member that is coupled to the driving part fixing member and allows relative movement between the driving part and the waist wearing part. Additionally, the swing member is configured to connect the waist wearing member and the waist wearing buckle member. In addition, the swing member is configured to be able to swing at an angle of 0 degrees or more and 30 degrees or less based on the posture before the swing. The present invention relates to a thigh wearable robot for assisting a walking motion of a wearable robot, comprising: a waist wearable part mountable on the waist of the wearer; a thigh wearable part mountable on the thigh of the wearer; a driving part connected to the waist wearable part; and a thigh frame connecting the driving part and the thigh wearable part; wherein the thigh frame includes a thigh frame joint part; and the thigh wearable part includes a fixing clip part; and the fixing clip part is configured to fix or detach the thigh frame joint part. Additionally, the thigh wear part includes a thigh frame Release button for switching the thigh frame joint part from a fixed state to a released state. In addition, the thigh frame Release button further includes a thigh frame Release elastic member; and the thigh frame Release elastic member is configured to provide a restoring force so as to automatically return to the original position after operation of the thigh frame Release button. In addition, the thigh wearable part further includes a thigh band part; and a thigh buckle part; and the thigh band part is connected to the thigh buckle part and configured to be able to adjust the length to fit the thigh circumference of the wearer. In addition, the thigh frame joint part is designed in a round shape so as to be rotatable, and is configured to flexibly rotate according to the wearer's thigh movement. In addition, the thigh wearing part includes a thigh attachment / detachment frame; the thigh attachment / detachment frame further includes a sliding rail member, and the thigh frame joint part is configured to move along the sliding rail member. In addition, the thigh wear part includes a shock-absorbing member, and the shock-absorbing member is positioned on the inner side of the thigh wear part and is configured to alleviate shock or vibration generated during a sliding motion of the thigh frame. In addition, the sliding rail member further includes a linear guide member in the thigh attachment / detachment frame, and the linear guide member is configured to support sliding movement of the thigh frame joint portion. Additionally, the shock-absorbing member is configured to absorb impact energy generated during sliding of the thigh frame joint. The present invention relates to a thigh frame of a walking assistance wearable robot for assisting a walking motion of a wearer, comprising: a waist wearing part that can be mounted on the waist of the wearer; a thigh wearing part that can be mounted on the thigh of the wearer; a driving part that is connected to the waist wearing part and includes a driving part; and a thigh frame that connects the driving part and the thigh wearing part; wherein the thigh frame includes a joint member that connects the driving part and the thigh frame; a thigh cover member connected to the joint member; and a thigh inner member that slides inside the thigh cover member according to the walking motion of the wearer. Additionally, the joint member is connected in series with the actuator and configured to transmit auxiliary power generated from the actuator to the thigh frame. Additionally, the joint member is configured to enable a swing motion that matches the walking direction of the wearer and a swing motion in a direction perpendicular to the walking direction. In addition, the joint member includes a joint cap member that functions as a cover of the joint member; and a joint shaft member that functions as an axis of the joint member; and the joint member is configured to be combined with the joint cap member and the joint shaft member to enable a swing motion that matches the walking direction of the wearer and a swing motion in a direction perpendicular to the walking direction. In addition, the thigh cover member is configured to include a rail structure of a predetermined angle formed symmetrically left and right on the inside of the thigh cover member. In addition, the thigh inner member includes a predetermined angle structure formed symmetrically left and right, and is configured to prevent a left-right tilting phenomenon when sliding inside the thigh cover member. In addition, the bearing end member is further included, and the thigh inner member is coupled with the bearing end member, and the bearing end member is configured to prevent left-right play when the thigh inner member slides, and to distribute a load applied to the thigh frame when the auxiliary force of the actuator is generated. In addition, the thigh inner member includes a two-stage bearing member, and the two-stage bearing member operates perpendicular to the sliding direction of the thigh inner member to maintain left-right balance and prevent left-right tilting that may occur during sliding. In addition, the thigh inner member further includes a two-stage auxiliary bearing member, and the two-stage auxiliary bearing member is characterized in that it is configured to prevent left-right movement of the thigh inner member together with the two-stage bearing member and maintain a constant gap during sliding. Additionally, the thigh inner member includes a 2.5-stage bearing member, and the 2.5-stage bearing member is configured to slide inwardly when the wearer climbs stairs, sits, or squats. In addition, the thigh inner member further includes a distal return elastic member, and the distal return elastic member is characterized by assisting the thigh inner member to return to an initial state after a sliding motion. In addition, the thigh cover member includes a rail structure having a predetermined angle of left-right symmetry on the inside of the thigh cover member, and the rail structure is characterized in that it is configured to suppress a left-right tilting phenomenon while the thigh inner member slides. In addition, the thigh cover member functions as a sliding guide for the thigh inner member in the process of transmitting the auxiliary power generated from the actuator to the thigh inner member, and the left-right symmetrical rail structure formed on the inner side of the thigh cover member is configured to prevent the thigh inner member from being tilted left-right while sliding. In addition, the thigh inner member is configured to be slidable so that the length value can be changed according to the leg length of the wearer by being combined with the thigh wearing part, and the sliding motion is characterized by being divided into 2-stage and 2.5-stage sliding, so that it can be adjusted according to the motion of the wearer. Additionally, the thigh inner member includes a two-stage return elastic band member, and the two-stage return elastic band member is configured to provide elasticity so that the thigh inner member can return to its original position after a sliding motion. In addition, the thigh frame includes a bearing cover member, and the bearing cover member is configured to perform a function of protecting a bearing arranged on the inner side of the thigh inner member from coming off during sliding. In addition, the thigh frame includes a front urethane bearing member and a rear urethane bearing member, and the front urethane bearing member and the rear urethane bearing member are configured to suppress vibration and noise generated during a sliding operation of the thigh inner member and maintain the left-right balance of the thigh frame. In addition, the front urethane bearing member and the rear urethane bearing member are arranged at the same angle as the inner rail of the thigh cover member, and are characterized in that they are configured to minimize vibration that may occur during the sliding process. Additionally, the thigh inner member includes a 2.5-stage bearing member and a distal return elastic member, and the distal return elastic member is configured to provide elastic force so that the 2.5-stage bearing member can return to its original position after sliding. The present invention relates to a walking assistance wearable robot for assisting a walking motion of a wearer, comprising: a waist wearing part that can be mounted on the waist of the wearer; a thigh wearing part that can be mounted on the thigh of the wearer; a driving part that is connected to the waist wearing part and includes a driving part; and a thigh frame that connects the driving part and the thigh wearing part; wherein the thigh frame includes a joint member that connects the driving part and the thigh frame; a thigh cover member that is connected to the joint member; and a thigh inner member that slides inside the thigh cover member according to the walking motion of the wearer. The above object is achieved by a wearable robot, according to one embodiment of the present invention, comprising: a first fixing part fixed to one body part of a joint; a second fixing part fixed to the other body part of the joint; a driving part fixed to the first fixing part; and a connecting member connecting the driving part and the second fixing part and transmitting a driving force provided from the driving part to the second fixing part for movement of the joint part; wherein the connecting member has a length adjusted in response to a gap between the driving part and the second fixing part that changes depending on a size of a movement of the joint part, or includes a plurality of unit members arranged in a row to form the connecting member, and a linking member connecting the plurality of unit members so that the plurality of unit members are linked to each other. Here, the driving unit further includes a rotary joint part that is respectively connected to the left and right sides and rotates in the forward and backward directions around a left and right rotation axis, and the connecting member can be hinge-coupled to the lower end of the rotary joint part to rotate in the left and right directions around a back and forth rotation axis. Here, the driving unit includes two drivers; and a main body housing that accommodates the drivers therein, and the connecting members on both sides can rotate by receiving power from the drivers, respectively. Here, the driving unit includes a single driving unit; a driving unit frame that surrounds and accommodates the driving unit and rotates in a horizontal axial direction; and a main body housing that accommodates the driving unit and the driving unit frame therein, wherein a connecting member arranged on one side of the main body unit rotates by receiving power from the driving unit, and a connecting member arranged on the other side of the driving unit is connected to the driving unit frame and can rotate. Here, the driving unit may further include a bearing mounted on the outside of the driving frame to rotate the driving frame relative to the main body housing. Here, the device may further include a first fixing member for fixing the driving member to the waist; and a second fixing member for fixing the connecting member to the thigh. Here, the connecting member may be formed of a plurality of links and may be bent. Here, the upper end of the connecting member can be hinge-connected to rotate left and right about the forward-backward rotation axis. Here, the connecting member may include a first member supported by the driving member, a second member movably connected to the first member, and a third member movably connected to the second member and supported by the second fixing member. In addition, a second slit capable of guiding movement of the third member may be formed on one side of the second member, and a first slit may be formed on one side of the first member that communicates with the second slit while overlapping with the second member. In addition, it may include an elastic member that elastically supports the second member or third member in the contraction direction. Additionally, the frictional force of the second member against the first member and the frictional force of the third member against the second member can be set differently from each other. Additionally, the second member may further include a roller that rolls on the contact surface with the first member. In addition, the third member may further include a sliding pad that slides on a contact surface with the second member while having a relatively large frictional force compared to the roller. Additionally, the connecting member may include a first length-adjusting member and a second length-adjusting member arranged in a row between the driving member and the second fixing member. In addition, the first length-adjusting portion may be adjusted in length within a portion of the range of motion of the joint portion, and the second length-adjusting portion may be adjusted in length within a remaining portion of the range of motion of the joint portion that exceeds the portion of the range of motion of the joint portion. Additionally, the connecting member may include a permanent magnet capable of fixing a position while the third member moves in a direction extending over the second member. In addition, the permanent magnet may include a first permanent magnet provided at a second end of the second member and a second permanent magnet provided at a position corresponding to the first permanent magnet of the third member. The first end refers to the end of the first member or the second member in the direction of overlap when the first member (141) and the second member (142) overlap, and the second end refers to the end of the first member or the second member in the direction opposite to the direction of overlap. In addition, the connecting member may further include an elastic member that is fixed to the third member with one end fixed to the first member and the other end supported by the second member. Additionally, the second member may include a first pulley supporting the elastic member. In addition, the linkage may include a first cable having one end fixed to the first member and the other end fixed to the third member while being supported by the second end of the second member, and a second cable having one end fixed to the first member and the other end fixed to the third unit member while being supported by the first end of the second member. Additionally, a second pulley supporting the first cable may be arranged at the second end of the second member, and a third pulley supporting the second cable may be arranged at the first end of the second member. In addition, the linkage may include a rack arranged along the longitudinal direction of the first member, a pinion arranged at a contraction-side end of the second member and meshed with the rack, a first pulley that rotates together with the pinion, a second pulley arranged at an expansion-side end of the second member, and a belt whose both ends are fixed to the third member while being wound around the first pulley and the second pulley. In addition, a second slit capable of guiding movement of the third member may be formed on one side of the second member, and a first slit may be formed on one side of the first member that communicates with the second slit while overlapping with the second member. In addition, when the first fixed member is worn on the waist, it is preferable that the waist wearing part is composed of a waist belt and a waist wearing frame. Both ends of the waist belt are connected to both ends of the waist wearing frame, and the length of the waist belt can be adjusted according to the waist size. In addition, it is preferable that the waist wearing frame includes a detachment button, a lower mechanism, and an upper mechanism, and one side of the main body housing may include a lower hook and an upper hook. In addition, when the second fixing member is worn on the thigh and functions as a thigh wearing part, the thigh wearing part may be composed of a strap part and a plate. Additionally, the strap portion may include a second button coupled with one end of the strap portion. Additionally, both ends of the strap portion can be joined to both ends of the plate. Additionally, the length of the strap portion can be adjusted at the joint portion at both ends, or the strap portion can be separated from the plate. Additionally, the plate may include a plate frame and a first button. A motion assistance method according to one embodiment of the present invention comprises: a step of sequentially storing motion state values ​​in a state trajectory memory buffer; a step of selecting at least one motion state value among the motion state values ​​stored in the state trajectory memory buffer; a step of determining an assisting force using the selected motion state value; and a step of outputting the determined assisting force. In addition, the step of storing the above operation status values ​​can store only a preset number of operation status values ​​in a FIFO (First In First Out) manner. In addition, the above-mentioned operating state value may be a sensing value that measures the operating state at regular time intervals or a conversion value of the sensing value using a preset formula. In addition, in the step of determining the auxiliary force, the auxiliary force can be determined as a weighted sum of the selected operation state values. Additionally, in the step of selecting at least one operation state value, an operation state value stored in a predetermined location among the operation state values ​​stored in the state trajectory memory buffer can be selected. In addition, prior to the step of selecting at least one operation state value, the method may further include a step of calculating a state trajectory movement distance by adding up differences between operation state values ​​sequentially stored in the state trajectory memory buffer; and a step of changing the predetermined position according to the state trajectory movement distance in the step of selecting at least one operation state value. In addition, the larger the state trajectory movement distance, the more the predetermined position can be changed toward the first storage location of the memory array in the state trajectory memory buffer, and the smaller the state trajectory movement distance, the more the predetermined position can be changed toward the last storage location of the memory array. In addition, the above-mentioned operation state value may be a converted value obtained by converting the sensed hip angle value (q0) using the conversion formula S0 = Asin (q0 / 2), and A may be a constant. In addition, a motion assistance system according to one embodiment of the present invention may include a state trajectory memory buffer that sequentially stores motion state values, and a determination unit that determines an assisting force by using one or more of the motion state values ​​stored in the state trajectory memory buffer. Additionally, the state trajectory memory buffer may be a finite-size memory buffer that stores the operation state values ​​in a FIFO (First In First Out) manner. Additionally, the state trajectory memory buffer can store motion state values ​​for the user's movements over the past several seconds. In addition, the decision unit may select an operation state value stored in a predetermined location of a memory array from the state trajectory memory buffer, and may change the predetermined location according to a change in the operation state value stored in the state trajectory memory buffer and select the operation state value stored in the changed location. In addition, the motion assistance program according to one embodiment of the present invention may be a program stored in a medium to execute each step of the motion assistance method according to one embodiment of the present invention by being combined with hardware. In addition, the safety mode according to one embodiment of the present invention may include a step of detecting an operating angle or operating speed of the driving unit, and a step of stopping rotation of the motor of the driving unit to operate the safety mode. According to the present invention, a device comprises: a fixing member that can be mounted on a body part; and a driving member that can be mounted on the fixing member; wherein the driving member can estimate the physical ability of the wearer based on the power of the driving member due to the walking movement of the wearer. According to the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit includes the steps of: accumulating a ratio of power to torque of the driving unit calculated by the driving unit for each walking session; and calculating statistics on the accumulation; through which statistics on the accumulation of the ratio of power to torque of the driving unit calculated by the driving unit for each walking session can be calculated and provided. According to the present invention, the present invention includes a step of receiving statistics on the accumulation of the ratio of power to torque of the driving unit calculated by the driving unit for each walking time from a server device; and a step of displaying the statistics on the calculated accumulation; through which the statistics on the calculated accumulation can be provided to the wearer. According to the present invention, by using a wearable walking exercise robot using a backdrivable actuator, the physical ability of the wearer can be identified in real time by using the power-torque ratio generated by the device during walking exercise. According to the present invention, a graphical user interface that displays gait analysis information of a wearable robot wearer can expect the following effects. According to the present invention, a wearable robot uses a backdrivable actuator to quantify a physical / motor ability value of a wearer by using a power-torque ratio generated by the device during walking motion based on at least one of a walking mode and a torque intensity set in a user terminal, generates physical / motor ability information of the wearer based on the quantified physical / motor ability value, generates walking analysis information of the wearer based on the generated physical / motor ability information of the wearer, and provides a graphical user interface that displays statistical information or a walking analysis report based on the accumulated walking of the wearer. According to the present invention, by inputting the wearer's walking information, etc. as learning data based on a deep learning model, the walking ability of a wearable robot wearer can be estimated or customized exercise program information can be provided. According to the present invention, information about the wearer's walking, such as real-time walking information of the wearer, statistical information based on accumulated walking information of the wearer, a walking analysis report, a walking ability estimation report, and customized program information, is provided as a graphical user interface, while allowing the wearer's physical / motor ability information to be intuitively recognized. According to the present invention, based on intuitive data such as a gait analysis report generated based on information about the wearer's gait, a wearable robot wearer or manager can set at least one of an appropriate gait mode and torque intensity during the robot movement process of the wearable robot wearer. The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. The present invention rapidly reduces and deactivates device torque during movements other than walking, and smoothly activates (applies torque) the device when the number of walking steps exceeds a critical number, thereby helping to facilitate smooth long-term work. The present invention can efficiently use energy at a moment when walking assistance is required by increasing the torque deactivation (torque zero) section in a section where the device torque sign changes, and at the same time, can assist the wearer to perform natural walking assistance. The present invention can reduce the possibility of mismatch between the wearer and the device movement direction, and can efficiently use energy during long-term work by reducing the output torque value. Additionally, increasing the torque zero range can be beneficial for improving battery consumption and durability. In addition, when a shock is repeatedly applied to the device when stepping on a step while walking, the shock amount can be relatively reduced if a low torque is applied with zero torque shaping. The present invention provides the effect of selective muscle strengthening exercise through walking exercise by time shifting and reversing a soft interaction torque profile using a wearable walking exercise robot. The present invention sequentially stores the wearer's recent (within 1 to 2 seconds) leg movement status information in a buffer memory, and performs output feedback control using the stored status information, thereby having the effect of strengthening specific muscles and achieving various exercise effects. The present invention has the effect of enhancing various walking functions through walking exercise using a wearable device. The present invention has the effect of achieving exercise intensity (muscle stimulation) that is difficult to achieve through walking exercise using wearable devices such as hips, knees, and ankles. The present invention has a waist wearable made of soft material, so it can flexibly respond to the wearer's movements. This allows the wearer to naturally perform various postures and movements, and can provide the effect of minimizing burden even when assisting with highly active work or walking exercise. The soft waist wearable part of the present invention can be flexibly worn regardless of the wearer's body shape or size, so that various users can wear it comfortably regardless of gender, body shape, or body size. In particular, since it automatically adheres to the wearer's body shape, no additional adjustment is required, and it has the effect of providing a user-customized fit. The present invention does not use a rigid frame, so unnecessary pressure or interference does not occur on the wearer's hip joint or waist. This soft waist wearing part does not cause discomfort to the wearer even when worn for a long time, and provides a stable wearing feeling, so that the user can use it for a long time with less fatigue. The soft waist wearable part of the present invention is naturally compatible with the user's movements, so there is no interference depending on the posture or movement while wearing it. As a result, the wearable robot can smoothly assist the wearer's movements, and the user can receive smooth assistance even during walking. By removing the rigid frame of the present invention, the overall weight is reduced, so that the user can carry and use it without any burden. The light weight of the product can provide the effect of improving the wearing comfort and maximizing the convenience of use by making it easy to store and transport. The present invention can improve the shortcomings of existing wearable robots through a single actuator and optimized structural design, and can provide the effect of significantly improving wearing comfort and auxiliary performance. The present invention prevents weight increase and system volume expansion by designing a lightweight and slim system using a single actuator, thereby enabling efficient operation. A single actuator can symmetrically assist the opposite leg based on the supporting foot according to the human walking characteristics, simplifying the structure, reducing heat loss, and reducing manufacturing costs compared to existing technologies that use individual actuators for each joint. In addition, by offsetting the rotational force and rotational repulsive force of the actuator within the actuator frame, the user only feels the reaction to the assistive force, thereby reducing discomfort when wearing and greatly improving the wearing comfort. The present invention is designed so that the device body including a single actuator is placed on the front of the wearer's abdomen, so that a rigid frame is not required on the hip joint side. As a result, interference does not occur regardless of the user's body shape and size, providing the effect of greater freedom of movement for the wearer. The thigh wearable of the present invention is designed so that the user can easily put on and remove the device. It has a left-right symmetrical structure and is composed of a band and a buckle, so that the wearer can quickly put on and take off the device with a simple operation. This feature can enhance user convenience by making it easy to use the walking assistance robot in various situations. The thigh wearable part of the present invention can adjust the length to fit the thigh shape and circumference of the wearer, so it is suitable for users with various body sizes and shapes. As a result, the device adheres exactly to the user's thigh, and prevents the device from slipping down or coming off while worn, thereby enhancing stability. The thigh wearable part of the present invention is designed to wrap around the thigh frame joint structure, thereby reducing the phenomenon of frame distortion that may occur during walking. This allows the user to maintain free movement even while wearing the device, and provides the effect of not feeling discomfort during everyday actions (e.g., walking, sitting, climbing stairs, etc.). The thigh wearable part of the present invention is provided with a thigh frame and a button that can be easily attached and detached, so that a user can quickly assemble or disassemble the device. The button automatically returns to its original position through an elastic member having a return force, so that a stable connection state can be maintained. The thigh wearable part of the present invention is designed to adhere smoothly to the wearer's thigh, and can effectively alleviate shock and shaking that occurs during walking. As a result, fatigue is minimized even when the device is worn for a long time, and a comfortable fit is provided. The thigh wearable part of the present invention naturally adapts to the wearer's movements in various usage environments, and can effectively operate in various activities such as walking assistance, stair climbing, and running. In addition, the device is stably fixed to the thigh, so that it can maintain reliability in any environment. FIG. 1a is a drawing showing a wearable robot according to one embodiment of the present invention. FIG. 1b is an exploded perspective view of a driving unit of a wearable robot according to one embodiment of the present invention. FIG. 1c is a drawing explaining the left-right hinge movement of a connecting member according to one embodiment of the present invention. FIG. 1d is a drawing explaining the sliding motion of a connecting member according to one embodiment of the present invention. FIG. 1e is a drawing explaining the link operation of a connecting member according to one embodiment of the present invention. FIG. 1f is a drawing explaining a walking motion of a wearable robot according to one embodiment of the present invention. FIG. 1g is a drawing explaining the operation of a wearable robot according to the movement and posture of a wearer according to one embodiment of the present invention. FIG. 2 is a drawing for explaining a walking assistance mode and a walking resistance mode according to one embodiment of the present invention. FIG. 3 is a drawing for explaining an example in which a trainer collects device information of a member during group exercise according to one embodiment of the present invention. FIG. 4 is a drawing for explaining a method for quantifying the physical / motor ability of a wearable robot wearer according to the present invention. FIG. 5 is a diagram illustrating a method for calculating torque to provide driving force to a wearable robot wearer using a state trajectory memory buffer according to the present invention. FIG. 6a is a diagram illustrating an operation of sequentially storing operation state values ​​based on a state trajectory memory buffer according to one embodiment of the present invention. FIG. 6b is a diagram showing an embodiment in which an operation state value stored in the last storage location (N) is deleted from a state trajectory memory buffer according to one embodiment of the present invention. FIG. 6c is a diagram showing an embodiment in which a motion state value reflecting a motion state of a wearer is stored in a state trajectory memory buffer according to the motion of the wearer according to one embodiment of the present invention. Figure 7 is a diagram showing the results of analyzing the Pearson correlation between the gait, balance, and physical function indices of a wearable robot wearer and the device power torque ratio. FIG. 8 is a diagram showing the correlation between the device power torque ratio and the wearer's age in the walking assistance mode of the wearable robot according to the present invention and the correlation between the device power torque ratio and the wearer's age in the walking resistance mode of the wearable robot according to the present invention. FIG. 9 is a schematic diagram illustrating one or more network functions for performing a method of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) according to the present invention and a wearer's physical condition. FIG. 10 is a diagram for explaining a method for calculating an importance score of a category of body information or movement information of a wearer of a wearable robot based on a deep neural network according to one embodiment of the present invention. FIGS. 11A to 11D are convex diagrams of a system for generating a graphical user interface for providing information about the walking of a wearable robot wearer using a wearable robot capable of estimating the walking ability of the wearer during walking exercise according to one embodiment of the present invention. FIG. 12 is a block diagram of a user terminal of a system for generating a graphical user interface that displays information about the gait of a wearable robot wearer according to one embodiment of the present invention. FIGS. 13 and 14 are diagrams showing a graphical user interface illustrating a user / administrator and experience mode login process for accessing a system that displays information about the gait of a wearable robot wearer according to one embodiment of the present invention. FIG. 15A is a drawing showing a graphical user interface that illustrates a process in which a Bluetooth connection is completed for linking a user terminal and a wearable robot according to one embodiment of the present invention. FIG. 15b is a diagram showing a graphical user interface illustrating a process in which a Bluetooth connection between a user terminal and a wearable robot fails according to one embodiment of the present invention. FIG. 15c is a diagram showing a graphical user interface illustrating a process in which a Bluetooth connection between a user terminal and a wearable robot is disconnected according to one embodiment of the present invention. FIG. 16 is a diagram illustrating a graphical user interface that displays a main screen on a user / administrator terminal after login and Bluetooth connection are completed according to one embodiment of the present invention. FIG. 17A is a diagram illustrating a graphical user interface of a user terminal representing a rest mode prior to robot movement according to one embodiment of the present invention. FIG. 17b is a diagram illustrating a graphical user interface of a user terminal that sets at least one of an assist / movement mode and a torque intensity when starting robot movement according to one embodiment of the present invention. FIG. 17c is a diagram illustrating a graphical user interface of a user terminal that displays information about a wearer's gait measured during a robot movement process when the robot movement ends according to one embodiment of the present invention. FIG. 17d is a drawing showing a graphical user interface that displays a walking map of a user terminal that displays the wearer's current location information and distance information and the wearer's walking time information during a robot movement process according to one embodiment of the present invention. FIG. 17e is a diagram illustrating a graphical user interface that displays a notification that gait analysis information was not generated when robot movement is terminated according to one embodiment of the present invention. FIG. 18 is a flowchart illustrating a method for generating a graphical user interface of a user terminal that shows information about the walking of a wearable robot wearer transmitted and received between a wearable robot, a user terminal, and an external server according to one embodiment of the present invention. FIG. 19A is a drawing showing a graphical user interface of a user terminal that records robot movement processes according to one embodiment of the present invention and displays statistical information based on the wearer's accumulated walking information based on the 'number of steps'. FIG. 19b is a diagram showing a graphical user interface of a user terminal that records robot movement processes according to one embodiment of the present invention and displays statistical information based on accumulated walking information of a wearer based on ‘distance’. FIG. 19c is a drawing showing a graphical user interface of a user terminal that records robot movement processes according to one embodiment of the present invention and displays statistical information based on accumulated walking information of a wearer based on 'time'. FIG. 20 is a drawing showing a graphic user interface of a user terminal displaying a gait analysis report based on gait analysis information of a wearer based on at least one of information about the wearer's gait obtained during a previous robot movement process and accumulated data stored in an external server according to one embodiment of the present invention. FIG. 21 is a diagram for explaining a method for estimating gait analysis information of a wearable robot wearer based on a deep learning model according to one embodiment of the present invention. FIG. 22 is a flowchart illustrating a process of combining information about different types of gait of a wearer into multimodal data and estimating gait analysis information based on a deep learning model according to one embodiment of the present invention. FIG. 23 is a diagram illustrating a graphical user interface that displays a walking ability estimation report based on the wearer's walking analysis information estimated based on a deep learning model according to one embodiment of the present invention. FIG. 24 is a diagram illustrating a graphical user interface that displays customized exercise program information suitable for the walking ability of a wearable robot wearer based on a deep learning model according to one embodiment of the present invention. FIG. 25 is a diagram showing customized exercise program information and expected effects suitable for the walking ability of a wearable robot wearer based on a deep learning model according to one embodiment of the present invention. FIG. 26 is a graphical user interface illustrating a process for registering administrator information in a user terminal according to one embodiment of the present invention. FIG. 27 is a drawing showing a graphical user interface illustrating a process for registering user information in an administrator terminal according to one embodiment of the present invention. Figure 28 is a flowchart for explaining the process of registering each piece of user and administrator information on a user terminal and an administrator terminal, respectively, according to one embodiment of the present invention. FIGS. 29A and 29B are diagrams illustrating a graphical user interface of a user terminal that can check and modify user account information according to one embodiment of the present invention. FIG. 30 is a drawing showing a graphical user interface of a user terminal that enables an administrator to confirm information and delete registration according to one embodiment of the present invention. FIG. 31 is a drawing showing a graphical user interface of a user terminal that can check information on a user robot according to one embodiment of the present invention. FIG. 32 is a drawing showing a graphical user interface of an administrator terminal that can check and modify administrator account information according to one embodiment of the present invention. FIG. 33 is a drawing showing a graphic user interface of an administrator terminal for setting a robot name (management number) of a wearable robot connected to a user terminal according to one embodiment of the present invention. FIG. 34 is a drawing showing a graphical user interface of an administrator terminal showing a basic screen when a program tab for 1:N group exercise according to one embodiment of the present invention is clicked. FIG. 35 is a drawing showing a graphical user interface of an administrator terminal for generating a program for 1:N group exercise according to one embodiment of the present invention. FIG. 36 is a drawing showing a graphical user interface of an administrator terminal showing general information of a program created for 1:N group exercise according to one embodiment of the present invention. FIG. 37 is a diagram showing a graphical user interface of an administrator terminal illustrating a process of selecting participating members for a program created for 1:N group exercise according to one embodiment of the present invention. FIG. 38 is a drawing showing a graphical user interface of an administrator terminal that illustrates a process of connecting a member who has participated in a program for 1:N group exercise according to one embodiment of the present invention but is not connected to a wearable robot. FIG. 39 is a drawing showing a graphical user interface of an administrator terminal that illustrates a process of initiating robot exercise for at least one member among members participating in a program for 1:N group exercise according to one embodiment of the present invention. FIG. 40 is a drawing showing a graphic user interface of an administrator terminal that sets the walking mode and torque intensity at the start of exercise for each member in a program for 1:N group exercise according to one embodiment of the present invention. FIG. 41 is a drawing showing a graphical user interface that allows checking the walking information of a member who has participated in a program for 1:N group exercise according to one embodiment of the present invention through an administrator terminal. FIG. 42 is a diagram showing a graphical user interface that allows the administrator to check basic information and a gait analysis report of one member who participated in a program for 1:N group exercise according to one embodiment of the present invention through an administrator terminal. Figure 43 is a drawing showing a device control method for safely performing various tasks other than walking during walking assistance of a wearer according to the present invention. FIG. 44 is a diagram for explaining a comparison of heap state trajectory operations according to one embodiment of the present invention. FIG. 45a is a diagram showing a state trajectory when a pedestrian has stopped and when a pedestrian continues walking after stopping according to one embodiment of the present invention. FIG. 45b is a drawing for explaining a state trajectory movement distance according to one embodiment of the present invention. FIG. 45c is a drawing for explaining a torque intensity adjustment factor according to one embodiment of the present invention. FIG. 46 is a drawing for explaining continuous step counting according to one embodiment of the present invention. Figure 47 is a drawing for explaining a walking assistance output algorithm according to the present invention. Figure 48 is a drawing for explaining an auxiliary method based on state feedback control according to the present invention. Figure 49 is a drawing for explaining an output torque algorithm according to the present invention. Figure 50a is a drawing showing the change in torque value when walking again after performing a task other than walking during walking according to the present invention. Figure 50b is a drawing showing the change in torque value when walking slowly according to the present invention and then walking again after performing a task other than walking. FIG. 51a is a drawing for explaining an embodiment of increasing a torque deactivation section in a section where a device torque sign changes according to the present invention. FIG. 51b is a drawing for graphically explaining an embodiment of increasing a torque deactivation section in a section in which a device torque sign changes according to the present invention. Figure 52 is a drawing showing a wearable mobility system and user terminal according to the present invention. Figure 53 is a drawing for explaining the walking assistance mode and walking resistance mode according to the present invention. FIG. 54 is a drawing for explaining a method for supporting selective muscle strengthening exercise during walking exercise according to the present invention. FIG. 55 is a diagram illustrating a user interface for selecting a target muscle to exercise according to one embodiment of the present invention. Figure 56 is a drawing for explaining a walking assistance output algorithm according to the present invention. FIG. 57 is a diagram showing a lookup table of setting values ​​matching a target strength exercise mode according to one embodiment of the present invention. Figure 58 is a drawing for explaining an output torque algorithm according to the present invention. Figure 59 is a diagram illustrating provision of user feedback information according to one embodiment of the present invention. FIG. 60 is a diagram illustrating provision of hip joint visual feedback information according to one embodiment of the present invention. Figure 61 is a drawing showing the muscle strengthening effect of auxiliary mode A according to one embodiment of the present invention. Figure 62 is a drawing showing the muscle strengthening effect of resistance mode A according to one embodiment of the present invention. Figure 63 is a drawing for comparing the difference in enhanced muscle strength between resistance mode B and resistance mode C according to the present invention. Figure 64 is a drawing showing the torque and power trajectories of auxiliary mode A according to the present invention. Figure 65 is a drawing showing the torque and power trajectories of resistance mode A according to the present invention. Figure 66 is a drawing showing the torque and power trajectories of resistance mode B according to the present invention. Figure 67 is a drawing showing the torque and power trajectories of resistance mode C according to the present invention. Figure 68 is a drawing showing the torque and power trajectories of resistance mode D according to the present invention. Figure 69 is a drawing showing the torque and power trajectories of resistance mode E according to the present invention. FIG. 70 is a drawing for explaining a method for supporting selective walking reinforcement exercise during walking exercise according to one embodiment of the present invention. FIG. 71 is a diagram showing a set value lookup table matching a target motion exercise mode according to one embodiment of the present invention. FIG. 72 is a diagram illustrating a target improvement operation setting user interface according to one embodiment of the present invention. Figure 73 is a drawing showing the torque and power profiles of auxiliary mode A according to one embodiment of the present invention. Fig. 74 is a diagram showing the torque and power profiles of auxiliary mode B according to one embodiment of the present invention. Fig. 75 is a diagram showing the torque and power profiles of auxiliary mode C according to one embodiment of the present invention. Fig. 76 is a diagram showing the torque and power profiles of auxiliary mode D according to one embodiment of the present invention. Figure 77 is a diagram illustrating an interval walking exercise program according to one embodiment of the present invention. FIG. 78 is a diagram illustrating an auxiliary / resistance program user interface according to one embodiment of the present invention. Figure 79 is a drawing showing an additional control mode suitable for situations such as downhill or uphill walking according to one embodiment of the present invention. Figure 80 is a drawing for explaining the waist wearing part and waist wearing buckle part of the present invention. Figure 81 is a drawing for explaining an embodiment of a Velcro fastening method of a waist wearing part and a waist wearing buckle part of the present invention. Figure 82 is a drawing for explaining a driving unit fixing member according to the present invention. Figure 83 is a drawing for explaining a driving unit fixed frame part according to the present invention. FIG. 84 is a drawing for explaining an embodiment related to the left-right symmetrical twist angle of the drive unit fixed frame according to the present invention. FIG. 85 is a drawing for explaining an embodiment of mounting a driving unit fixing member to a driving unit fixing frame according to the present invention. FIG. 86 is a drawing for explaining an embodiment related to a button member of a driving unit fixing member according to the present invention. FIG. 87 is a drawing for explaining an embodiment related to a button member handle portion of a driving member fixing member according to the present invention. Figure 88 is a drawing for explaining the detailed configuration of the thigh wear part according to the present invention. Fig. 89 is a drawing for explaining the operation of a thigh wearable according to one embodiment of the present invention. Figure 90 is a drawing for explaining a thigh frame fixed joint structure according to the present invention. Fig. 91 is a drawing for explaining a thigh attachment / detachment frame according to the present invention. FIG. 92 is a drawing for explaining a detachment mechanism of a thigh wearable according to one embodiment of the present invention. FIG. 93 is a drawing for explaining a linear guide member according to one embodiment of the present invention. FIG. 94 is a drawing for explaining a sliding rail member according to one embodiment of the present invention. FIG. 95 is a drawing for explaining the operation of the 2-stage and 2.5-stage parts in the coaxial 2-bearing structure and the auxiliary 2-bearing structure of the thigh frame according to one embodiment of the present invention. FIG. 96 is a drawing for explaining a two-stage auxiliary bearing member of a thigh frame according to one embodiment of the present invention. FIG. 97a is a drawing for explaining a two-stage bearing member according to one embodiment of the present invention. FIG. 97b is a drawing for explaining the role of a return elastic member coupled to a 2.5-stage sliding member to assist return according to one embodiment of the present invention. FIG. 97c is a drawing for explaining the shape of a bearing shaft member according to one embodiment of the present invention. FIG. 98 is a drawing for explaining a joint member, a joint shaft member, a two-stage return elastic band member, etc. according to one embodiment of the present invention. FIG. 99 is a drawing for explaining the operation of a thigh frame having a urethane bearing structure that slides on a rail having a certain angle according to the present invention. FIG. 100 is a drawing for explaining a bearing end bracket and a bearing sliding bracket according to one embodiment of the present invention. FIG. 101 is a drawing for explaining a urethane bearing according to one embodiment of the present invention. Figure 102 is a drawing for explaining a joint member, a joint shaft member, a two-stage return elastic band member, etc. in a urethane bearing structure according to one embodiment of the present invention. Figures 103 to 108 are drawings showing the operating state of a wearable robot according to one embodiment of the present invention. Figure 109 is a diagram showing the operation of a connecting member according to a third embodiment of the present invention. Figure 110 is a diagram showing the operation of a connecting member according to a fourth embodiment of the present invention. Figure 111 is an exploded perspective view of a connecting member in a wearable robot according to one embodiment of the present invention. Fig. 112 is a cross-sectional view of a connecting member in a wearable robot according to one embodiment of the present invention. Figure 113 is an enlarged view of portion “A” of Figure 112. Figure 114 is an enlarged view of portion “B” of Figure 112. Figures 115 and 116 are drawings showing the operating state of a wearable robot according to one embodiment of the present invention. Figure 117 is a diagram showing the operation of the connecting member of the present invention. Figure 118 is a perspective view of the waist belt and waist wearing frame combined. Figures 119 to 121 are drawings showing the process of attaching / detaching a waist wearable part of a wearable robot. Fig. 122 is a perspective view of a thigh wearable part of a wearable robot according to one embodiment of the present invention. Figure 123 is an exploded perspective view of the thigh wear part illustrated in Figure 122. Figure 124 is a drawing showing the process of separating / attaching the plate and strap. Figure 125 is a drawing showing how the first button operates within the plate. Figure 126 is a drawing showing the process of separating / attaching a plate and a connecting member. Figures 127 to 129 are drawings showing an elastic member connecting a waist wearing part and a thigh wearing part in a wearable robot according to one embodiment of the present invention. Specific details of the embodiments are included in the detailed description and drawings. The advantages and features of the present invention, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and the present embodiments are provided only to make the disclosure of the present invention complete and to fully inform those skilled in the art of the scope of the invention, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout the specification. FIG. 1a is a drawing showing a wearable robot according to one embodiment of the present invention. FIG. 1b is an exploded perspective view of a drive unit of a wearable robot according to one embodiment of the present invention. Overall structure of a wearable robot As illustrated in FIG. 1A, a wearable robot according to one embodiment of the present invention includes a first fixing part (210), a second fixing part (220), a driving part (230), and a connecting member (240). In addition, the first fixing part (210) and the second fixing part (220) of the wearable robot according to one embodiment of the present invention can be worn on a body part. According to the present invention, a wearable robot capable of estimating a physical ability of a wearer during a walking motion can include a fixing part (including the first fixing part (210) and the second fixing part (220)) that can be mounted on a body part and a driving part (230) that can be mounted on the fixing part, and the driving part (230) can estimate the physical ability of the wearer based on the power of the driving part (230) due to the walking motion of the wearer. For convenience of explanation, the front direction of a wearer wearing a wearable robot is defined as the x-axis direction. In addition, the lateral directions of a wearer wearing a wearable robot are defined as the y-axis direction, and the vertical direction is defined as the z-axis direction. In one embodiment of the present invention, the first fixed part (210) can be mounted on a reference body part of the wearer, the second fixed part (220) can be mounted on a target body part of the wearer, and a connecting member (240) connecting the driving member (230) provided on the side of the first fixed part (210) and the second fixed part (220) can provide an assisting force to the movement of the body part centered on the joint by rotating around the y-axis by the driving of the driving member (230). The connecting member (240) can be divided into a first connecting member (240a) and a second connecting member (240b). According to one embodiment of the present invention, the first fixing part (210) and the second fixing part (220) are each mounted on a body part, and may be formed in the form of a band or belt that can wrap around the body part. In addition, fixing means such as a hook and loop fastener that can be mutually fixed may be provided at both ends. According to one embodiment of the present invention, the driving unit (230) is provided in the first fixed unit (210) and may be configured with a motor or actuator, etc. for providing rotational torque centered on the y-axis, and may include a reducer, etc. for increasing the torque. As illustrated in FIG. 1b, the driving unit (230) includes a driving unit (231) that generates power for auxiliary power and can be mounted in front or behind the reference body part. According to the present invention, the driving unit (230) may be equipped with a battery (236) that supplies power to the driving device (231), but the battery (236) may be formed separately from the driving unit (230) while including the control board (237) and may be equipped on another part of the body. According to the present invention, the first fixing member (210) may be composed of a conventional belt (or scrap) and a buckle (or Velcro), etc. Accordingly, the first fixing member (210) may be equipped with a driving member (230) and may be wound around a reference body part, thereby mounting the driving member (230) in front of the reference body part of the wearer or behind the reference body part. At this time, the circumference of the first fixing member (210) may be adjusted to suit the size of the reference body part of the wearer. According to one embodiment of the present invention, when the driving unit (230) is mounted at the rear of the reference body part, the connecting member (240) may be located at the rear or front of the target body part, but is not limited thereto. According to the present invention, the connecting member (240) is rotatably connected to both sides of the driving unit (230) so that each can be extended along the target body parts on both sides and mounted on the target body parts. At this time, the connecting member (240) can be placed in front or rear of the target body parts depending on the mounting position of the driving unit (230). According to the present invention, the connecting member (240) can rotate in the forward and backward direction around the rotation axis by the operation of the driver (231) of the driving unit (230) to transmit auxiliary power to the target body part. According to one embodiment of the present invention, the connecting member (240) may be formed in a long rod shape, and the inner surface that comes into contact with the target body part may be formed in a curved shape according to the shape that comes into contact with the target body part so as to be in close contact with the target body part. As illustrated in FIG. 1b, the first connecting member (240a) may include an extension frame (245) that is rotatably coupled to the driving member (230) and extends long in a square or circular cross-section. In addition, the first connecting member (240a) may include a fixed frame (246). The second connecting member (240b) may include an extension frame (245) that is rotatably coupled to the driving member (230) and extends long in a square or circular cross-section. In addition, the second connecting member (240b) may include a fixed frame (246). The fixed frame (246) is fixed to the lower end of the extension frame (245) and has a relatively wide contact area with a target body part, and an inner surface is formed as a curved surface according to a shape that makes contact with the target body part, thereby fixing the connecting member (240) to the target body part. According to the present invention, the second fixing member (220) is connected to the lower end of the connecting member (240) to fix the lower end of the connecting member (240) to the target body part. The second fixing member (220), like the first fixing member (210), may be composed of a belt (or strap) and a buckle (or Velcro). In the drawing, the second fixing member (220) is formed at the lower end of the connecting member (240), but it may be formed at a different location or additionally formed at a location other than the lower end of the connecting member (240). Additionally, it may include a motion detection sensor (247) that detects movement or posture of the wearer's target body part. According to one embodiment of the present invention, the control board (237) receives a signal from a detection sensor to predict the movement of the wearer, and controls the driver (231) of the driving unit (230) accordingly to drive the connecting member (240) to assist the movement of the target body part. According to one embodiment of the present invention, the motion detection sensor (247) may be an inertial sensor, an angle sensor, a limit sensor, or the like. The motion detection sensor (247) may be mounted inside the main body housing (234) and sense the angle of the wearer's reference body part. In addition, a motion detection sensor (247) is mounted on a single or double-sided rotary joint (270a, 270b) to estimate the forward and backward angle of the wearer's target body part. Alternatively, the angle of only one target body part can be sensed, and then the angle of the other target body part can be calculated through the relative angles of the target body parts on both sides. In addition, a motion detection sensor (247) is mounted on the connecting member (240) and can sense the angles in the forward / backward direction and the left / right rotation direction of the target body part of the wearer. The sensed left / right rotation angles can be used when calculating information about the wearer's balance. In addition, the motion detection sensor (247) may be an encoder, resolver, hall sensor, etc. that can estimate the amount and direction of rotation of the motor. The motion detection sensor (247) can detect the rotation of the motor shaft and measure the rotational variation. In one embodiment of the present invention, a driving unit (230) including a driving device (231) is positioned in front or behind a reference body part, and a connecting member (240) is positioned in the forward and backward direction in which a target body part moves during operation, so that the connecting member (240) can effectively transmit the auxiliary force of the connecting member (240) to the target body part. Accordingly, since the auxiliary power can be effectively transmitted compared to the existing structure, a relatively small power actuator (231) can be used, and further, as described below, the auxiliary power can be transmitted to the target body parts on both sides using a single actuator (231), so that the weight of the device can be reduced. Embodiment of the driving unit FIG. 1b is an exploded perspective view of a driving unit of a wearable robot according to one embodiment of the present invention. FIG. 1c is a drawing explaining a left-right hinge movement of a connecting member according to one embodiment of the present invention. FIG. 1d is a drawing explaining a sliding operation of a connecting member according to one embodiment of the present invention. FIG. 1e is a drawing explaining a link operation of a connecting member according to one embodiment of the present invention. FIG. 1f is a drawing explaining a walking operation of a wearable robot according to one embodiment of the present invention. FIG. 1g is a drawing explaining a operation of a wearable robot according to a wearer's operation and posture according to one embodiment of the present invention. As illustrated in FIG. 1b, the driving unit (230) may include a single driving unit (231), a driving unit frame (233), and a main body housing (234). According to the present invention, when the target body part is the thigh, the left thigh and the right thigh can be driven in conjunction. In this case, the target to which the auxiliary force or resistance force is transmitted from the target body part can be two points, one of which is called the one-sided target body part, and the other is called the other-sided target body part. Here, the thigh is only an example of a target body part to specifically explain the embodiment of the driving unit, and the target body part is not limited to the thigh and may correspond to various body parts of the human body. According to the present invention, the driving device (231) may be configured as a rotary motor capable of changing the direction of rotation. A connecting member (240a) mounted on one target body part is connected to the motor shaft (232) of the rotary motor, and the connecting member (240a) can rotate in the forward and backward directions around the left and right rotation axis by the power of the rotary motor. According to the present invention, the actuator frame (233) has a long cylindrical shape and accommodates the actuator (231) inside and can rotate in a horizontal axial direction. According to one embodiment of the present invention, the driver frame (233) may not be provided separately, and the driver frame (233) and the driver (231) may be integrated to form the driver (231) itself. According to the present invention, the main body housing (234) can accommodate the actuator frame (233) therein. In one embodiment of the present invention, the main body housing (234) may be divided into an area in which a cylindrical hole (235) is formed horizontally to accommodate the actuator frame (233) therein, and an area in which a battery (236) and a control board (237) are mounted. According to one embodiment of the present invention, a first bearing (238a) and a second bearing (238b) may be mounted between the outside of the actuator frame (233) and the cylindrical hole (235) formed in the main body housing (234) so ​​that the actuator frame (233) can rotate axially. According to one embodiment of the present invention, the actuator (231) positioned inside the actuator frame (233) can be fixed inside the actuator frame (233). Accordingly, when the actuator frame (233) rotates, the actuator (231) can also rotate together. According to one embodiment of the present invention, a second connecting member (240b) mounted on the other end of the actuator frame (233) is connected so that when the actuator frame (233) rotates, the second connecting member (240b) can rotate forward and backward around the left-right rotation axis. As shown, a rotary joint part (270b) can be coupled to the other end of the drive frame (233), and a connecting member (240b) can be fixed to the rotary joint part (270b). In addition, a rotary joint part (270a) can also be coupled to the motor shaft (232) of the rotary motor. In one embodiment of the present invention, a bush (239) is separately coupled to the end of a motor shaft (232), and a rotary joint part (270a) is coupled to the bush (239). According to one embodiment of the present invention, a second bearing (238b) may be separately mounted between the outer surface of the motor shaft (232) and the cylindrical hole (235) of the main body housing (234) or between the outer surface of the bush (239) and the cylindrical hole (235) of the main body housing (234). According to the present invention, the lower portions of the left and right rotary joints (270) can be hinge-connected to a connecting member (240) so as to be rotatable left and right about a forward-backward rotation axis. According to the present invention, one side of the upper part of the rotary joint part (270) can be connected to the other end of the drive frame (233) or the bush (239). The lower part of the rotary joint part (270) is formed in a shape in which both sides are extended in a plate-like shape (a 'U' shape when viewed from the side), so that the upper part of the connecting member (240) between the two sides can be hinge-connected to be rotatable in the left and right directions around the forward and backward rotation axis. Accordingly, as illustrated in Fig. 1c, the connecting member (240) can rotate left and right between the plates on both sides with the upper part of the connecting member (240) as an axis. Accordingly, the connecting member (240) can rotate left and right by means of a hinge connection, and can also rotate back and forth about a left and right rotation axis by means of the rotation of the rotary joint part (270). In addition, the connecting member (240) can have a variable length. In one embodiment of the present invention, the driving unit (230) is mounted on a reference body part. Accordingly, the straight-line distance between the two sides of the driving unit (230) and the lower end of the connecting member (240) may change depending on various postures or movements of the wearer, such as when sitting on a chair, bending over, or raising the arms. At this time, if the length of the connecting member (240) is fixed, the connecting member (240) may restrict (hinder) the movement of the wearer. At this time, in one embodiment of the present invention, the length of the connecting member (240) is varied in accordance with the posture or movement of the wearer, thereby preventing the connecting member (240) from restricting the movement of the wearer. As illustrated in FIG. 1d, the connecting member (240) may be formed of a plurality of frames that overlap and slide. Accordingly, the lengths of both ends of the connecting member (240) may be varied in accordance with the wearer's posture or movement. As illustrated in FIG. 1e, the connecting member (240) may be formed of a plurality of links and configured to bend or unfold in accordance with the wearer's movement. At this time, the links may be linked so as to bend in the forward-backward direction or in the left-right direction. Accordingly, since the amount of bending of the links varies in accordance with the wearer's posture or movement, the connecting member (240) may be prevented from restricting the wearer's movement. A wearable robot according to one embodiment of the present invention configured as described above supports and generates assistive force in a manner that assists one target body part based on the other target body part. That is, the connecting member (240b) of the other end body part is connected to the driver frame (233). In addition, the connecting member (240a) of the one end body part is connected to the motor shaft of the driver (231) so that it can directly receive the rotational power of the driver (231) and can directly rotate with the output of the driver (231). Accordingly, when the driver (231) generates power, the connecting member (240a) of one target body part operates in a direction that spreads the one target body part forward or pulls the one target body part backward based on the other target body part. Accordingly, as illustrated in FIG. 1f, the output generated from the actuator (231) is transmitted to one target body part through the connecting member (240a) of one target body part, and the reaction force to the rotational force (output) of the actuator (231) can be transmitted as an auxiliary force to the other target body part. In other words, the auxiliary force can be transmitted simultaneously to both target body parts in opposite directions by using a single actuator (231). At this time, the rotational output of the actuator (231) acting on the connecting member (240a) of one target body part and the rotational reaction force acting on the connecting member (240b) of the other target body part with respect to the rotational force of the actuator (231) are mutually canceled out in the actuator frame (233), so that only the reaction force to the auxiliary force can be transmitted to the wearer. Therefore, only a small force is transmitted to the actuator (230), so that the reaction force felt by the wearer is small, and thus the wearing comfort can be structurally improved. In addition, as illustrated in FIG. 1g, the actuator frame (233) can rotate in the forward and backward directions around the left-right rotation axis within the cylindrical hole (235) of the main body housing (234). At this time, the actuator (231) fixed within the actuator frame (233) can also rotate together with the actuator frame (233). Accordingly, since the rotational direction reference position of the actuator frame (233) can be changed in accordance with the body housing (234) whose position is fixed to a reference body part for various postures and movements of the wearer, the wearing comfort of the wearer can be improved. For example, as shown in (a) of FIG. 1g, (b) of FIG. 1g, and (c) of FIG. 1g, even when the angles formed by the connecting member (240a) and the connecting member (240b) with respect to the horizontal plane are different depending on the posture of the wearer, the operation reference angle of the actuator frame (233) with respect to the body housing (234) whose position is mounted on a reference body part can be changed in accordance with the posture. In addition, as described above, the connecting member (240) is hinge-joined and can rotate left and right, and the length of the connecting member (240) is formed to be variable or formed as a link structure. Accordingly, the connecting member (240) moves in accordance with the wearer's various postures rather than restricting movement, thereby improving the efficiency of transferring assistive power and the wearing comfort of the wearable robot. For example, when walking on a flat surface as illustrated in (a) of FIG. 1g, when going up or down stairs as illustrated in (b) of FIG. 1g, or when sitting on a chair as illustrated in (c) of FIG. 1g, the operating reference angle of the actuator frame (233) with respect to the main body housing (234) whose position is fixed to the waist can be changed according to the posture. When sitting on a chair as illustrated in (c) of FIG. 1g, there is no relative movement of the two legs, so the actuator frame (233) only freely rotates within the main body housing (234) without the output of the actuator (231) (without generating auxiliary power). In addition, as described above, the connecting member (240) is hinge-joined and can rotate left and right, and the length of the connecting member (240) is formed variably or formed as a link structure, so that the connecting member (240) does not restrict movement but moves in compliance with various postures of the wearer (such as bending the waist forward and backward or sitting on a chair) and postures of the thighs spreading left and right or curling, thereby improving the efficiency of transmitting assistive power and the wearing comfort of the wearable robot. In the embodiment described above, the assistive power is directly transmitted to the connecting member (a) fixed to one thigh by a single actuator (231) and the assistive power is transmitted to the connecting member (b) fixed to the other thigh by the reaction force of the supported leg. However, although not illustrated, it may be configured to have two actuators and have each actuator rotate the connecting members (240) on both sides respectively. At this time, the driving unit (230) is fixed to the wearer's waist and the connecting member (240) is placed at the front or rear of the thigh, so the efficiency of power transmission of the auxiliary power is good, and a driving unit with relatively low power can be used. The above-described embodiment is a structure in which the auxiliary power is directly transmitted to the connecting member (240a) fixed to one target body part by a single actuator (231) and the auxiliary power is transmitted to the connecting member (240b) fixed to the other target body part by the reaction force of the supported target body part. However, although not shown, it may be configured to have two actuators and have each actuator rotate the connecting members (240) on both sides, respectively. In this case, the driving member (230) is fixed to the reference body part of the wearer and the connecting member (240) is arranged in front or rear of the target body part, so the power transmission efficiency of the auxiliary power is good, and thus an actuator with relatively low power can be used. Walking assistance and walking resistance FIG. 2 is a diagram for explaining a walking assistance mode and a walking resistance mode according to one embodiment of the present invention. As shown in FIG. 2, an angle value (q0, Hip difference angle) between one target body part of the wearer and the other target body part may be an operation state value to be described later. In the case of the walking assistance mode according to one embodiment of the present invention, by assisting the movement of the legs of the wearable robot wearer, muscle power consumption during walking can be reduced, or the wearer can be guided into a correct walking posture with a fast and wide stride. With reference to Fig. 2, a force that pushes (extension) the legs of the wearable robot wearer is applied from the right to the left, and with reference to Fig. 2, a force that pulls (flexion) the legs of the wearable robot wearer is applied from the left to the right, so that the wearer can reduce muscle power consumption during walking. That is, in the case of the walking assistance mode according to the present invention, it is possible to provide a walking assistance effect by applying a forward torque to the movement of the legs of the wearable robot wearer. In the case of a walking resistance (exercise) mode according to one embodiment of the present invention, it is possible to provide an exercise effect by applying a reverse torque (resistance torque) to the movement of the legs of a wearable robot wearer. With reference to Fig. 2, a force that pulls (flexes) the legs of a wearable robot wearer is applied from right to left, and with reference to Fig. 2, a force that pushes (extensions) the legs of a wearable robot wearer is applied from left to right, so that the wearer can consume muscle strength when walking and obtain an exercise effect. According to one embodiment of the present invention, in the case of the walking assistance mode, since the direction of the device hip angular velocity and the direction of the torque provided by the driving unit (230) are the same, power is transferred from the device to the wearable robot wearer, and the power value can be calculated as a positive number. On the other hand, in the case of the walking resistance (exercise) mode, since the direction of the device hip angular velocity and the direction of the torque provided by the driving unit (230) are opposite, power is transferred from the wearer to the device, and the power value can be calculated as a negative number. That is, during walking assistance, a positive power value can be mainly calculated, and during walking resistance, a negative power value can be mainly calculated. Body information output example FIG. 3 is a drawing for explaining an example in which a trainer collects device information of a member during group exercise according to one embodiment of the present invention. As illustrated in FIG. 3, the wearable robot of the present invention can have multi-party connection and real-time synchronization functions based on wireless connection and real-time data sharing through a cloud server (100) to improve the leg muscle strength of the wearer and maximize the exercise effect. According to the present invention, a system for managing the movement of a wearer wearing a wearable robot (200) capable of estimating the physical ability of the wearer during walking exercise can be provided. The system for managing the movement of a wearer wearing a wearable robot (200) capable of estimating the physical ability of the wearer during walking exercise can include a first user terminal for outputting analysis information on the movement of the wearer, a server device (100) for receiving analysis information on the movement of the wearer output by the first user terminal, and a second user terminal for receiving analysis information on the movement of the wearer transmitted by the server device (100). For a specific example, the first user terminal may be the smartphone (300-1) of member 1 as illustrated in FIG. 3. The smartphone (300-1) of member 1 may receive information about the wearer's movement from the wearable robot (200-1) of member 1, and may output analysis information about the wearer's movement based on the received information. Accordingly, the server device (100) may receive analysis information about the wearer's movement output by the smartphone (300-1) of member 1. Accordingly, the second user terminal may receive analysis information about the wearer's movement from the server device (100), and the second user terminal may be, but is not limited to, the trainer's smartphone (300-T). According to one embodiment of the present invention, the server device (100) can receive feedback information based on information about the wearer's exercise transmitted to the second user terminal from the second wearer terminal, and transmit the received feedback information to the first wearer terminal. For a specific example, the second user terminal can be a trainer's smartphone (300-T), and the trainer can input feedback information based on information about the wearer's exercise using the trainer's smartphone (300-T), and the input feedback information can be transmitted to the server device (100). The server device (100) can transmit feedback information based on information about the wearer's exercise received to the first wearer terminal, and through this, member 1 can check the feedback information based on information about the wearer's exercise. According to one embodiment of the present invention, a system for managing the movement of a wearer wearing a wearable robot (200) capable of estimating the physical ability of the wearer during walking movement may include a first user terminal that outputs analysis information on the movement of the wearer, a server device (100) that receives the analysis information on the movement of the wearer output by the first user terminal, and a second user terminal that receives the analysis information on the movement of the wearer transmitted by the server device (100). At this time, the analysis information on the movement of the wearer output by the first user terminal may be based on a ratio of power to torque calculated by the wearable robot (200). Specifically, the analysis information on the movement of the wearer output by the first user terminal may be at least one of the wearer's agility or lower body muscle strength. According to one embodiment of the present invention, the wearer's physical ability that can be estimated by the PTR (power torque ratio) value may include agility and lower body muscle strength. Specifically, agility among the wearer's physical abilities may be estimated using the mean positive power (Mean positive power / RMS torque) in the walking assistance mode, and the lower body muscle strength may be estimated using the mean negative power (Mean negative power / RMS torque) in the walking resistance mode. According to one embodiment of the present invention, the server device (100) can receive feedback information based on information about the wearer's exercise transmitted to the second user terminal from the second wearer terminal, and can transmit the received feedback information to the first wearer terminal. At this time, the feedback information received by the server device (100) can include exercise intensity based on the wearer's walking information. For a specific example, the trainer can input feedback information based on information about the wearer's exercise using the trainer's smartphone (300-T), and when the wearer inputs the feedback information to exercise at a stronger intensity, the input feedback information can be transmitted to the server device (100). According to one embodiment of the present invention, a server device (100) for managing the movement of a wearable robot wearer can receive, from a first user terminal, gait information of a wearer wearing a wearable robot (200) that is linked to a first user terminal, and transmit the received gait information of the wearer to a second user terminal. For a specific example, the server device (100) can receive gait information of a wearer wearing a wearable robot (200) from a smartphone (300-1) of member 1, and transmit the received gait information of the wearer to a smartphone (300-T) of a trainer. Accordingly, the server device (100) can also receive feedback information based on the gait information of the wearer received by the second user terminal from the second user terminal. At this time, the feedback information based on the gait information of the wearer received by the second user terminal can include an exercise intensity based on the gait information of the wearer, and the feedback information based on the gait information of the wearer received by the second user terminal can include information for controlling the exercise intensity based on the gait information of the wearer in real time. Therefore, in one embodiment of the present invention, the trainer can control the exercise intensity of the wearable robot (200) worn by the member in real time. According to one embodiment of the present invention, the wearable robot (200-1) of member 1 and the smartphone (300-1) of member 1 can be connected wirelessly. The wireless connection between the wearable robot (200-1) of member 1 and the smartphone (300-1) of member 1 can be connected via Bluetooth, which is a short-range wireless communication, but in addition, it can be connected via wireless communication technology such as Wi-Fi, NFC, Zigbee, ANT plus, LTE-M, NB-IoT, Z-Wave, LoRa, etc., but is not limited thereto. According to one embodiment of the present invention, a trainer can monitor the exercise status of each member in real time through his or her smartphone, compare performances among members, and provide individual feedback. According to one embodiment of the present invention, the trainer can set the exercise intensity to suit each member based on real-time data. For example, in the case of a member with relatively low exercise ability, it is possible to lower the exercise intensity by separately setting the intensity of the device for a specific member. That is, when exercising in walking resistance mode, the resistance intensity can be lowered. According to one embodiment of the present invention, the server device (100) can perform a step of accumulating the power-to-torque ratio of the driving unit (230) calculated by the driving unit (230) for each walking session. In addition, the server device (100) can perform a step of accumulating the power-to-torque ratio of the driving unit (230) for each walking session and calculating statistics on the accumulation. For a specific example, the server device (100) can receive information on the power-to-torque ratio calculated by the driving unit (230) from the smartphone (300-1) of member 1. Accordingly, the server device (100) can accumulate information on the power-to-torque ratio of the driving unit (230) received from the smartphone (300-1) for each walking session. In addition, statistics on the accumulation can be calculated using the accumulated information on the power-to-torque ratio of the driving unit (230). According to another embodiment of the present invention, the wearer terminal (300) may perform a step of receiving, from the server device (100), statistical information on the accumulation of the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) for each walking step. Accordingly, a step of displaying the statistics on the accumulation received from the server device (100) may be performed. For a specific example, the statistics on the accumulation received from the server device (100) may be provided in the form of a wearer interface, and the statistics on the accumulation received from the server device (100) may be provided in the form of a wearer interface in the form of a physical ability report of the wearer. In addition, the statistical information on the accumulation received from the server device (100) may include exercise program information provided to the wearer, and the exercise program information provided to the wearer may be provided in the form of a wearer interface. Method for quantifying physical / motor abilities of wearable robot wearers FIG. 4 is a drawing for explaining a method for quantifying the physical / motor ability of a wearable robot wearer according to the present invention. As illustrated in FIG. 4, in order to output physical ability information of a wearable wearer, a method for quantifying physical / motor ability of a wearable robot wearer may include a step (S103) of quantifying the physical ability of the wearable wearer. The physical ability information of the wearable wearer may include, but is not limited to, information on the wearer's walking ability, information on the wearer's balance ability, information on the wearer's lower body muscle strength ability, etc. In addition, a step (S104) of outputting the wearer's physical ability information may be further included. According to the present invention, a wearable robot capable of estimating a wearer's physical ability during walking exercise may include a fixed part (210) that can be mounted on a body part and a driving part (230) that can be mounted on the fixed part (210). At this time, the driving part (230) can estimate the wearer's physical ability based on the power of the driving part (230) due to the walking exercise of the wearer of the wearable robot (200). Hereinafter, an embodiment of estimating a wearer's physical ability based on the power of a driving unit (230) according to one embodiment of the present invention will be described. Torque sensing to assist or resist walking (S101) According to the present invention, a wearable robot capable of estimating a physical ability of a wearer during a walking motion may include a fixing unit (210) that may be mounted on a body part and a driving unit (230) that may be mounted on the fixing unit (210). At this time, the driving unit (230) may estimate the physical ability of the wearer based on the power of the driving unit (230) due to the walking motion of the wearable robot wearer (200). Specifically, the driving unit (230) may estimate the physical ability of the wearer based on a value obtained by normalizing the power of the driving unit (230) by torque. In addition, the driving unit (230) may also calculate a ratio of the power to the torque of the driving unit (230) by dividing the power of the driving unit (230) by the RMS (Root Mean Square) torque of the driving unit (230). As described above, since torque must be sensed in order to estimate the physical ability of the wearer based on the power of the driving unit (230), the following describes a step (S101) of sensing torque for assisting or resisting the walking of the wearable robot wearer. As illustrated in Fig. 4, in order to estimate the physical ability information of the wearable wearer, a step (S101) of sensing a torque for assisting or resisting the walking of the wearable robot wearer may be performed first. Alternatively, a step of outputting a torque for assisting or resisting the walking of a wearable robot wearer may be performed, and this step includes a step of sensing a hip angle difference value (q0), as illustrated in FIG. 5. The torque output by performing the step of sensing the hip angle difference value (q0) can provide an assistive driving force in the case of an assist mode to generate positive power, and can provide a resistive driving force in the case of a resistance mode (exercise mode) to generate negative power. That is, in other words, in order to estimate the physical ability information of the wearable wearer, a step (S101) of sensing a torque for assisting or resisting the walking of the wearable robot wearer may be performed first, and in order to calculate the device power calculated for estimating the physical ability information of the wearable wearer, a torque for assisting or resisting the walking of the wearable robot wearer is sensed, and in the case of providing driving force to the wearer, the torque may be output through calculation. Hereinafter, a mechanism for obtaining the calculated torque using the state trajectory memory buffer (200') will be described. State trajectory memory buffer and operation state values FIG. 5 is a diagram illustrating a method for calculating torque to provide driving force to a wearable robot wearer using a state trajectory memory buffer according to the present invention. According to the present invention, a wearable robot capable of estimating a physical ability of a wearer during a walking motion may include a fixing unit (210) that may be mounted on a body part and a driving unit (230) that may be mounted on the fixing unit (210). At this time, the driving unit (230) may estimate the physical ability of the wearer based on the power of the driving unit (230) due to the walking motion of the wearable robot wearer (200). Specifically, the driving unit (230) may estimate the physical ability of the wearer based on a value obtained by normalizing the power of the driving unit (230) by torque. In addition, the driving unit (230) may divide the power of the driving unit (230) by the RMS (Root Mean Square) torque of the driving unit (230) to calculate the ratio of the power to the torque of the driving unit (230). At this time, the torque for calculating the power of the driving unit (230) may mean a torque value sensed by the driving unit (230) during the walking of the wearer. On the other hand, as described above, the torque output in the step of outputting torque for assisting or resisting the walking of the wearable robot wearer can be used when providing driving force to the wearer of the wearable robot (200). According to one embodiment of the present invention, in order to provide driving force to a wearer of a wearable robot (200), a motion detection sensor (247) of a driving unit (230) may perform a step (S110) of sensing a hip angle of a wearer of the wearable robot (200). A processor unit (not shown) of the driving unit (230) may calculate an angular velocity based on the sensed hip angle. Specifically, a motion detection sensor (247) located on a control board (237) of the driving unit (230) of FIG. 1B may sense a hip angle of the wearer, and a processor unit (not shown) of the control board (237) may calculate an angular velocity by differentiating and filtering the hip angle sensed by the motion detection sensor (247) at a speed of 1000 Hz or higher. That is, according to the present invention, an angular velocity may be calculated through hip angle sensing even without using a separate tachometer for sensing an angular velocity. More specifically, the processor unit (not shown) of the control board (237) performs real-time control, and the processor unit (not shown) can be divided into a low-level processor and a high-level processor, and the hip angle sensed by the motion detection sensor (247) at a speed of 1000 Hz or more can be differentiated and filtered in the low-level processor with a relatively small amount of calculation to calculate the angular velocity. According to one embodiment of the present invention, in a step of outputting a torque for assisting or resisting a walk of a wearable robot wearer, the torque output may be a torque calculated by calculating a plurality of motion state values ​​based on an angular velocity calculated by a driving unit (230), selecting at least one motion state value among them, and calculating a weighted sum of the selected motion state values. At this time, the calculated plurality of motion state values ​​may be stored by repeating a shift operation through a state trajectory memory buffer (200'). Hereinafter, the plurality of motion state values ​​stored by repeating a shift operation through a state trajectory memory buffer (200') will be described. As illustrated in FIG. 5, in order to provide driving force to a wearer of a wearable robot (200), a step of outputting a torque for assisting or resisting walking of a wearable robot wearer may be performed in a processor unit (not illustrated) of a driving unit (230). Specifically, the step of outputting a torque for assisting or resisting walking of a wearable robot wearer may include a step (S120) of determining a motion state value. In addition, a step (S130) of filtering the motion state value may be further included. In addition, a step (S140) of deleting the oldest motion state value previously stored from a memory may be further included. FIG. 6a is a diagram illustrating an operation of sequentially storing operation state values ​​based on a state trajectory memory buffer according to one embodiment of the present invention. FIG. 6b is a diagram illustrating an embodiment of the present invention in which an operation state value stored in a last storage location (N) is deleted from a state trajectory memory buffer. FIG. 6c is a diagram illustrating an embodiment of the present invention in which an operation state value reflecting a movement state of a wearer according to a movement of the wearer is stored in a state trajectory memory buffer. FIG. 5 is a diagram illustrating a method for calculating torque to provide driving force to a wearable robot wearer using a state trajectory memory buffer according to the present invention. Hereinafter, a method for calculating torque to provide driving force based on FIG. 5 will be described step by step. As illustrated in FIG. 6a, the state trajectory memory buffer (200') is a storage device that sequentially stores the wearer's motion state values. Specifically, as illustrated in FIG. 6b, when the first motion state value is input, it is stored in the first storage location (0) of the memory array. Then, when a new motion state value is input, the motion state value stored in the first storage location of the memory array is moved to the second storage location of the memory array, and the newly input motion state value is stored in the first storage location of the memory array. Then, when a new operation state value is input, the operation state values ​​stored in the first and second storage locations of the memory array are moved to the second and third storage locations of the memory array, and the newly input operation state value is stored in the first storage location of the memory array. By repeating this shift operation, N+1 operation state values ​​are stored in all storage locations of the memory array. Accordingly, when a new operation state value is input, the operation state value stored in the memory array is moved to the next location, but the operation state value stored in the last storage location (N) that has no more places to move is deleted from the state trajectory memory buffer (200'). By storing the motion state values ​​in this FIFO (First In First Out) manner, only a preset number of motion state values ​​for the wearer's recent movements can be stored in the state trajectory memory buffer (200'). In addition, the motion state value stored in the state trajectory memory buffer (103) may be a sensing value (q0) estimated by the sensor or a conversion value of a sensing value that can show the motion state of the wearer. For a specific example, the hip angle difference value (q0) may be an angle value (q0) between one target body part and the other target body part of the wearer estimated by the sensor of the wearable robot (200). That is, as illustrated in FIG. 5, a step (S110) of sensing the hip angle difference value (q0) may be performed first. The angle value (q0) between one target body part and the other target body part of the wearer estimated by the sensor of the wearable robot (200) may itself be a motion state value (s0). In addition, the angle value (q0) between the estimated one-sided target body part and the other-sided target body part may be a converted value (s0) converted into [Mathematical Formula 1] as shown below, which may be an operating state value. [Mathematical formula 1] Here, A is an arbitrary constant value, such as -2. The above-mentioned motion state value can be stored in the state trajectory memory buffer (200') as a motion state value reflecting the motion state of the wearer according to the wearer's motion, as illustrated in Fig. 6c. In addition, the following state variables can be used with the asymmetry parameter a added to the original state variables as in the following [Mathematical Formula 2]. Such calculations can be performed in the step (S120) for determining the conversion value (S0) by adding the asymmetry parameter a, as illustrated in Fig. 5. [Mathematical formula 2] Here, if a = 0, it means that there is no asymmetry, and the same torque is symmetrically provided to the left and right movements. If the value of a is negative, the auxiliary torque for the motion of the left movement increases compared to the motion of the right movement. If the value of a is positive, the auxiliary torque for the motion of the right movement increases compared to the motion of the left movement. In other words, the asymmetric assistance for the left or right movement can be adjusted with a single parameter a. According to one embodiment of the present invention, the asymmetry of the left / right movement is determined by the sign of the a value, and the degree of asymmetry can be adjusted by the size of the a value. For example, when a=0.20, the right asymmetric assistance is further strengthened compared to when a=0.10. The a value can be in the range of -1.0 to 1.0, and it is preferable that a value of -0.5 to 0.5 is used. By using the above method, asymmetric torque generation becomes possible even in a wearable robot using a single actuator. The asymmetric mode can be used to resolve imbalances in the left / right range of motion and to improve posture, and can be used for other purposes depending on the wearer or the purpose. For example, the asymmetric mode can be usefully used when assisting the movement of a person performing asymmetric movements due to a disease such as a stroke. In addition, for example, when a wearable robot according to one embodiment of the present invention is used to assist walking movements, the asymmetric mode can be utilized to assist walking navigation. In complex environments, it will be possible to provide pathfinding assistance functions, such as reducing torque to induce a decrease in speed, providing direction guidance through asymmetric assistance on curves, and increasing speed on straight distances. In addition, if vision sensors are used, such as by mounting a smartphone on the exoskeleton device, it can be used for walking movement by the visually impaired. According to one embodiment of the present invention, after performing the step (S120) for determining the conversion value (S0), the filtering step (S130) may be performed. The present invention can change the predetermined position (i) for selecting the motion state value according to the motion state of the wearer in order to adaptively respond to a rapid motion change of the wearer of the wearable robot. If the motion state value is adaptively selected according to the motion change of the wearer and the assisting force is determined, it is possible to respond more quickly to the motion change of the wearer than when the motion state value selection position is fixed. Although FIG. 6c illustrates that the motion state values ​​for one cycle of the wearer's motion are stored, the motion state values ​​stored in the state trajectory memory buffer (200') may represent the wearer's recent short-term movements (within several seconds, for example, within 1 to 2 seconds). For example, the motion state value stored in the state trajectory memory buffer (103) may include only one motion information of the wearer (a half-cycle of a repetitive movement). Even if the motion state value stored in the state trajectory memory buffer (103) includes only one motion of the wearer, i.e. a half-cycle of a repetitive movement, the present invention can be implemented. Preferably, the motion state value stored in the state trajectory memory buffer (200') may be a motion state value for a movement including one cycle of the wearer's repetitive movements. For example, when the wearable robot according to one embodiment of the present invention is worn on a lower body part such as a waist or thigh, one cycle of the wearer's motion may be one cycle of the wearer's walking motion (e.g., a walking motion, etc.). Below, the operation of storing the operation state value in the state trajectory memory buffer (200') is described. As illustrated in FIG. 6a, the state trajectory memory buffer (200') is a storage device that sequentially stores the wearer's motion state values. Specifically, as illustrated in FIG. 6b, when the first motion state value is input, it is stored in the first storage location (0) of the memory array. Then, when a new motion state value is input, the motion state value stored in the first storage location of the memory array is moved to the second storage location of the memory array, and the newly input motion state value is stored in the first storage location of the memory array. Then, when a new operation state value is input, the operation state values ​​stored in the first and second storage locations of the memory array are moved to the second and third storage locations of the memory array, and the newly input operation state value is stored in the first storage location of the memory array. By repeating this shift operation, N+1 operation state values ​​are stored in all storage locations of the memory array. Accordingly, when a new operation state value is input, the operation state value stored in the memory array is moved to the next location, but the operation state value stored in the last storage location (N) that has no more places to move is deleted from the state trajectory memory buffer (200'). By storing the motion state value in this FIFO (First In First Out) manner, the state trajectory memory buffer (200') can store a preset number of motion asymmetric modes for the wearer's recent movements, which can be used to resolve imbalances in the left / right range of motion and improve posture, and can be used for other purposes depending on the user or purpose. For example, the asymmetric mode can be usefully used when assisting the movement of a person who performs asymmetric walking due to a stroke disease. In addition, the asymmetric mode can be utilized for walking navigation assistance. In a complex environment, it will be possible to induce a decrease in speed by reducing the torque intensity, provide direction guidance through asymmetric assistance on curves, and increase speed on straight distances, thereby providing pathfinding assistance functions. In addition, if a vision sensor is utilized by attaching a smartphone to the exoskeleton device, it can be used for walking movement of the visually impaired. According to one embodiment of the present invention, the motion state value stored in the state trajectory memory buffer (200') may represent the user's recent short period of time (within several seconds, for example, within 1 to 2 seconds). For example, the motion state value stored in the state trajectory memory buffer (200') may include only information on one step of the user (half a walking cycle). Even if the motion state value stored in the state trajectory memory buffer (200') includes only one step of the user, that is, one half a walking cycle, the present invention can be implemented. Preferably, the motion state value stored in the state trajectory memory buffer (200') may be a motion state value for a movement including one cycle among the user's repetitive movements. Next, the driving unit (230) may include a decision unit (not shown). Here, the decision unit (not shown) is a processing device that determines the assistive force to be provided according to the user's movement. The decision unit (not shown) uses the motion state value stored in the state trajectory memory buffer (200') to determine the assistive force. Specifically, the decision unit (not shown) selects at least one motion state value among the motion state values ​​stored in the state trajectory memory buffer (200'), determines the assistive force (τ0) as the weighted sum of the selected motion state values, and outputs the determined assistive force so that an appropriate assistive force is provided to the user. At this time, the decision unit (not shown) may be set to select the motion state value stored in a predetermined position (i) in the state trajectory memory buffer (200'). The predetermined position may be any position in the memory array. However, in order to improve the stability of the motion assistance device and to provide a smooth assistive force to the user even when the user's movement changes rapidly, it is preferable not to select the motion state value stored in the first storage position (0) of the memory array that stores the current walking state value. For example, when the operation status value is a value generated every 0.01 seconds, it is desirable that the predetermined position i is between 20 and 40, and therefore the operation status value S

[0020] The internal operation state value S

[0040] can be set to be selected. However, it is not necessarily limited to this range. In addition, the motion state value may have noise removed using a low-pass filter before being stored in the state trajectory memory buffer (200'), but the decision unit (not shown) may select two or more motion state values ​​considering the possibility that noise is included among the stored motion state values. At this time, it is preferable that the two or more motion state values ​​are continuous motion state values ​​(e.g., S[i], S[i+1], ...) rather than motion state values ​​stored spaced apart in the memory array. In addition, the decision unit (not shown) may adaptively change the predetermined position (i) for selecting the motion state value according to the user's movement. However, even in this case, it is preferable to set a changeable range of the position for selecting the motion state value (e.g., i is 10 to 50) in order to provide stable assistive power. At this time, if the decision unit (not shown) has to recognize the user's movement speed, cadence, phase, etc. as in the conventional technologies in order to understand the user's movement, it has to analyze gait state values ​​corresponding to at least two or three steps, and it cannot respond immediately to changes in the user's movement due to the time required for the analysis. However, the decision unit (not shown) uses the gait state values ​​stored in the state trajectory memory buffer (200') to understand the user's movement, and can provide assistive power that immediately and adaptively responds to changes in the user's movement by only changing the location where the motion state value is selected according to the understood result. So far, a motion assistance system according to one embodiment of the present invention has been described, and although this motion assistance system has been described as a system included in a motion assistance device for control, the motion assistance system according to one embodiment of the present invention may be the motion assistance device itself. In addition, although the assisting force has been described as being provided in the same direction as the user's movement to assist the movement, it may also be provided in the opposite direction to the user's movement for exercise effect. Determining output torque Below, the step (S150) of generating output torque based on the stored operation state value is described. According to the present invention, a wearable robot capable of estimating a physical ability of a wearer during a walking motion may include a fixing unit (210) that may be mounted on a body part and a driving unit (230) that may be mounted on the fixing unit (210). At this time, the driving unit (230) may estimate the physical ability of the wearer based on the power of the driving unit (230) due to the walking motion of the wearable robot wearer (200). Specifically, the driving unit (230) may estimate the physical ability of the wearer based on a value normalized by the torque sensed by the power of the driving unit (230). In addition, the driving unit (230) may also calculate the ratio of the power to the torque of the driving unit (230) by dividing the power of the driving unit (230) by the RMS (Root Mean Square) torque of the driving unit (230). At this time, the torque for calculating the power of the driving unit (230) may mean a torque value sensed by the driving unit (230) during the wearer's walking. On the other hand, the torque output in the step (S101) of outputting a torque for assisting or resisting the walking of the wearable robot wearer may be used when providing a driving force to the wearable robot wearer (200). In this case, the torque may be calculated by calculating a plurality of motion state values ​​based on the angular velocity calculated by the driving unit (230), and may be calculated by selecting at least one motion state value among the calculated plurality of motion state values ​​and calculating the sum of the weights of the selected motion state values. According to the present invention, the step (S150) of outputting the assistive force to be provided according to the movement of the wearer may utilize the motion state values ​​stored in the state trajectory memory buffer (103) for determining the assistive force. Specifically, in the step (S150) of outputting the assistive force to be provided according to the movement of the wearer, at least one motion state value stored in the state trajectory memory buffer (200') is selected, the assistive force (τ0) is determined as the weighted sum of the selected motion state values, and the determined assistive force is output, thereby providing an appropriate assistive force to the wearer. At this time, the motion state value stored in the predetermined position (i) in the state trajectory memory buffer (200') may be set to be selected. Specifically, the predetermined position may be any position in the memory array. However, in order to improve the stability of the motion assistance device and to provide smooth assistance to the wearer even when the wearer experiences a sudden change in motion, it is preferable not to select the motion state value stored in the first storage position (0) of the memory array storing the current walking state value. For example, when the motion state value is a value generated every 0.01 seconds, the predetermined position i is preferably 20 to 40, and thus the motion state value S

[0020] to the motion state value S

[0040] may be set to be selected. However, it is not necessarily limited to this scope. In addition, the operation state values ​​can have noise removed using a low-pass filter before being stored in the state trajectory memory buffer (200'), but two or more operation state values ​​can be selected considering the possibility that noise is included among the stored operation state values. At this time, it is preferable that the two or more operation state values ​​be continuous operation state values ​​(e.g., S[i], S[i+1], ...) rather than operation state values ​​stored separately in the memory array. In addition, the predetermined position (i) for selecting the motion state value can be adaptively changed according to the wearer's movement. However, even in this case, it is desirable to set a changeable range of the position for selecting the motion state value (e.g., i is 10 to 50) to provide stable assistive power. At this time, by using the walking state values ​​stored in the state trajectory memory buffer (200') to identify the wearer's movements and simply changing the location where the motion state values ​​are selected based on the identified results, it is possible to provide assistive power that responds immediately and adaptively to changes in the wearer's movements. Calculating the device power to device torque ratio (S102) FIG. 4 is a drawing for explaining a method for quantifying the physical / motor ability of a wearable robot wearer according to the present invention. As illustrated in FIG. 4, in order to output physical ability information of a wearable wearer, a step (S101) of sensing a torque for assisting or resisting walking of a wearable robot wearer may be followed by a step (S102) of calculating device power versus device torque. According to the present invention, a wearable robot capable of estimating a physical ability of a wearer during a walking motion may include a fixed part (210) that may be mounted on a body part and a driving part (230) that may be mounted on the fixed part (210). At this time, the driving part (230) may estimate the physical ability of the wearer based on the power of the driving part (230) due to the walking motion of the wearable robot (200) wearer. Specifically, the driving part (230) may estimate the physical ability of the wearer based on a value obtained by normalizing the power of the driving part (230) by torque. In addition, the driving unit (230) may divide the power of the driving unit (230) by the RMS (Root Mean Square) torque of the driving unit (230) to calculate the ratio of the power to the torque of the driving unit (230). At this time, the torque for calculating the power of the driving unit (230) may mean a torque value sensed by the driving unit (230) during the wearer's walking. On the other hand, the torque output in the step (S101) of outputting a torque for assisting or resisting the walking of the wearable robot wearer may be used when providing a driving force to the wearer of the wearable robot (200). According to one embodiment of the present invention, the driving unit (230) can sense the hip angle of the wearer of the wearable robot (200) and calculate the angular velocity based on the sensed hip angle. Specifically, the motion detection sensor (247) located on the control board (237) of the driving unit (230) of FIG. 1B senses the hip angle of the wearer, and the processor unit (not shown) of the control board (237) can calculate the angular velocity by differentiating and filtering the hip angle sensed by the motion detection sensor (247) at a speed of 1000 Hz or higher. That is, according to the present invention, the angular velocity can be calculated through hip angle sensing even without using a separate tachometer for sensing the angular velocity. More specifically, the processor unit (not shown) of the control board (237) performs real-time control, and the processor unit (not shown) can be divided into a low-level processor and a high-level processor, and the hip angle sensed by the motion detection sensor (247) at a speed of 1000 Hz or more can be differentiated and filtered in the low-level processor with a relatively small amount of calculation to calculate the angular velocity. According to one embodiment of the present invention, the driving unit (230) can sense the hip angle of the wearer of the wearable robot (200) and calculate the angular velocity based on the sensed hip angle. Specifically, the calculated angular velocity may be an angular velocity calculated based on the walking of the wearer when the wearer uses a backdrivable actuator. For a specific example, the backdrivable actuator may mean an actuator that moves with an external force equal to a rotational force generated by an external force of 0.5 Nm or less, that is, a force of 2.5 N at a position of a 20 cm moment arm, when the device is powered off, but is not limited thereto. According to one embodiment of the present invention, the driving unit (230) can sense the hip angle of the wearer of the wearable robot (200) and calculate the angular velocity based on the sensed hip angle. At this time, the calculated angular velocity may be an angular velocity calculated based on the walking of the wearer when the wearer uses a backdrivable actuator, through which the actual angular velocity of the wearer of the actual wearable robot (200) can be reflected. In other words, since the backdrivable actuator is used, the hip swing speed due to the movement of the wearer can be reflected even in the walking mode or the exercise mode. Since the driving unit (230) of the present invention uses force control rather than position control based on a backdrivable actuator, it can move responsively to the movement of the wearer of the actual wearable robot (200). In the step (S102) of calculating device power to device torque, the device power torque ratio can be calculated by the following [Mathematical Formula 3]. [Mathematical Formula 3] [Mathematical formula 4] According to the present invention, The number of cycle sample data for one walk of the wearable robot wearer may be equal to a certain operating time or a certain number of steps. Preferably, may be equal to the number of cycle sample data for one walk of the wearer. Positive power values ​​and negative power values ​​can be calculated by [Mathematical Formula 4]. According to the present invention, is the number of positive power data, can be a negative power data number. Specifically, when the angular velocity direction of the hip angle difference value (q0) and the direction of the device torque are the same, i.e., in the walking assistance mode, power is transmitted from the wearable robot (200) to the wearer, and at this time, the power value can be calculated as a positive number because the positive weight is multiplied by the operating state value. In this way, positive power values ​​can be mainly calculated in the walking assistance mode. According to another embodiment of the present invention, when the direction of the angular velocity of the hip angle difference value (q0) and the direction of the device torque are different, i.e., in the walking resistance mode, the wearer of the wearable robot (200) transmits power to the wearable robot (200), and since a negative weight is multiplied to the operating state value, the power value can be calculated as a negative number. One embodiment of the method invention According to one embodiment of the present invention, the driving unit (230) can accumulate the calculated ratio of power to torque of the driving unit (230) for each walking session. The processor unit (not shown) of the control board (237) of the driving unit (230) can accumulate the ratio of power to torque of a specific wearable robot (200) wearer for each walking session. In addition, statistics for estimating the physical ability of a specific wearable robot (200) wearer can be calculated through the accumulated ratio of power to torque of the specific wearable robot (200) wearer. According to the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can be provided. The method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can include a step of accumulating a ratio of power to torque of a wearer of a specific wearable robot (200) of a driving unit (230) calculated by the driving unit (230) for each walking session and a step of calculating statistics on the accumulation. For example, through this, it is possible to quantify and quantify the physical ability or the exercise ability of the wearer, and it is also possible to provide a wearer interface that can visualize changes in the exercise ability of the wearer when performing an exercise program. As another example, the level of the physical ability or the exercise ability of the wearer can be quantified and visualized at the end of each exercise session of the wearer, and it is also possible to visually represent changes in the physical ability or the exercise ability of the wearer after the end of an exercise program for a specific period, and it is also possible to provide a wearer interface in the form of a report analyzing the physical ability or the exercise ability. According to one embodiment of the present invention, if a step of accumulating a ratio of power to torque of a wearer of a specific wearable robot (200) for each step and a step of calculating statistics on the accumulation are provided, the wearer of the wearable robot (200) can be motivated to complete an exercise program, and a trainer can effectively proceed with personalized response of an exercise program using the wearable robot (200). According to another embodiment of the present invention, when providing a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit, a step of receiving statistics on the accumulated power-to-torque ratio of the driving unit (230) calculated by the driving unit (230) for each walking session from the server device (100) illustrated in FIG. 3 and a step of displaying the statistics on the calculated accumulation may be provided. Specifically, statistics on the accumulated power-to-torque ratio of the driving unit (230) calculated by the driving unit (230) for each walking session may be output in the form of a wearer interface such as a walking analysis report. In this case, a wearer of the wearable robot (200) can easily recognize changes in physical ability over a specific period of time or strengths and weaknesses among the physical abilities of the wearer of the wearable robot (200) through a wearer interface such as a visualized walking analysis report. Examples of using artificial intelligence FIG. 9 is a schematic diagram illustrating one or more network functions for performing a method of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) according to the present invention and a wearer's physical condition. According to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can be provided, and the method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can include a step of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) calculated by a driving unit (230) and a physical condition of the wearer. For a specific example, the step of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) calculated by a driving unit (230) and a physical condition of the wearer can be performed in a server device (100), but can also be performed in a processor (not shown) of the driving unit (230). In addition, according to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit (230) may include a step of proposing exercise information based on a deep learning model trained using the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer as learning data. For a specific example, the step of proposing exercise information based on a deep learning model trained using the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer as learning data may be performed in a server device (100), but may also be performed in a processor (not shown) of the driving unit (230). In addition, according to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit may include a step of predicting an exercise effect based on a deep learning model trained using as learning data the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and at least one of the physical condition of the wearer, the usage information of the wearable robot, and the exercise effect. For a specific example, the step of predicting an exercise effect based on a deep learning model trained using as learning data the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and at least one of the physical condition of the wearer, the usage information of the wearable robot, and the exercise effect may be performed in a server device (100), but may also be performed in a processor (not shown) of the driving unit (230). Below, the operation of the processor unit (not shown) of the server device (100) or the driving unit (230) is described. The processor unit (not shown) of the server device (100) or the driving unit (230) can perform calculations for learning a neural network, such as processing input data for learning in deep learning (DL), extracting features from input data, calculating errors, and updating weights of a neural network using backpropagation. In addition, at least one of the CPU, GPGPU, and TPU of the processor unit (not shown) of the server device (100) or the driving unit (230) can process learning of a network function. For example, the CPU and the GPGPU can together process learning of a network function and classification of data using a network function. In addition, in one embodiment of the present invention, processors of a plurality of computing devices can be used together to process learning of a network function and classification of data using a network function. In addition, a computer program executed in a computing device according to one embodiment of the present invention can be a CPU, GPGPU, or TPU executable program. In this specification, the network function may be used interchangeably with artificial neural network, neural network. In this specification, the network function may include one or more neural networks, in which case the output of the network function may be an ensemble of outputs of one or more neural networks. In this specification, a model may include a network function. The model may include one or more network functions, in which case the output of the model may be an ensemble of outputs of one or more network functions. According to the present invention, a deep neural network (DNN) may mean a neural network including a plurality of hidden layers in addition to an input layer and an output layer, as illustrated in FIG. 9. The deep neural network may include a convolutional neural network (CNN), a recurrent neural network (RNN), an auto encoder, a generative adversarial network (GAN), a restricted boltzmann machine (RBM), a deep belief network (DBN), a Q network, a U network, a Siamese network, a Transformer, a Vision Transformer (ViT), a Mobile Vision Transformer (Mobile ViT), and the like. The description of the above-described deep neural network is only an example, and the present invention is not limited thereto. In the present invention, the network function may include an autoencoder. The autoencoder may be a type of artificial neural network for outputting output data similar to input data. The autoencoder may include at least one hidden layer, and an odd number of hidden layers may be arranged between input and output layers. The number of nodes in each layer may be reduced from the number of nodes in the input layer to an intermediate layer called a bottleneck layer (encoding), and then expanded in a reduced and symmetrical manner from the bottleneck layer to the output layer (symmetrical to the input layer). The nodes of the dimensionality reduction layer and the dimensionality restoration layer may or may not be symmetrical. According to the present invention, an autoencoder can perform nonlinear dimensionality reduction. The number of input layers and output layers can correspond to the number of sensors remaining after preprocessing of input data. In the autoencoder structure, the number of nodes of a hidden layer included in an encoder can have a structure in which the distance from the input layer decreases. The number of nodes of a bottleneck layer (a layer with the fewest nodes located between the encoder and the decoder) may be maintained at a certain number or more (for example, more than half of the input layer, etc.) because a sufficient amount of information may not be transmitted if the number of nodes is too small. According to the present invention, a neural network can be learned by at least one of supervised learning, unsupervised learning, and semi-supervised learning. Learning of a neural network is to minimize errors in output. In learning of a neural network, learning data is repeatedly input into a neural network, the output of the neural network and the target error for the learning data are calculated, and the error of the neural network is backpropagated from the output layer of the neural network to the input layer in a direction to reduce the error, thereby updating the weights of each node of the neural network. In the case of supervised learning, learning data in which the correct answer is labeled for each learning data is used (i.e., labeled learning data), and in the case of unsupervised learning, the correct answer may not be labeled for each learning data. That is, for example, in the case of supervised learning for data classification, the learning data may be data in which each learning data is labeled with a category. Labeled training data is input into the neural network, and the error can be calculated by comparing the output (categories) of the neural network with the labels of the training data. FIG. 10 is a diagram for explaining a method for calculating an importance score of a category of body information or movement information of a wearable robot (200) wearer based on a deep neural network according to one embodiment of the present invention. According to one embodiment of the present invention, importance parameters can be learned based on Reinforecement Learning with Human Feedback (RLHF). Reinforcement Learning with Human Feedback (RLHF) is a learning method that combines reinforcement learning and human feedback, and improves the performance of artificial intelligence by learning information output through an artificial intelligence model based on human feedback. According to one embodiment of the present invention, importance scores of categories of body information or movement information of a wearer of a wearable robot (200) can be calculated based on the learned importance parameters. A human feedback-based reinforcement learning method according to one embodiment of the present invention may include a step (S200) of obtaining drive unit power information from a drive unit (230) of a wearable robot (200) while a wearer of the wearable robot (200) performs at least one walking movement, a step (S220) of estimating first movement information of the wearer based on the obtained drive unit power information, a step (S240) of obtaining body information of the wearer of the wearable robot (200), a step (S260) of calculating second movement information by an algorithm operation based on the estimated first movement information of the wearer and the obtained body information of the wearer, a step (S280) of performing learning feedback on the calculated second movement information, and a step (S300) of updating a weight parameter by an algorithm according to the learning feedback. According to one embodiment of the present invention, a step (S200) of obtaining drive unit power information from a drive unit (230) of a wearable robot (200) may be performed while a wearable robot (200) wearer performs at least one walking motion. For a specific example, when a wearable robot (200) wearer performs one walking motion for the first time or starts a walking motion to estimate a physical ability of the wearer, the step may be performed to obtain drive unit power information. According to one embodiment of the present invention, a step (S220) of estimating the first exercise information of the wearer based on the subsequently acquired driving unit power information may be performed. For example, if the driving unit power information acquired from the driving unit (230) has a value below the threshold, the first exercise information of the wearer may be primarily estimated as having a physical ability below the threshold. For another example, if the driving unit power information acquired from the driving unit (230) has a value above the threshold, the first exercise information of the wearer may be primarily estimated as having a physical ability above the threshold. According to one embodiment of the present invention, a step (S240) of acquiring body information of a wearer of a wearable robot (200) and a step (S260) of calculating second motion information by an algorithm operation based on the estimated first motion information of the wearer and the acquired body information of the wearer may be performed next. Specifically, the body information of the wearer may correspond to age, gender, weight, height, etc., but is not limited thereto. For a specific example, if the driving unit power information acquired from the driving unit (230) has a numerical value below the critical value, the first motion information of the wearer may be primarily estimated as having a physical ability below the critical value. However, if the age of the wearer is 80 years or older, if the body information of the wearer and the estimated first motion information of the wearer are determined together, the second motion information may be calculated as having a physical ability above the critical value by an algorithm operation. According to one embodiment of the present invention, a step (S280) of performing learning feedback on the second exercise information calculated thereafter may be performed. According to the present invention, in order to perform learning feedback, a step of setting a ranking of categories determined to have high importance among the wearer's body information may be further included. In addition, according to one embodiment of the present invention, the importance of the wearer's body information category may be determined, and the rankings of three categories determined to have high importance may be determined. In this case, the sample set for performing learning feedback may correspond to a data set consisting of ordered pairs of the rankings from 1st to 3rd and the names of the wearer's body information categories corresponding to each ranking, but the specific number such as 3rd here is only an example and is not limited thereto. According to the present invention, the step (S280) of performing learning feedback on the calculated second exercise information performs learning feedback by comparing the calculated importance score with the sample set for performing learning feedback. According to one embodiment of the present invention, a step (S300) in which the algorithm updates the weight parameter according to the learning feedback may be performed next. For example, the step (S300) in which the algorithm updates the weight parameter according to the learning feedback may be performed in the step (S280) in which the learning feedback is performed to compare the calculated importance score with a sample set for performing the learning feedback on the calculated second exercise information. Then, the importance parameter may be updated so that the ranking of the wearer body information categories according to the calculated importance score matches the generated sample set for performing the learning feedback. In addition, the importance parameter may be re-updated by repeating the process of calculating the importance score by an operation of an algorithm that determines the importance between the categories of the wearer body information based on the learned importance parameter and comparing the calculated importance score with a sample set for performing the learning feedback again. According to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can be provided, and the method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit can include a step of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) calculated by a driving unit (230) and a physical condition of the wearer. For a specific example, the step of proposing exercise information based on a database according to a correlation between a ratio of power to torque of a driving unit (230) calculated by a driving unit (230) and a physical condition of the wearer can be performed in a server device (100), but can also be performed in a processor (not shown) of the driving unit (230). According to one embodiment of the present invention, the device power torque ratio calculated from the driving unit (230) can be used as an indicator for judging the degree of physical ability of the wearer. For example, it can be used as an indicator for judging the walking ability, balance ability, lower body muscle strength, etc. of the wearable robot wearer, but is not limited thereto. Fig. 7 is a diagram showing the results of analyzing the Pearson correlation between the gait, balance, and physical function indices of a wearable robot wearer and the device power torque ratio. Fig. 7 shows that the device power torque ratio can show a statistically significant linear correlation with existing verified gait / physical ability indices, and since the analysis result p-value is 0.05 or less, it can be judged to be statistically significant. Figure 7 (A) is a diagram showing the results of analyzing the Pearson correlation between the 10MWT (10-meter walking test), which is an index of balance and gait evaluation, and the PTR (power torque ratio) value in the walking assistance mode. According to one embodiment of the present invention, the 10MWT (10-meter walking test), which is an index for evaluating balance and walking, is an evaluation tool that can examine short-distance walking speed and short-distance walking ability, and the subjects are indicators that can be used in groups such as the elderly, patients with central nervous system damage such as stroke, spinal cord injury, and Parkinson's disease. At this time, indoor walking and outdoor walking abilities can be distinguished according to the measured walking speed, and as shown in (A) of FIG. 7, as the value of 10MWT (s) on the y-axis increases, it means that the measured walking time value is greater, which can mean that the short-distance walking speed and ability are more insufficient. In addition, since an increase in the PTR (power torque ratio) value of the x-axis (in the case of the walking assistance mode) may mean that stronger power data is being measured from the wearer, it can be seen that there is an inverse correlation with the value of 10MWT (s) of the y-axis, and accordingly, a graph inversely proportional to the value of 10MWT (s) of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the short-distance walking speed and ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking assistance mode. Figure 7 (B) is a diagram showing the results of analyzing the Pearson correlation between the 6MWT (6-minute walking test), which is an indicator of walking endurance evaluation, and the PTR (power torque ratio) value in walking assistance mode. According to one embodiment of the present invention, the 6-minute walking test (6MWT), which is an index for evaluating walking endurance, measures the total distance a pedestrian can walk in 6 minutes. At the 6-minute mark, the walking endurance can be evaluated by checking vital signs (such as mild headache, dizziness, pallor, shortness of breath, fatigue, and pain) after sitting on a chair. As illustrated in Fig. 7(B), as the 6MWT (6-minute walking test) value on the y-axis increases, it means that the distance walked by the pedestrian in 6 minutes is greater, which may mean that the walking endurance of the pedestrian is better. In addition, since an increase in the PTR (power torque ratio) value of the x-axis (in the case of the walking assistance mode) may mean that stronger power data is being measured from the wearer, it can be seen that there is a proportional correlation with the 6MWT (6-minute walking test) value of the y-axis, and accordingly, a graph proportional to the 6MWT (6-minute walking test) value of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the walking endurance ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking assistance mode. Figure 7 (C) is a diagram showing the results of analyzing the Pearson correlation between the TUG (timed up and go test), which is a dynamic balance evaluation index, and the PTR (power torque ratio) value in the walking assistance mode. According to one embodiment of the present invention, the TUG (timed up and go test), which is a dynamic balance evaluation index, is an index that can evaluate the ability to perform activities of daily living, and can be evaluated by measuring the time when a wearer sitting on a chair stands up and, when a start signal is received, walks to a point located at a certain distance, turns 180 degrees at the point, and sits back down on the chair. If it takes more than a critical time, it can be estimated that the pedestrian's walking ability, balance, and ability to perform activities of daily living are poor. As shown in (C) of Fig. 7, as the TUG (timed up and go test) value of the y-axis increases, it means that the pedestrian takes a longer time to walk when a wearer sitting on a chair stands up and, when a start signal is received, walks to a point located at a certain distance, turns 180 degrees at the point, and sits back down on the chair. Therefore, it can mean that the pedestrian's dynamic balance ability or ability to perform activities of daily living is more deficient. In addition, since an increase in the PTR (power torque ratio) value of the x-axis (in the case of the walking assistance mode) may mean that stronger power data is being measured from the wearer, it can be seen that there is an inverse correlation with the TUG (timed up and go test) value of the y-axis, and accordingly, a graph inversely proportional to the TUG (timed up and go test) value of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the dynamic balance ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking assistance mode. Fig. 7(D) is a diagram showing the results of analyzing the Pearson correlation between the 10MWT (10-meter walking test), which is an index of balance and walking evaluation, and the PTR (power torque ratio) value in the walking resistance mode. According to the present invention, in the walking resistance mode, since a negative power value is used, the PTR (power torque ratio) value may have a negative value, as shown in Fig. 7(D). According to one embodiment of the present invention, the 10MWT (10-meter walking test), which is an index for evaluating balance and walking, is an evaluation tool that can examine short-distance walking speed and short-distance walking ability, and the subjects are indicators that can be used in groups such as the elderly, patients with central nervous system damage such as stroke, spinal cord injury, and Parkinson's disease. At this time, indoor walking and outdoor walking abilities can be distinguished according to the measured walking speed, and as shown in (D) of FIG. 7, as the value of 10MWT (s) on the y-axis increases, it means that the measured walking time value is greater, which can mean that the short-distance walking speed and ability are more insufficient. In addition, if the PTR (power torque ratio) value of the x-axis (in the case of the walking resistance mode) increases, since the device angular velocity direction and the torque direction are opposite and the power value is calculated as a negative number in the walking resistance mode, it may mean that weaker power data is being measured from the wearer. Accordingly, it can be seen that there is a proportional correlation with the value of 10MWT (s) of the y-axis, and accordingly, a graph proportional to the value of 10MWT (s) of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the short-distance walking speed and ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking resistance mode. Fig. 7(E) is a diagram showing the results of analyzing the Pearson correlation between the 6MWT (6-minute walking test), which is an index for evaluating walking endurance, and the PTR (power torque ratio) value in the walking resistance mode. According to the present invention, in the walking resistance mode, since a negative power value is used, the PTR (power torque ratio) value may have a negative value, as shown in Fig. 7(E). According to one embodiment of the present invention, the 6-minute walking test (6MWT), which is an index for evaluating walking endurance, measures the total distance a pedestrian can walk in 6 minutes. At the 6-minute mark, the walking endurance can be evaluated by checking vital signs (such as mild headache, dizziness, pallor, shortness of breath, fatigue, and pain) after sitting on a chair. As illustrated in Fig. 7(E), as the 6MWT (6-minute walking test) value on the y-axis increases, it means that the distance walked by the pedestrian in 6 minutes is greater, which may mean that the walking endurance of the pedestrian is better. In addition, if the PTR (power torque ratio) value of the x-axis (in the case of the walking resistance mode) increases, since the device angular velocity direction and the torque direction are opposite and the power value is calculated as a negative number in the walking resistance mode, it may mean that weaker power data is measured from the wearer, and therefore, it can be seen that there is an inverse correlation with the 6MWT (6-minute walking test) value of the y-axis, and accordingly, a graph inversely proportional to the 6MWT (6-minute walking test) value of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the walking endurance ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking resistance mode. Fig. 7(F) is a diagram showing the results of analyzing the Pearson correlation between the short physical performance battery (SPPB), which is a physical function test index, and the PTR (power torque ratio) value in the walking assistance mode. According to the present invention, in the walking resistance mode, since a negative power value is used, the PTR (power torque ratio) value may have a negative value, as shown in Fig. 7(F). According to one embodiment of the present invention, the short physical performance battery (SPPB), which is a physical function test index, is an index that evaluates overall physical function by synthesizing a static balance test, a walking speed test, and a stand-up test, and is an index that can evaluate physical function, degree of frailty, presence of sarcopenia, risk of falls, etc., and predict health risks. As illustrated in FIG. 7 (F), as the SPPB (short physical performance battery) value of the y-axis increases, it may mean better physical function. For a specific example, in the case of a static balance test, the difficulty increases in the order of general posture, semi-tandem posture, and tandem posture, and since the time for maintaining balance without losing it in each posture can be measured, as the SPPB (short physical performance battery) value of the y-axis increases, it may mean better physical function. In addition, since an increase in the PTR (power torque ratio) value of the x-axis (in the case of the walking assistance mode) may mean that stronger power data is being measured from the wearer, it can be seen that there is a proportional correlation with the SPPB (short physical performance battery) value of the y-axis, and accordingly, a graph proportional to the SPPB (short physical performance battery) value of the y-axis can be displayed. Through this, a database can be constructed according to the correlation between the ratio of the power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer, and the physical functional ability of the wearer can be estimated through the PTR (power torque ratio) value in the case of the walking assistance mode. FIG. 8 is a diagram showing the correlation between the device power torque ratio and the wearer's age in the walking assistance mode of the wearable robot according to the present invention and the correlation between the device power torque ratio and the wearer's age in the walking resistance mode of the wearable robot according to the present invention. Fig. 8(A) is a diagram showing the correlation between the device power torque ratio and the wearer's age in the walking assistance mode of the wearable robot according to the present invention. Fig. 8(B) is a diagram showing the correlation between the device power torque ratio and the wearer's age in the walking resistance mode of the wearable robot according to the present invention. As described above, according to one embodiment of the present invention, based on the power torque ratio of the driving unit (230), it is possible to estimate where the wearer's walking, balance, lower body muscle strength, etc. are positioned from the average with respect to age. For example, if the average score is set to 75 points, the PTR value in walking assistance mode can be input through the following [Mathematical Formula 5] and [Mathematical Formula 6] to be scored from 50 points (lowest point) to 100 points (highest point). [Mathematical Formula 5] [Mathematical Formula 6] According to one embodiment of the present invention, if the average is 25% or more for the age, it can be measured as 100 points, and if the average is -25% or less for the age, it can be matched as 50 points. In addition, a more sophisticated model can be built by utilizing the wearer's age, gender, and physical condition (stamina, weight, BMI). In addition, according to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit (230) may include a step of proposing exercise information based on a deep learning model trained using the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer as learning data. For a specific example, the step of proposing exercise information based on a deep learning model trained using the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and the physical condition of the wearer as learning data may be performed in a server device (100), but may also be performed in a processor (not shown) of the driving unit (230). In addition, according to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit may include a step of predicting an exercise effect based on a deep learning model trained using as learning data the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and at least one of the physical condition of the wearer, the usage information of the wearable robot, and the exercise effect. For a specific example, the step of predicting an exercise effect based on a deep learning model trained using as learning data the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) and at least one of the physical condition of the wearer, the usage information of the wearable robot, and the exercise effect may be performed in a server device (100), but may also be performed in a processor (not shown) of the driving unit (230). More specifically, the physical condition of the wearer that can be used as learning data may be a condition that takes into account at least one or at least two or more of the wearer's age, gender, height, weight, and athletic ability, but is not limited thereto. According to one embodiment of the present invention, a method for estimating a physical ability of a wearer during walking using a wearable robot including a driving unit may include a step of predicting an exercise effect based on a deep learning model trained using at least one of a power-to-torque ratio of the driving unit (230) calculated by the driving unit (230) and a physical condition of the wearer, wearable robot usage information, and exercise effect as learning data, and the wearable robot usage information may include a PTR (power torque ratio) value accumulated by the wearer's past wearing and walking of the wearable robot (200). At this time, an exercise effect that can be used as learning data may include a PTR (power torque ratio) value changed over time by the wearer's past wearing and walking of the wearable robot (200). Since the exercise effect of the wearer of the wearable robot (200) can be estimated through the PTR (power torque ratio) value changed over time, a step of predicting the exercise effect again based on a deep learning model trained using this as learning data may be performed. According to one embodiment of the present invention, the user terminal (300) may perform the step of receiving exercise information based on a database according to a correlation between the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) from the server device (100) and the physical condition of the wearer, and the step of displaying the received exercise information. For a specific example, the exercise information based on a database according to a correlation between the ratio of power to torque of the driving unit (230) calculated by the driving unit (230) from the server device (100) and the physical condition of the wearer may be provided as a user interface in the form of a report on the physical ability of the wearer related to walking, but is not limited thereto. System Configuration FIGS. 11A to 11D are convex diagrams of a system for generating a graphical user interface for providing information about the walking of a wearable robot wearer using a wearable robot capable of estimating the walking ability of the wearer during walking exercise according to one embodiment of the present invention. As illustrated in FIG. 11a, a system for implementing a method of generating / providing a graphical user interface for providing information on walking of a wearable robot wearer using a wearable robot (200) capable of estimating the walking ability of the wearer during walking exercise may include a user terminal (300), a wearable robot (200), and an external server (100), and FIG. 11a (a) is a drawing illustrating each configuration that may be configured in the system as a block, and FIG. 11a (b) is an image. As illustrated in FIG. 11b, a system according to one embodiment of the present invention may include a plurality of user terminals (300A, B), a plurality of wearable robots (200A, B), and an external server (100). For example, a plurality of user terminals (300A, B) may be connected to one wearable robot (200), and a plurality of user terminals (300A, B) may be connected to each of the plurality of wearable robots (200A, B). This system configuration may be configured differently depending on the business model. For example, (a) of FIG. 11b is a drawing exemplifying an embodiment of a system configured for a B2B (Business to Business) business model, in which a plurality of user terminals (300A, B), including a first user terminal (300A) and a second user terminal (300B), are connected to a single wearable robot (200), and (b) of FIG. 11b is a drawing exemplifying an embodiment of a system configured for a B2C (Business to customer) business model, in which a plurality of user terminals (300A, B) and a plurality of wearable robots (200A, B), including a first wearable robot (200A) and a second wearable robot (200B), are connected. Referring to FIG. 11c, unlike FIG. 11a, a system that may include a user terminal (300), a wearable robot (200), and an external server (100) may further include an administrator terminal (400). Referring to FIG. 11d, unlike FIG. 11d, a system that may include a plurality of user terminals (300A, B), a plurality of wearable robots (200A, B), and an external server (100) may further include an administrator terminal (400), and this system configuration may be configured differently depending on the business model. FIG. 11d (a) is a drawing exemplifying an embodiment of a system configured for a B2B (Business to Business) business model in which an administrator terminal (400) may be included in the system configuration exemplified in FIG. 11b (a), and FIG. 11d (b) is a drawing exemplifying an embodiment of a system configured for a B2C (Business to Customer) business model in which an administrator terminal (400) may be included in the system configuration exemplified in FIG. 11b (b). As illustrated in FIGS. 11A to 11D, a system according to one embodiment of the present invention may be a terminal or a server, and the system may be a web server that processes a service. Here, a method, device and program for generating / providing a graphical user interface for providing information on a wearer's walking using a wearable robot (200) capable of estimating the wearer's walking ability during the walking motion illustrated in FIGS. 11a to 11d are implemented in a system according to one embodiment, and the components thereof are not limited to those illustrated in FIGS. 11a to 11d, and may be added, changed or deleted as necessary. An external server (100) according to one embodiment of the present invention may be a web server, a database server, an application server, a cloud server, a DNS server, a backup server, etc. However, the external server (100) described above is merely an example of a server capable of data communication through a network from the outside and is not limited thereto. A network according to embodiments of the present invention may use various wired communication systems, such as a public switched telephone network (PSTN), xDSL (x Digital Subscriber Line), RADSL (Rate Adaptive DSL), MDSL (Multi Rate DSL), VDSL (Very High Speed ​​DSL), UADSL (Universal Asymmetric DSL), HDSL (High Bit Rate DSL), and a local area network (LAN). Additionally, the network presented herein can use various wireless communication systems such as Code Division Multi Access (CDMA), Time Division Multi Access (TDMA), Frequency Division Multi Access (FDMA), Orthogonal Frequency Division Multi Access (OFDMA), Single Carrier-FDMA (SC-FDMA), and other systems. The network according to embodiments of the present invention can be configured regardless of its communication mode, such as wired or wireless, and can be configured with various communication networks, such as a personal area network (PAN) and a wide area network (WAN). In addition, the network can be the well-known World Wide Web (WWW), and can also use a wireless transmission technology used for short-distance communication, such as infrared (IrDA: Infrared Data Association) or Bluetooth. The technologies described in this specification can be used not only in the networks mentioned above, but also in other networks. In addition, in order to achieve the purpose of the invention according to one embodiment of the present invention, the user terminal (300), the wearable robot (200), the external server (100), and the administrator terminal (400) are interchangeable and do not necessarily have to be separated. That is, it should be understood that an operation necessary for generating / providing a graphical user interface can occur in at least one of the user terminal (300), the wearable robot (200), the external server (100), and the administrator terminal (400) in one device, and can be appropriately selected to achieve the purpose of the present invention. Terminal Configuration FIG. 12 is a block diagram of a user terminal of a system for generating a graphical user interface that displays information about the gait of a wearable robot wearer according to one embodiment of the present invention. Referring to FIG. 12, a user terminal (300) according to one embodiment of the present invention may include an input unit (301), a processor unit (303), a display unit (305), a memory unit (307), and a communication unit (309). Each of these components may perform an independent function, and may simultaneously interact with each other to implement the overall function of the user terminal (300). However, these components do not necessarily have to be physically separated and exist individually. In addition, an administrator terminal (400) according to one embodiment of the present invention may also include components of the user terminal (300). The user terminal (300) according to one embodiment of the present invention may include a portable terminal such as a smart phone, a computer, a notebook computer equipped with a web browser, a desktop, a laptop, a tablet PC, a slate PC, a smart watch, smart glasses, a head-mounted device, etc. However, the user terminal (300) described above is merely an example for explaining a means that a user can use, and is not limited thereto. Those skilled in the art should understand that the user terminal used by a user for the purpose of the present invention may be selected as an appropriate means. According to one embodiment of the present invention, the input unit (301) may include a hardware-type physical key and a software-type touch key. Specifically, the software-type touch key may be formed of a virtual key, a soft key, or a visual key displayed on a touch screen type display unit through software processing. Virtual keys or visual keys can take various forms and be displayed on the touchscreen. For example, they can be made up of graphics, text, icons, videos, or a combination of these. According to one embodiment of the present invention, the processor unit (303) may be implemented as at least one of a memory unit (307) that stores data on an algorithm for controlling operations of components within the user terminal (300) or a program that reproduces the algorithm, and at least one processor that performs various operations using the data stored in the memory unit (307). In this case, the memory unit (307) and the processor unit (303) may be implemented as separate chips. Alternatively, the memory unit (307) and the processor unit (303) may be implemented as a single chip. According to one embodiment of the present invention, the display unit (305) is a component that receives and displays information processed in a user terminal (300), and can display execution screen information of an application program (e.g., an application) running in the user terminal (300), or user interface (UI) or graphical user interface (GUI) information according to such execution screen information. According to one embodiment of the present invention, the memory unit (307) can store one or more programs, and the memory unit (307) capable of storing one or more programs can store data inputted and outputted through the communication unit (309), and can store a plurality of application programs (or applications) run on the user terminal (300), data for the operation of the user terminal (300), and commands. Additionally, the memory unit (307) capable of storing one or more programs may include a high-speed random access memory such as DRAM, SRAM, DDR RAM or other random access solid state memory devices, and may include a non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices or other non-volatile solid state storage devices. In addition, a memory unit (307) capable of storing one or more programs may receive user input through a graphical user interface for providing information on the gait of a wearable robot wearer on a user terminal (300) or may receive gait information of a wearable robot wearer and store real-time gait information of the wearer, statistical information based on accumulated gait information, a gait analysis report, a gait ability estimation report based on a deep learning model, and customized program information. According to the present invention, the communication unit (309) may include one or more components that enable network communication with an external device, for example, at least one of a wired communication module, a wireless communication module, and a short-range communication module. Login Process FIGS. 13 and 14 are diagrams showing a graphical user interface illustrating a user / administrator and experience mode login process for accessing a system that displays information about the gait of a wearable robot wearer according to one embodiment of the present invention. In order to transmit and receive data with an external server (100) or connect to a wearable robot (200) from a user terminal (300) or an administrator terminal (400), a login process may be performed first. The login process according to one embodiment of the present invention may consist of a user / administrator login for entering an authentication number and registering as a member, and an experience mode login for experiencing without entering information. As illustrated in (a) to (c) of FIG. 13, the user / administrator login process may include a step of entering a phone number in a phone number input area (512) of a phone number input display area (510) in a user / administrator login graphical user interface (500) and selecting login (501), a step of entering an authentication number in an authentication number input area (532) according to the guidance text in an authentication number input guidance area (530) in an authentication number input graphical user interface (502) and selecting next (503), and a step of entering relevant information in a basic information display area (540) and a body information display area (550) in a membership registration graphical user interface (504) and selecting membership application (506). At this time, the basic information display area (540) may include a phone number input area (542), a name input area (544), and an account type selection area (546), and the body information display area (550) may include a gender selection area (552), a date of birth input area (554), a height (cm) input area (556), and a weight (kg) input area (558), and the information entered in each area may be added, changed, or deleted as needed. As illustrated in FIG. 14, the experience mode login process may include a step of selecting experience mode login (524) in a user / administrator login graphical user interface (500), and a step of selecting experience mode login (508) in a experience mode login graphical user interface (507) without entering an authentication number or information for membership registration. In addition, unlike the experience mode login, if the user, i.e., the wearer of the wearable robot, logs in by entering a phone number, authenticating the authentication number, and entering information for membership registration, the login information can be stored in the user terminal (100). If the login information is stored in the user terminal (100), the user does not need to go through the login process again unless he or she selects the account management (118) tab in the category selection area (110) in the user terminal (100) and then selects log out (1802) in the user account management graphical user interface (1800) illustrated in FIG. 18. The same may apply when logging in from the administrator terminal (400). However, the login process according to one embodiment of the present invention is merely exemplary, and various login processes may be adopted. For example, a method may be adopted in which user information is stored in the memory of the user terminal, and login is performed through user authentication based on the information, or a method may be adopted in which account information of a general social media platform is entered, and the user approves a request for data access permission from the platform, thereby logging in through an account of the social media platform. Bluetooth connection FIG. 15a is a diagram showing a graphical user interface showing a process in which a Bluetooth connection is completed for linking a user terminal and a wearable robot according to one embodiment of the present invention. FIG. 15b is a diagram showing a graphical user interface showing a process in which a Bluetooth connection between a user terminal and a wearable robot is failed according to one embodiment of the present invention. FIG. 15c is a diagram showing a graphical user interface showing a process in which a Bluetooth connection between a user terminal and a wearable robot is disconnected according to one embodiment of the present invention. According to one embodiment of the present invention, after the login process as described above is completed, a Bluetooth connection can be established between the wearable robot (200) and the user terminal (300). At this time, the login process can include both user / administrator login and experience mode login. As illustrated in FIG. 15A, a process for completing a Bluetooth connection between a user terminal (300) and a wearable robot (200) according to one embodiment of the present invention may include a step of selecting a robot search (602) in a Bluetooth connection start graphic user interface (600) to search for a wearable robot (200) that can be connected to the user terminal (300), a step of selecting a searched wearable robot selection area (612) in a searched wearable robot display area (610) of a Bluetooth search-in-progress graphic user interface (603), a loading process for indicating a Bluetooth connection in progress (616) in a Bluetooth connection-in-progress graphic user interface (605), a step of displaying a Bluetooth connection completion indication area (620) together with a Bluetooth connection completion guide text (624) in a Bluetooth connection completion graphic user interface (606) and selecting confirmation (622) in the area to complete the connection. At this time, the searched wearable robot display area (610) may include a searched wearable robot selection area (612) and a searched wearable robot number information display area (614). As illustrated in FIG. 15b, a process for causing a Bluetooth connection failure between a user terminal (300) and a wearable robot (200) according to an embodiment of the present invention may include a step of selecting a robot search (602) in a Bluetooth connection start graphic user interface (600) to search for a wearable robot (200) that can be connected to the user terminal (300), a step of selecting a searched wearable robot selection area (612) in a searched wearable robot display area (610) of a Bluetooth search-in progress graphic user interface (603), and a loading process indicating a Bluetooth connection in progress (616) in a Bluetooth connection-in-progress graphic user interface (605), but a Bluetooth connection failure display area (630) appears together with a Bluetooth connection failure guide text (634) in a Bluetooth connection failure graphic user interface (607), and a step of causing a connection failure when confirmation (632) is selected in the area. As illustrated in FIG. 15c, the process of disconnecting the Bluetooth connection between the user terminal (300) and the wearable robot (200) according to one embodiment of the present invention may be performed by switching from a Bluetooth-connected graphical user interface (608) that can confirm that the wearable robot (200) is connected through a Bluetooth-connected wearable robot display area (640) to a Bluetooth-disconnected graphical user interface (609) that includes a Bluetooth-disconnected display area (650) together with a Bluetooth-disconnected notification text (652), thereby disconnecting the existing connection between the user terminal (300) and the wearable robot (200). Figures 15a to 15c illustrate general embodiments of a Bluetooth connection process between a user terminal (300) and a wearable robot (200), but are not limited thereto and various Bluetooth connection situations can be assumed. In addition, these examples are not limited to the connection between a user terminal (300) and a wearable robot (200), but can also be applied between an administrator terminal (400) and a wearable robot (200). In addition, although the connection between the user terminal (300) and the wearable robot (200) is assumed as a 'Bluetooth connection' in one embodiment of the present invention, various technologies may be used for wireless connection between the wearable robot (200) and the user terminal (300), such as a smartphone. Specifically, there may be BLE (Bluetooth Low Energy), UWB (Ultra-Wide-Band), Wi-Fi Direct, NFC (Near Field Communication), Zigbee, etc. According to the present invention, BLE (Bluetooth Low Energy) and UWB (Ultra-Wide-Band) will be described in detail. BLE (Bluetooth Low Energy) is a wireless communication technology that maximizes energy efficiency, and is mainly used in small, battery-operated devices. Since it enables long-term communication even with low power, it can play a key role in various fields such as wearable devices, healthcare monitors, and smart home devices. UWB (Ultra-Wide-Band) is a technology that shows excellent performance in high-precision location tracking and data transmission, and can enable precise distance measurement and location tracking along with a high data transmission rate by using an ultra-wideband frequency. In addition, this technology can be used in smartphones, automobiles, industrial automation, and the like to innovatively improve interactions within physical space. Therefore, the connection between the user terminal (300) and the wearable robot (200) is not limited to a Bluetooth connection, but rather, various wireless connection technologies can be applied between the two devices. In addition, there may be cases where a wireless connection, such as a Bluetooth connection, does not occur between the user terminal (300) and the wearable robot (200) according to one embodiment of the present invention. In such cases, this can be resolved through a wired connection between the user terminal (300) and the wearable robot (200). Example of the main screen (first screen) after connecting the wearable robot and the user terminal FIG. 16 is a diagram illustrating a graphical user interface that displays a main screen on a user / administrator terminal after login and Bluetooth connection are completed according to one embodiment of the present invention. When login and Bluetooth connection according to one embodiment of the present invention are sequentially completed, a graphical user interface displaying a main screen may be displayed on the terminal. FIG. 16 (a) is a drawing showing a graphical user interface of a user terminal (300) after login and Bluetooth connection according to one embodiment of the present invention are completed, and FIG. 16 (b) is a drawing showing a graphical user interface of an administrator terminal (400). The details of each graphical user interface will be described later together with the drawings. Graphical user interface for real-time walking information of wearable robot wearer FIG. 17a is a diagram showing a graphical user interface of a user terminal indicating a rest mode before robot movement according to one embodiment of the present invention. FIG. 17b is a diagram showing a graphical user interface of a user terminal that sets at least one of an assistance / exercise mode and a torque intensity when starting robot movement according to one embodiment of the present invention. FIG. 17c is a diagram showing a graphical user interface of a user terminal that displays information about a wearer's gait measured during a robot movement process when the robot movement ends according to one embodiment of the present invention. FIG. 17d is a diagram showing a graphical user interface that displays a gait map of a user terminal that displays current location information and distance information of the wearer and walking time information of the wearer during a robot movement process according to one embodiment of the present invention. FIG. 17e is a diagram showing a graphical user interface that displays a notification that gait analysis information was not generated when the robot movement ends according to one embodiment of the present invention. As illustrated in FIG. 17A, when the robot movement (312) tab is selected in the category selection area (310) of the user terminal (300) according to one embodiment of the present invention, a robot movement graphical user interface (800) is displayed on which real-time walking information of a wearable robot wearer is displayed. The robot movement graphical user interface (800) may include at least one of a wearable robot status information display area (802), a wearer's real-time walking information display area (810), a movement start / end selection area (820), a walking map selection area (830), and a robot movement setting area (840). Hereinafter, the areas displayed in the robot movement graphical user interface (800) according to one embodiment of the present invention will be described in detail. The wearable robot status information display area (802) may include at least one of a usage time information display area (803), a battery remaining information display area (804), and a torque gauge bar information display area (805), the wearer's real-time walking information display area (810) may include at least one of a distance information display area (812), a step count information display area (814), a speed information display area (816), and a calorie consumption information display area (818), the exercise start / end selection area (820) is an area where exercise start (822) or exercise end (824) can be selected, the walking map selection area (830) is an area where the graphical user interface (834) displaying the walking map can be switched when a map view (832) is selected, and the robot movement setting area (840) is an area where at least one of a walking mode and a torque intensity corresponding to the wearer's walking purpose is set. Can be. In a status information display area (802) of a wearable robot according to one embodiment of the present invention, a usage time information display area (803) can display information related to a usage time of a wearable robot based on operation information of the wearable robot worn by a user. A battery remaining amount information display area (804) can display information related to a battery remaining amount of a wearable robot based on operation information of the wearable robot worn by a user. A torque gauge bar information display area (805) can display information related to a torque value applied by the wearable robot to a wearer of the wearable robot based on operation information of the wearable robot worn by the user using a bar gauge. In the torque gauge bar information display area (805) according to one embodiment of the present invention, the torque gauge bar is an indicator for checking a torque value actually applied to the wearer during walking assistance or exercise, and can be displayed in real time in the form of a gauge in proportion to a torque value determined by the driving unit (230) of the wearable robot (200) based on the hip angle of the wearer. According to the present invention, the torque gauge bar can be calculated through the following [Mathematical Formula 7]. [Mathematical formula 7] The above [Mathematical Formula 7] is a formula that calculates the torque ratio based on the difference between the maximum torque value (max_torque) and the minimum torque value (min_torque) that occurred in the drive unit (230) of the wearable robot (200) during the last two steps (1 stride). At this time, [Mathematical Formula 7] calculates that the difference between the maximum torque value and the minimum torque value is at most 12 Nm ( ) was set to be -6Nm to +6Nm, because the range of the ideal torque value that the wearable robot (200) applies to the wearer was set to be from -6Nm to +6Nm. This range may not necessarily accurately reflect the range of torque values ​​that occur during a typical walking motion of all people. However, since a torque that is too low may not provide sufficient support or resistance during the walking motion, and a torque that is too high may interfere with the user's walking pattern or increase the risk of injury, the range of -6Nm to +6Nm may be a range that can satisfy both the purpose of using the wearable robot (200) and the safety of the user. In addition, the reason why the absolute value of the difference between the maximum torque value and the minimum torque value is used in [Mathematical Formula 7] is because the walking process of a person includes both a motion of the leg moving forward and a motion of pulling backward, the torque occurs in both directions (positive torque and negative torque), so the torque value can have both positive and negative values. Specifically, examples of torque gauge values ​​are as follows: If Max_torque = +6Nm, Min_torque = -6Nm, And, If Max_torque = +3Nm, Min_torque = -3Nm, Become, When the stride of the wearable robot wearer is short or stopped, the torque value becomes 0 Nm and the torque gauge becomes 0%. Graphic user interfaces indicating cases where the torque gauge bar is 50% and 0% are illustrated in (b) and (c) of Fig. 17c, respectively. For example, the graphic user interface where the torque gauge bar is 50% may be a graphic user interface when the torque gauge bar is 50% during robot movement or just before the end of robot movement, and the graphic user interface where the torque gauge bar is 0% may be a graphic user interface when the stride of the wearer is short or stopped or when 2 to 3 seconds have passed after the end of robot movement. In addition, since the torque gauge can be determined based on a torque value determined in proportion to the hip range of motion of the hip joint, or in other words, the hip stride (Hip Range of Motion) during the current walking process of the wearable robot wearer, regardless of the setting of the torque intensity including at least one of a plurality of steps providing differential torque in the robot movement setting area (840), the wearable robot wearer can estimate the torque value applied to the wearer from the wearable robot (200) through the torque gauge displayed on the robot movement graphical user interface (800), and can adjust the torque intensity based on this to perform walking assistance or exercise suitable for the wearer's current state. For example, these systems can be likened to the accelerator pedal and speedometer of a car. Pressing the accelerator pedal is similar to controlling the strength (torque intensity) of a walking assistance or exercise device, and the actual speed (torque in the case of a wearable robot) can be checked through the instrument panel (torque measurement and rate calculation). Accordingly, the wearable robot wearer can control the wearable robot according to the state of the wearable robot during robot movement such as walking assistance or exercise based on information that can be recognized in the state information display area (802) of the wearable robot according to one embodiment of the present invention. In the real-time walking information display area (810) of the wearer according to one embodiment of the present invention, the distance information display area (812) may display information related to the user's exercise distance based on the operation information of the wearable robot worn by the user. The step count information display area (814) may display information related to the user's step count based on the operation information of the wearable robot worn by the user. The speed information display area (816) may display information related to the user's current walking speed based on the operation information of the wearable robot worn by the user. The calorie consumption information display area (818) may display information related to the user's calorie consumption based on the operation information of the wearable robot worn by the user. However, the information included in the real-time walking information display area (810) of the wearer is exemplary and may be added, changed, or deleted as needed. For example, information such as step length, step pattern, continuous walking time, walking rhythm, incline, step count when ascending or descending stairs, and number of floors based on the operation information of the wearable robot worn by the user may be additionally included. In the movement start / end selection area (820) according to one embodiment of the present invention, movement start (822) and movement end (824) can be selected. Specifically, when the user selects movement start (822), the wearable robot in the rest mode (842) can start robot movement according to at least one of the set walking mode and torque intensity, and when the user selects movement end (824), the movement end display area (850) is displayed in the robot movement end graphical user interface (808) as shown in (a) of FIG. 17c, and when movement end (852) is selected within the area, the robot movement of the wearable robot can be ended. However, when the user selects the continue movement (854) within the movement end display area (850), the robot movement is not ended but can continue. As illustrated in FIG. 17e, if the necessary conditions for generating gait analysis information when the robot movement according to the present invention ends are not satisfied, a graphical user interface may appear in the movement end display area (850) to display a notification (856) indicating that gait analysis information was not generated. Specifically, if the wearable robot wearer selects movement end (824) in the movement start / end selection area (820), if there is insufficient meaningful information for performing gait analysis of the wearer, the movement record measured and calculated during the robot movement process may not be saved and gait analysis may not be performed. At this time, the meaningful information corresponds to the necessary conditions for generating gait analysis information (or gait analysis conditions), and the information may include gait information of the wearer measured during the robot movement process, such as valid step information and robot movement time. For example, if the 'robot movement time' is less than 5 minutes, as shown in (a) of Fig. 17e, a notification (856) that "The movement time is less than 5 minutes, so the movement record is not saved. Do you want to quit?" may be displayed on the graphic interface indicating that gait analysis information was not generated. Since the movement record must be saved before performing gait analysis, the phrase "the movement record was not saved" may imply that gait analysis information was not generated. For another example, in the case where the 'valid step information' collected from the wearer of the wearable robot is insufficient, as shown in (b) of Fig. 17e, a notification (856) that the step analysis information was not generated may be displayed on the graphic interface, such as "Accurate step analysis is difficult with the current step information. Do you still want to save the exercise record and exit?". The step information required for the step analysis may be, for example, about 500 steps. At this time, the step information may be recognized step information using various conditions to filter out low-speed and slow hip swings, steps during resting motions, etc., in order to reflect the number of steps measured in straight walking on flat ground into the gait analysis data. However, the example of 500 steps as the step information required for the gait analysis may be a normal gait analysis condition required based on a healthy pedestrian, and in the case of low-speed pedestrians (those with poor walking skills) such as the elderly and pregnant women, more relaxed gait analysis conditions may be applied. For example, if the normal gait analysis condition requires 500 steps, the relaxed gait analysis condition may require 50 steps. In the walking map selection area (830) according to one embodiment of the present invention, if a map view (832) is selected, it may be switched to a graphical user interface (832) displaying a walking map. As illustrated in FIG. 17d, the graphical user interface (832) displaying a walking map may include at least one of a walking map display area (860) displaying current location information and distance information of the wearer and a walking time information display area (870) of the wearer. Specifically, the walking map display area (860) displaying current location information and distance information of the wearer may include a walking map generated by displaying at least one of an auxiliary mode use display area (862), a rest mode use display area (864), and an exercise mode use display area (866) on a map based on current location information of the wearable wearer, and each walking mode may be distinguished by being displayed in a different color on the walking map. The wearer's walking time information display area (870) may include at least one of a total exercise time display area (872), an auxiliary mode use time display area (874), and an exercise mode use time display area (876). A method for generating a graphical user interface (834) displaying a walking map according to one embodiment of the present invention may include a step of receiving input information based on a walking map selection area (830) from a user terminal (300), a step of collecting current location information of a wearer after receiving the input information, a step of generating a walking map based on the collected current location information of the wearer and a map development tool, and a step of generating a graphical user interface (834) displaying the walking map based on the generated walking map and the received real-time walking information of the wearer. Specifically describing the generation process, when the wearer of the wearable robot selects a map view (832) of a walking map selection area (830) on the interface of the user terminal (300) and input information is transmitted, after receiving the input information, a walking map reflecting the wearer's location information and the wearer's real-time walking information can be generated using a public API (Application Programming Interface) or SDK (Software Development Kit) that provides a map service, and the generated walking map can be positioned in a walking map display area that displays the wearer's current location information and distance information of a graphical user interface (832) that displays the walking map, as illustrated in FIG. 17d. In the robot movement setting area (840) according to one embodiment of the present invention, at least one of a walking mode and a torque intensity can be set. When movement start (822) is selected in the movement start / end selection area (820), at least one of a walking mode and a torque intensity can be set in the rest mode (842). The walking mode can include at least one torque transmission mode, and each torque transmission mode can be a mode that transmits a torque corresponding to the walking purpose. For example, when the wearable robot (200) is used for the purpose of assisting the walking of the wearer, the wearable robot can provide a torque that acts as an assisting force to the wearer, and when the wearable robot is used for the purpose of strengthening the lower body muscles of the wearer, the wearable robot can provide a torque that acts as a resisting force to the wearer. For example, the plurality of walking modes according to one embodiment of the present invention may be an assist mode (841), a rest mode (842), an exercise mode (843), and a climbing mode (847). The assist mode (841) may be a mode in which the wearable robot (200) applies an assistive force to the wearer to assist the wearer's walking, and the rest mode (842) may be a mode in which the wearable robot (200) does not apply any torque to the wearer. The exercise mode (843) may be a mode in which the wearable robot (200) applies a resistance force to the wearer to strengthen the wearer's lower body muscles. The climbing mode (847) may be a mode for assisting the walking of the wearable robot wearer who moves up or down a steep slope rather than on a flat surface. At this time, the climbing mode (847) can provide assistance power to the wearer to assist the wearer's walking during the process of climbing uphill or provide resistance power to strengthen the lower body muscles. Similarly, the climbing mode (847) can provide assistance power or resistance power according to the wearer's walking purpose during the process of going downhill during climbing. In addition, the climbing mode (847) can be divided into an uphill mode or a downhill mode, and can be replaced with an uphill mode or a downhill mode. In addition, a plurality of walking modes according to one embodiment of the present invention can be distinguished by different colors. By distinguishing a plurality of walking modes by different colors, it is possible to prevent incorrect control of the walking mode in advance, and when a mode change occurs, the fact that the mode has been changed and the set mode information can be clearly recognized. For example, the rest mode, the assistance mode, the exercise mode, and the mountaineering mode can be displayed in green, blue, magenta, and orange, respectively. Or, when the mountaineering mode is divided into an uphill and a downhill mode, the uphill mode can be displayed in sky blue, and the downhill mode can be displayed in orange. In this way, when a plurality of modes are distinguished by different colors and displayed on the graphical user interface, the LED indicators embedded in the wearable robot (200) can also be expressed in the same color. The torque intensity according to one embodiment of the present invention may include at least one of a plurality of stages providing differential torque. For example, the torque intensity may be represented by stage 1 (844), stage 2 (845), and stage 3 (846), and as the torque intensity increases from stage 1 to stage 3, the strength of the assisting force in the assist mode (841) and the resistance force in the exercise mode (843) may increase. However, the present invention is not limited thereto, and the plurality of stages included in the torque intensity may be further subdivided as needed. FIG. 17B is a diagram illustrating a graphical user interface screen in which a walking mode and a torque intensity are set according to one embodiment of the present invention. FIG. 17B (a) is a diagram illustrating an auxiliary mode (841) and a first step (844), FIG. 17B (b) is a diagram illustrating an exercise mode (843) and a second step (845), and FIG. 17B (c) is a diagram illustrating a climbing mode (847) and a second step (845). The walking mode and the torque intensity in the diagram are exemplary as described above, and are not limited thereto. According to one embodiment of the present invention, the robot movement setting region (840) may be exposed in its entirety in a robot movement graphical user interface (800) in which real-time walking information of a wearable robot wearer is displayed, and its position may be fixed. This prevents the robot movement setting region (840) from being moved or partly not displayed due to scrolling, etc. within a single graphical user interface, thereby enabling at least one of a desired walking mode and torque intensity to be set for the wearable robot at any time. In the robot motion setting area (840) according to one embodiment of the present invention, the area for setting the walking mode and the torque intensity may be separated. For example, referring to the enlarged portion of the robot motion setting area (840) in FIG. 17A, it may be a method of arranging the area for setting the walking mode and the area for setting the torque intensity with a certain interval. If the area for setting the walking mode and the torque intensity are not separated, a situation dangerous to the safety of the wearer may occur. For example, if the wearer of the wearable robot tries to change the torque intensity but changes the walking mode from the assistive mode (841) to the exercise mode (843), the torque generated from the wearable robot may act on the wearer as a resistive force from the assistive force in an unexpected situation, which may cause an unexpected dangerous accident due to a cognitive mismatch. However, the area for setting the walking mode and the torque intensity in the robot motion setting area (840) is not limited to being separated, and a method such as separately adopting a locking function to prevent the mode from being changed by mistake after the walking mode is set may also be used. In addition, as illustrated in FIG. 17c, when the wearer of the wearable robot selects the end of movement (854) in the robot movement end graphic user interface (808) after completing walking or movement, the record of the walking process after the end of walking or movement can be checked. FIG. 17c (b) and (c) are drawings showing examples of information recorded in the robot movement process after the end of movement, and show the graphic user interface (809A) just before the end of robot movement and the graphic user interface (809B) 2 to 3 seconds after the end of robot movement, respectively. Looking at the torque gauge bar information display area (805) in the status information display area (802) of the wearable robot, in the case of the graphic user interface (809A) just before the end of the robot movement, since the wearable robot (200) is applying torque to the wearer just before the end of the movement, it can be confirmed that the torque gauge is 50% (805A), and in the case of the graphic user interface (809B) 2 to 3 seconds after the end of the robot movement, since the wearer did not move for 2 to 3 seconds after the end of the movement, the wearer's hip angle becomes 0, so the torque value also becomes 0, and it can be confirmed that the torque gauge bar information display area (805) indicates torque gauge 0% (805B). Accordingly, the wearer of the wearable robot can check information about walking in real time in the wearer's real-time walking information display area (810) during the robot movement in the robot movement graphical user interface of the robot movement (312) tab of the user terminal (300), and when the robot movement ends, can check information about walking recorded during the robot movement process. A method for generating a graphical user interface displaying real-time gait information of a wearable robot wearer according to one embodiment of the present invention may include a step of receiving real-time gait information of the wearer from a wearable robot (200) and a step of generating a graphical user interface based on the received real-time gait information of the wearer. Through this, a graphical user interface displaying real-time gait information of a wearable robot wearer according to one embodiment of the present invention may be generated, and a detailed process will be described below. Process of generating gait analysis information of wearable robot wearer and creating graphical user interface based on gait analysis information FIG. 18 is a flowchart illustrating a method for generating a graphical user interface of a user terminal that shows information about the walking of a wearable robot wearer transmitted and received between a wearable robot, a user terminal, and an external server according to one embodiment of the present invention. As illustrated in Fig. 18, the execution roles and data transmission / reception processes of the user terminal (300), the wearable robot (200), the external server (100), and the administrator terminal (400) can be represented over time in a series of processes in which the start of exercise is input from the user terminal (300), the robot exercise process of the wearable robot wearer, and the end of exercise is input through the flow chart. Information about the gait of a wearable robot wearer according to the present invention can be classified into gait information of the wearer and gait analysis information of the wearer. The gait information of the wearer can include at least one of the real-time gait information of the wearer obtained during the robot movement process and the quantified physical / motor ability value of the wearer, and the gait analysis information of the wearer can include at least one of the physical / motor ability information of the wearer and statistical information based on the accumulated gait information of the wearer stored in an external server (100) or a user terminal (300). In addition, the gait information of the wearer can include basic information of the wearer input into the user terminal. A graphical user interface displaying information about gait of a wearable robot wearer based on robot movement according to one embodiment of the present invention may include a graphical user interface displaying real-time gait information of the wearer, a graphical user interface displaying statistical information based on accumulated gait information of the wearer, and a graphical user interface displaying a gait analysis report of the wearer. The graphical user interface displaying the real-time gait information of the wearer may be generated based on the real-time gait information of the wearer from the wearable robot, and the graphical user interface displaying the statistical information based on the accumulated gait information of the wearer or the gait analysis report of the wearer may be generated based on the gait analysis information of the wearer generated based on the gait information of the wearer. If the steps of generating such a graphical user interface are specifically explained as a process from the start of exercise to the end, a method for generating a graphical user interface displaying real-time walking information of a wearable robot wearer according to one embodiment of the present invention comprises: a 'start exercise' input step (S201) in which the wearer inputs exercise start (822) in an exercise start / end selection area (820) on a robot exercise graphical user interface (800) shown in FIG. 17a of a user terminal (300); a step (S203) in which setting preparation request information of at least one of a walking mode and a torque intensity is transmitted from the user terminal (300) to the wearable robot (200); a step (S205) in which the wearer sets the 'exercise' mode and 'stage 2' intensity in the robot exercise setting area (840) of the robot exercise graphical user interface (800) displayed on the user terminal (300); a step (S207) in which the 'exercise' mode and 'stage 2' intensity information set from the user terminal (300) are transmitted to the wearable robot; It may include a step (S209) in which the 'exercise' mode and the 'level 2' intensity are set, a step (S211) in which the drive unit (230) of the wearable robot (200) measures or calculates the wearer's real-time gait information, a step (S213) in which the wearer's real-time gait information is transmitted from the wearable robot (200) to the user terminal (300), and a step (S217) in which the wearer's real-time gait information is reflected and output on the user terminal (300). In addition, the external server (100) may include a step (S215) in which the wearer's real-time gait information is transmitted from the user terminal (300) to the external server (100), and a step (S219) in which the wearer's real-time gait information is stored on the external server (100). A method for generating a graphical user interface displaying statistical information or a gait analysis report based on accumulated gait information of a wearable robot wearer according to one embodiment of the present invention may include a step of receiving gait information of the wearer, a step of generating gait analysis information of the wearer based on the gait information of the wearer, and a step of generating a graphical user interface displaying statistical information or a gait analysis report based on the accumulated gait information of the wearer based on the generated gait analysis information of the wearer. The step of generating gait analysis information of a wearer according to one embodiment of the present invention may include the step of receiving the gait information of the wearer from a wearable robot, the step of generating physical / motor ability information of the wearer based on the received gait information of the wearer, and the step of generating gait analysis information of the wearer based on at least one of the generated physical / motor ability information of the wearer and statistical information based on accumulated gait information of the wearer stored in an external server. The step of receiving real-time walking information of a wearer from a wearable robot (200) according to one embodiment of the present invention may include the step of transmitting at least one of walking mode and torque intensity information set in a user terminal (300) to the wearable robot (200), and, after transmitting, the step of receiving real-time walking information of the wearer generated in the wearable robot (200) based on at least one of the set walking mode and torque intensity information. Transmitting at least one of the set walking mode and torque intensity information according to one embodiment of the present invention may include a step of displaying a graphical user interface displaying a robot movement setting area (840) on a user terminal (300) and a step of receiving a setting of at least one of the walking mode and torque intensity from the user terminal (300) and transmitting the setting to the wearable robot. Specifically, a method for generating physical / exercise ability information of a wearer according to one embodiment of the present invention may include a step of quantifying the physical / exercise ability of the wearer in a wearable robot (200) (S221), a step of transmitting the quantified physical / exercise ability numerical information of the wearer from the wearable robot (200) to a user terminal (300) (S223), and a step of transmitting and storing the quantified physical / exercise ability numerical information of the wearer from the user terminal (300) to an external server (100) (S225, S229), a step of generating 'exercise / exercise ability information' of the wearer in the wearable robot (200) and the user terminal (300) (S227, S231), and a step of transmitting the physical / exercise ability information of the wearer from the wearable robot (200) to the user terminal (300) (S233), and a step of transmitting the physical / exercise ability information of the wearer from the user terminal (300) to the external server (100) (S235). After the wearer's physical / exercise ability information is generated according to one embodiment of the present invention, the external server (100) may include a step of storing the wearer's physical / exercise ability information (S237), a step of generating real-time walking information according to long-term use and statistical information according to the accumulation of physical / exercise ability information (S239), a step of transmitting the generated statistical information according to the accumulation to the user terminal (300) (S251), and a step of reflecting the statistical information according to the wearer's accumulated walking information in the user terminal (300) (S253). In the user terminal (300), the step of inputting 'exercise end' (854) in the exercise end display area (820) of the robot exercise end graphic user interface (808) shown in (a) of Fig. 17c from the wearable robot wearer (S241), the step of switching the screen to a rest mode based on the exercise end input information (S243), the step of transmitting exercise mode end and rest mode switching request information to the wearable robot (200) (S245), and the step of setting the rest mode after the exercise mode and the 2nd level intensity end in the wearable robot (200) (S247). Based on this process, a graphical user interface displaying statistical information based on accumulated walking information of a wearable robot wearer according to one embodiment of the present invention can be generated through a step (S255) of inputting my activity (314) in a graphical user interface of a user terminal (300) and a step (S257) of outputting statistical information based on accumulated walking information regarding the wearer's walking. A graphical user interface displaying a gait analysis report of a wearer according to one embodiment of the present invention can be generated through a step (S261) of inputting gait analysis (316) into a graphical user interface of a user terminal (300) and a step (S263) of generating and outputting a gait analysis report of the wearer. At this time, the generated gait analysis report information of the wearer can be transmitted from the user terminal (300) to an external server (100) (S265), and the gait analysis report of the wearer can be stored in the external server (100) (S267). Based on the above-described contents, the accumulated gait of the wearer or the gait analysis report of the wearer generated based on the gait analysis information of the wearer of the wearable robot according to one embodiment of the present invention can be generated when the robot movement ends. Accordingly, the step of generating the graphical user interface based on the gait analysis information of the wearer can include a step of receiving an input of the end of movement from the user terminal and a step of transmitting the inputted exercise end information to the wearable robot. As illustrated in FIG. 18, the administrator terminal (400) according to one embodiment of the present invention can transmit and receive information about walking through an external server (100). Specifically, the administrator terminal (400) can receive real-time walking information of the wearer stored in the external server (100) (S270) and reflect and output (S271) the real-time walking information of the wearer on the administrator terminal (400). Similarly, the administrator terminal (400) can receive statistical information based on accumulated walking information of the wearer stored in the external server (100) (S272) and reflect and output (S273) the statistical information based on accumulated walking information of the wearer on the administrator terminal (400). The administrator terminal (400) can also receive walking analysis report information of the wearer stored in the external server (100) (S274) and reflect and output (S275) the walking analysis report of the wearer on the administrator terminal (400). However, the administrator terminal (400) is not limited to being able to send and receive data only through an external server (100), and can directly send and receive data through a wired or wireless connection with a wearable robot (200). A graphical user interface that displays statistical information based on accumulated walking information of a wearable robot wearer. FIG. 19a is a diagram showing a graphical user interface of a user terminal that records robot movement processes according to an embodiment of the present invention and displays statistical information according to accumulated walking information of a wearer based on the 'number of steps'. FIG. 19b is a diagram showing a graphical user interface of a user terminal that records robot movement processes according to an embodiment of the present invention and displays statistical information according to accumulated walking information of a wearer based on the 'distance'. FIG. 19c is a diagram showing a graphical user interface of a user terminal that records robot movement processes according to an embodiment of the present invention and displays statistical information according to accumulated walking information of a wearer based on the 'time'. When the My Activity (314) tab is selected in the category selection area (310) of the user terminal (300) according to one embodiment of the present invention, a graphical user interface is displayed that displays statistical information based on accumulated walking information of a wearable robot wearer. As illustrated in FIG. 19A, a graphical user interface (1000) that displays statistical information based on accumulated walking information of a wearer based on the number of steps (1012) selected in the category selection area (1010) may include at least one of a category selection area (1010), a statistical information display area (1020) based on accumulated walking information, a total walking information display area (1030) for a selected date, and a walking record information display area (1040) for a selected date. Hereinafter, with respect to areas displayed in a graphical user interface in which statistical information according to accumulated gait information of a wearer is displayed according to one embodiment of the present invention, a category selection area (1010) is an area for selecting a category of statistical information according to accumulated gait information, a statistical information display area (1020) according to accumulated gait information is an area for displaying statistical information generated by accumulating information about the wearer's gait in an external server (100), statistical information according to accumulated gait information based on a category selected in the category selection area (1010), a total gait information display area (1030) of a selected date is an area for displaying total gait information accumulated during one or more robot movement processes on a date selected in the statistical information display area (1020) according to accumulated gait information, and a gait-specific record information display area (1040) of a selected date is an area for displaying gait information recorded during each robot movement process. The category selection area (1010) according to one embodiment of the present invention can select the number of steps (1012), distance (1014), or time (1016), and there are three categories as shown in (a) of FIG. 19A, but the categories of statistical information according to accumulated walking information can be added, changed, and deleted as needed. A statistical information display area (1020) according to an embodiment of the present invention may be displayed as a bar or chart so that the statistical information according to the accumulated walking information can be easily recognized, and the bar or chart may include an average trend line (1022) indicating an average of the statistical information according to the accumulated walking information, and may have a plurality of areas (1026) according to date. The plurality of areas (1026) according to date appear in proportion to the statistical information according to the accumulated walking information, and may have a relative size compared to other dates. The relative size may be displayed as a bar length, a gauge bar, a ratio, or a graph, and is not limited to that shown in FIG. 19A, and may be replaced as long as the information displayed in the plurality of areas (1026) according to date can be easily confirmed. In addition, when one area (1024) displaying a date is selected among multiple areas (1026) according to date, the selected area can be distinguished from other areas (1026) by using a different color or highlighting, and information about walking according to the robot movement process on the selected date can be displayed in another area on the graphical user interface. The entire walking information display area (1030) of the selected date according to one embodiment of the present invention may include at least one of a step count information display area (1031), a distance information display area (1032), a calorie consumption information display area (1033), a total time information display area (1034), and a walking time information display area (1034). The step count information display area (1031) may display information related to the number of steps of the user based on the entire operation information of the wearable robot worn by the user on the selected date. The distance information display area (1032) may display information related to the exercise distance of the user based on the entire operation information of the wearable robot worn by the user on the selected date. The calorie consumption information display area (1033) may display information related to the calorie consumption of the user based on the entire operation information of the wearable robot worn by the user on the selected date. The walking time information display area (1034) may include a full time information display area (1034A), an auxiliary mode time information display area (1034B), and an exercise mode time information display area (1034C). In the walking time information display area (1034) according to one embodiment of the present invention, the total time information display area (1034A) can display information related to the user's operating time based on the total operating information of the wearable robot worn by the user on a selected date, and the operating time can be the sum of the usage times in the auxiliary mode, the rest mode, and the exercise mode. The auxiliary mode time information display area (1034B) is an area that displays the operating time of the wearable robot (200) in the auxiliary mode state in the total time information, and the exercise mode time information display area (1034C) is an area that displays the operating time of the wearable robot (200) in the exercise mode state in the total time information. However, the information included in the entire walking information display area (1030) of the selected date is exemplary, and may also include information such as step length, step pattern, continuous walking time, walking rhythm, slope, number of steps when ascending or descending stairs, and number of floors based on the operation information of the wearable robot worn by the user. The area (1040) for displaying the walking record information of the selected date according to one embodiment of the present invention may include a plurality of areas (1042, 1044) in which the walking record of the selected date is displayed. The number of the areas (1042, 1044) is determined by the number of walking steps taken on the selected date, and the areas may include a start time information display area (1042A, B, C) and a total time information display area (1044A, B, C). However, this is merely exemplary, and information related to walking, such as the number of steps and the distance traveled, may be added, changed, or deleted as needed. In addition, when a downward arrow (1046A) arranged in each of the multiple areas (1042, 1044) is selected in the step-by-step record information display area (1040) of the selected date, a step-by-step detailed record information display area (1050) appears based on the arrow input information of one area, and each step-by-step record including at least one of the number of steps, the exercise distance, the calories consumed, the total time, the assistance mode time, and the exercise mode time can be arranged in the step-by-step detailed record information display area (1050) within the multiple areas (1042, 1044). When the step-by-step detailed record information display area (1050) is activated on the graphical user interface, when an upward arrow (1046B) arranged in the multiple areas (1042, 1044) is selected, the step-by-step detailed record information display area (1050) is deactivated. As illustrated in FIG. 19b, when distance (1014) is selected in the category selection area (1010), a graphical user interface (1005) is displayed in which statistical information based on the wearer's accumulated walking information based on the distance is displayed, and as illustrated in FIG. 19c, when time (1016) is selected in the category selection area (1010), a graphical user interface (1007) is displayed in which statistical information based on the wearer's accumulated walking information based on the time is displayed. However, the detailed configuration displayed within the graphical user interface is exemplary and may be added, changed, or deleted as needed. Accordingly, the wearable robot wearer can check statistical information based on accumulated walking information based on a selected category among the number of steps, distance, or time in the graphical user interface that displays statistical information based on the wearer's accumulated walking information in the My Activity (314) tab of the user terminal (100), and can check at least one of the overall walking information and walking record information for the selected date. A graphical user interface displaying a gait analysis report of a wearable robot wea...

Claims

1. In the thigh frame of a walking assistance wearable robot for assisting the walking movement of the wearer, A waist wearable that can be mounted on the wearer's waist; A thigh wearable part that can be mounted on the thigh of the wearer; A driving unit connected to the above waist wearable part and including a driving unit; and including a thigh frame connecting the above driving unit and the above thigh wearing unit; The above thigh frame A joint member connecting the above driving unit and the thigh frame; a thigh cover member connected to the above joint member; and Including a thigh inner member that slides according to the walking movement of the wearer within the thigh cover member; The above joint member Connected in series with the above actuator and configured to transmit auxiliary power generated from the actuator to the thigh frame, The above thigh cover absence It is configured to include a rail structure of a predetermined angle formed symmetrically left and right on the inside of the thigh cover member. A thigh frame of a walking assistance wearable robot for assisting the wearer's walking movement.

2. In paragraph 1, further comprising a bearing end member; The above thigh inner is missing Combined with the above bearing end member, The above bearing end member is configured to prevent left-right play when the thigh inner member slides, and to disperse the load applied to the thigh frame when the auxiliary force of the actuator is generated. A thigh frame of a walking assistance wearable robot for assisting the wearer's walking movement.

3. In paragraph 2, The above thigh inner is missing It further includes a second stage auxiliary bearing member, The above two-stage auxiliary bearing member is configured to prevent left-right movement of the thigh inner member together with the above two-stage bearing member and maintain a certain gap during sliding. A thigh frame of a walking assistance wearable robot for assisting the wearer's walking movement.

4. In the thigh wearable part of a walking assistance wearable robot to assist the wearer's walking movement, The above walking assistance wearable robot is A waist wearable that can be mounted on the wearer's waist; A thigh wearable part that can be mounted on the thigh of the wearer; A driving part connected to the above waist wear part; and including a thigh frame connecting the above driving unit and the above thigh wearing unit; The above thigh frame including a thigh frame joint; The above thigh wear part including a fixed clip portion; The above fixed clip portion is configured to fix or separate the thigh frame joint portion, The above thigh wear part Including a thigh frame Release button for switching the thigh frame joint from a fixed state to a released state; A thigh-worn part of a walking assistance wearable robot for assisting the wearer's walking movement.

5. In paragraph 1, The above thigh wear part Further comprising a thigh band portion; and a thigh buckle portion; The thigh band above It is configured to be connected to the thigh buckle portion above and to adjust the length to fit the wearer's thigh circumference, The above thigh frame joint It is designed in a round shape so that it can rotate flexibly according to the wearer's thigh movement. A thigh-worn part of a walking assistance wearable robot for assisting the wearer's walking movement.

6. In paragraph 1, The above thigh wear part Absence of shock absorbers; and Includes a thigh removable frame; The above thigh detachable frame Further comprising a sliding rail member, The above thigh frame joint It is configured to move along the above sliding rail member, The above shock-absorbing member Located on the inner side of the thigh wear portion and configured to alleviate shock or vibration occurring during the sliding motion of the thigh frame. A thigh-worn part of a walking assistance wearable robot for assisting the wearer's walking movement.

7. In the waist wearable part of a walking assistance wearable robot to assist the wearer's walking movement, A waist wearable part that can be mounted on the waist of the wearer; and Including a driving unit that can be mounted on the above waist wearable part; The above waist wear part Absence of waist support; Including a waist wearing buckle part connected to the above waist wearing part member; The above driving part Including a drive unit fixing frame located on both sides of the drive unit; The above waist wearing buckle part is configured to be coupled and decoupled from the above drive unit fixing frame, The above drive unit fixed frame It is configured to have an incline of 0 degrees or more and 30 degrees or less based on the vertical plane of the above driving unit. A waist-worn part of a walking assistance wearable robot for assisting the wearer's walking movement.

8. In paragraph 7, The above waist buckle Including a drive unit fixing member, The above driving unit fixing member Including further inner connecting member; The above driving unit fixing member a button member located on the inner connecting member; and Further comprising an elastic member located inside the above waist wearing buckle portion; When the above waist wearing buckle part and the above drive part fixing frame are combined, The above button member is configured to move in the direction of travel of the driving member fixing frame, and accordingly, the elastic member is configured to contract, When the button member and the drive member fixing frame are combined, the elastic member is configured to relax and prevent the drive member fixing frame from being detached from the button member. A waist-worn part of a walking assistance wearable robot for assisting the wearer's walking movement.

9. In a wearable robot capable of estimating the wearer's physical ability during walking exercise, A fixed part that can be mounted on a body part; and a driving part that can be mounted on the fixed part; The above driving part, It is configured to estimate the physical ability of the wearer based on the power of the driving part by the walking movement of the wearer, It is configured to estimate the physical ability of the wearer based on the value normalized by torque of the power of the above driving unit, It is configured to calculate the ratio of power to torque of the driving unit by dividing the power of the driving unit by the RMS (Root Mean Square) torque of the driving unit. A wearable robot that can estimate the wearer's physical ability during walking exercise.

10. In paragraph 9, The above driving part, It is configured to sense the wearer's hip angle and calculate the angular velocity based on the sensed hip angle, It is configured to calculate the power of the driving unit by multiplying the calculated angular velocity and the torque. The angular velocity calculated above is, Based on the wearer's gait when the wearer uses a backdrivable actuator, A wearable robot that can estimate the wearer's physical ability during walking exercise.

11. In Article 10, The above torque is, If the above driving unit calculates multiple operating state values ​​based on the calculated angular velocity, Select at least one of the above-described multiple operation state values, It is calculated as the weighted sum of the above selected operation state values. A wearable robot that can estimate the wearer's physical ability during walking exercise.

12. In a server device for managing the movement of a wearer of a wearable robot, It is configured to receive gait information of a wearer wearing the wearable robot linked to the first user terminal from the first user terminal, It is configured to transmit the received wearer's walking information to a second user terminal, The second user terminal is configured to receive feedback information based on the walking information of the wearer received from the second user terminal, The feedback information based on the wearer's walking information received by the second user terminal is: Including exercise intensity based on the wearer's walking information, The feedback information based on the walking information of the wearer received by the second user terminal is: Including information for controlling exercise intensity in real time based on the wearer's walking information. A server device for managing the movements of a wearable robot wearer.

13. A system for managing the movement of a wearer wearing a wearable robot capable of estimating the wearer's physical ability during walking exercise. A first user terminal that outputs analysis information on the wearer's movement; A server device that receives analysis information on the wearer's movement output by the first user terminal; and A second user terminal for receiving analysis information on the wearer's movement transmitted by the server device; The above server device, It is configured to receive feedback information based on information about the wearer's movement transmitted to the second user terminal from the second user terminal, configured to transmit the received feedback information to the first user terminal; The feedback information received by the above server device is: Including exercise intensity based on the wearer's gait information, A system for managing the movement of a wearer wearing a wearable robot capable of estimating the wearer's physical ability during walking exercise.

14. In paragraph 13, The analysis information on the wearer's movement output by the first user terminal is: Based on the ratio of power to torque produced by the wearable robot, and at least one of the wearer's agility or lower body muscle strength is higher. A system for managing the movement of a wearer wearing a wearable robot capable of estimating the wearer's physical ability during walking exercise.

15. In a walking assistance wearable robot system for assisting the walking movement of the wearer, The above system, Including the above user terminal and the above wearable robot, The above wearable robot is, Information on target muscles to be exercised can be received from the user terminal, Setting parameters based on the target muscle information received above, and calculating output torque based on this, It is configured to transmit information related to the walking exercise to the user terminal, The above user terminal, configured to receive information related to the above transmitted walking motion, The above wearable robot is, Calculate the angular velocity based on the wearer's walking, It is configured to calculate the operating state value based on the calculated angular velocity and calculate the output torque based on this. A walking assistance wearable robot system for assisting the wearer's walking movement.

16. In paragraph 15, The parameters set above are: A parameter representing at least one of information among output timing information of the torque to be produced, intensity control information of the torque to be produced, filter information for producing the output torque, or asymmetry information for producing the output torque. The output timing information of the torque produced above is: Including the location information of the above calculated operation status value, A walking assistance wearable robot system for assisting the wearer's walking movement.

17. In paragraph 16, may further include a memory section; The above driving part, It is configured to be able to produce output torque according to the set exercise mode, The above memory section, It is configured to store parameters according to the above exercise mode as a lookup table, The parameters set above are: It is composed of parameters according to target muscle information received from the user terminal based on the above lookup table, The above lookup table is configured to be composed of at least one combination of output timing information of the torque to be produced, intensity adjustment information of the torque to be produced, filter information for producing the output torque, or asymmetry information for producing the output torque. A walking assistance wearable robot system for assisting the wearer's walking movement.

18. In a walking assistance wearable robot for assisting the walking movement of the wearer, A fixing member that can be mounted on a body part of the wearer; and Including a driving unit that can be mounted on the above-mentioned fixed part; The above driving part, Calculate the degree of change in the wearer's state trajectory and derive the output torque based on this, It is configured to calculate the output torque as a value below the critical value for a predetermined period of time in a subcritical range including a point in time at which the sign of the above-described output torque changes, The above specified time is 0.5 seconds or more and 1 second or less. A walking assistance wearable robot for assisting the wearer's walking movements.

19. In paragraph 18, The above driving unit, if the wearer's state trajectory movement distance is less than or equal to the first threshold value for the above given time period, It can be configured to not produce the above output torque or to produce it at a value below the critical value, If the wearer's state trajectory movement distance is greater than or equal to the second threshold value during the above-mentioned predetermined period of time, configured to produce the above output torque at a value greater than the critical value; A walking assistance wearable robot for assisting the wearer's walking movements.

20. In paragraph 19, The first threshold value and the second threshold value are configured with the same value, or the second threshold value is configured with a value greater than the first threshold value, The above driving part, If the wearer's state trajectory movement distance is less than or equal to the first threshold value during the above-mentioned predetermined time period, It is configured to change the value of the torque intensity adjustment parameter for calculating the above output torque to a value below the threshold value or to 0, The value of the torque intensity adjustment parameter for calculating the above output torque is configured to gradually change to a value below the threshold or to 0. A walking assistance wearable robot for assisting the wearer's walking movements.

Images