Method for charging battery using back-electromotive force generated by motor and electronic device performing said method

Abstract

According to an embodiment, a battery charging method may comprise operations of: determining whether a switch connection condition is satisfied, on the basis of the current voltage of a battery and a target voltage of target power appearing in a driving module of a wearable device; when the switch connection condition is satisfied, electrically connecting the driving module and a BEMF regulating circuit by using a switch of the BEMF regulating circuit; generating charging power on the basis of the target power through a regulator of the BEMF regulating circuit; and charging the battery on the basis of the charging power through a charging circuit.

Description

Method for charging a battery using counter electromotive force generated by a motor and electronic device performing the method

[0001] The present application relates to a technology for processing counter electromotive force generated by a motor, and more particularly, to a technology for charging a battery using counter electromotive force.

[0002] As we enter an aging society, the number of people complaining of difficulty and pain in walking due to weakened muscles or joint problems caused by aging is increasing, and interest in walking assistance devices that can help elderly people with weakened muscles or patients with muscle and joint problems walk smoothly is growing.

[0003] According to one embodiment, a wearable device includes a base body positioned at a waist area of ​​a user when the wearable device is worn on the user's body, a waist support frame and a leg support frame for supporting at least a portion of the user's body, a thigh fastening part for fixing the leg support frame to the user's thigh, an inertial measurement unit (IMU) disposed within the base body, a drive module for generating a torque applied to the user's leg, the drive module being positioned between the waist support frame and the leg support frame, and the drive module including a motor and a motor driver circuit, a back-Electro Motive Force (BEMF) regulating circuit for generating charging power by regulating target power appearing on the drive module, a charging circuit including a battery, at least one processor, and a memory storing instructions, wherein when the instructions are individually or collectively executed by the at least one processor, the wearable device at least: determines whether a switch connection condition is satisfied based on a target voltage of the target power appearing on the drive module and a current voltage of the battery, and if the switch connection condition is satisfied, The driving module and the BEMF regulating circuit can be electrically connected using a switch of the BEMF regulating circuit, charging power can be generated based on the target power through the regulator of the BEMF regulating circuit, and the battery can be charged based on the charging power through the charging circuit.

[0004] In one embodiment, a method for charging a battery performed by a wearable device, the wearable device comprises: a base body positioned at a waist area of ​​a user when the wearable device is worn on the user's body; a waist support frame and a leg support frame for supporting at least a portion of the user's body; a thigh fastening part for fixing the leg support frame to the user's thigh; an inertial measurement unit (IMU) disposed within the base body; a drive module for generating a torque applied to the user's leg, the drive module being positioned between the waist support frame and the leg support frame, and the drive module including a motor and a motor driver circuit; a BEMF (back-Electro Motive Force) regulating circuit for generating charging power by regulating target power appearing on the drive module; a charging circuit including a battery; at least one processor; and a memory storing instructions, wherein the method for charging a battery comprises: an operation for determining whether a switch connection condition is satisfied based on a target voltage of the target power appearing on the drive module and a current voltage of the battery; and, if the switch connection condition is satisfied, performing the BEMF regulating circuit. The method may include an operation of electrically connecting the driving module and the BEMF regulating circuit using a switch of the circuit, an operation of generating charging power based on the target power through a regulator of the BEMF regulating circuit, and an operation of charging the battery based on the charging power through the charging circuit.

[0005] According to one embodiment, an electronic device includes a driving module including a motor and a motor driver, a back-electromotive force (BEMF) regulating circuit for generating charging power by regulating target power presented to the driving module, a charging circuit including a battery, at least one processor, and a memory for storing instructions, wherein when the instructions are individually or collectively executed by the at least one processor, the electronic device can at least: determine whether a switch connection condition is satisfied based on a target voltage of the target power presented to the driving module and a current voltage of the battery, and, if the switch connection condition is satisfied, electrically connect the driving module and the BEMF regulating circuit using a switch of the back-electromotive force (BEMF) regulating circuit for generating charging power by regulating the target power, generate charging power based on the target power through a regulator of the BEMF regulating circuit, and charge the battery based on the charging power through the charging circuit.

[0006] The above and other aspects, features and advantages of specific embodiments of the present disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0007] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0008] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

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

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

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

[0012] FIG. 5c is a diagram illustrating the configuration of a drive module according to one embodiment.

[0013] FIG. 5d is a diagram illustrating a configuration of a control module, a driving module, a clipper circuit, and a BEMF regulating circuit according to one embodiment.

[0014] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0015] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0016] Figure 8 is a flowchart of a method for charging a battery according to one embodiment.

[0017] FIG. 9 is a diagram illustrating a configuration of a BEMF regulating circuit according to one embodiment.

[0018] FIG. 10 is a flowchart of a method for outputting target power by clipping the sum power appearing in a drive module according to one embodiment.

[0019] FIG. 11 is a diagram illustrating a configuration of a clipper circuit for clipping the sum power appearing in a drive module according to one embodiment.

[0020] FIG. 12 is a flowchart of a method for determining whether a switch connection condition is satisfied, according to one embodiment.

[0021] FIG. 13 is a flowchart of a method for supplying operating power to a motor based on charging power through a charging circuit, according to one embodiment.

[0022] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. However, this is not intended to limit the present disclosure to specific embodiments, and it should be understood that the present disclosure encompasses various modifications, equivalents, and / or alternatives of the embodiments.

[0023] FIG. 1 is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0024] Referring to FIG. 1, in one embodiment, a wearable device (100) may be a device worn on a user's (110) body to assist the user's (110) walking, exercise, and / or work. In one embodiment, the wearable device (100) may also be used to measure the user's (110) physical ability (e.g., walking ability, exercise ability, exercise posture). In the embodiments, the term 'wearable device' may be replaced with 'wearable robot', 'walking assistance device', or 'exercise assistance device'. The user (110) may be a human or an animal, but is not limited thereto. A wearable device (100) may be worn on a user's (110) body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to apply external forces, such as assistance force and / or resistance force, to the body movements of the user (110). Assistance force refers to a force applied in the same direction as the body movement direction of the user (110), and represents a force that assists the body movements of the user (110). Resistance force refers to a force applied in the opposite direction to the body movement direction of the user (110), and represents a force that hinders the body movements of the user (110). The term 'resistance force' may also be referred to as 'exercise load'.

[0025] In one embodiment, the wearable device (100) may operate in a walking assistance mode to assist the walking of a user (110). In the walking assistance mode, the wearable device (100) may assist the walking of the user (110) by applying an assistive force generated from a driving module (120) of the wearable device (100) to the body of the user (110). The wearable device (100) may assist the force required for the walking of the user (110), thereby enabling the user (110) to walk independently or to walk for a long time, thereby expanding the walking ability of the user (110). The wearable device (100) may also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0026] In one embodiment, the wearable device (100) may operate in an exercise assistance mode to enhance the exercise effect of the user (110). In the exercise assistance mode, the wearable device (100) may impede the body movement of the user (110) or provide resistance to the body movement of the user (110) by applying a resistance force generated from the driving module (120) to the body of the user (110). If the wearable device (100) is a hip-type wearable device worn on the waist (or pelvis) and legs (e.g., thighs) of the user (110), the wearable device (100) may provide an exercise load to the leg movement of the user (110) while being worn on the legs, thereby further enhancing the exercise effect on the legs of the user (110). In one embodiment, the wearable device (100) may also apply an assistive force to the body of the user (110) to assist the exercise of the user (110). For example, when a disabled person or an elderly person wears a wearable device (100) to exercise, the wearable device (100) may provide assistive force to assist body movements during the exercise. In one embodiment, the wearable device (100) may provide a combination of assistive force and resistance force by exercise section or time section, such as providing assistive force in some exercise sections and resistance force in other exercise sections.

[0027] In one embodiment, the wearable device (100) may operate in a physical ability measurement mode for measuring the physical ability of a user (110). The wearable device (100) may measure movement information of the user (110) using sensors (e.g., an angle sensor (125), an inertial measurement unit (IMU) (135)) provided in the wearable device (100) while the user (110) walks or performs exercise, and may evaluate the physical ability of the user (110) based on the measured movement information. For example, the gait index or exercise ability index (e.g., muscle strength, endurance, balance, exercise movement) of the user (110) may be estimated through the movement information of the user (110) measured by the wearable device (100). The physical ability measurement mode may include an exercise movement measurement mode for measuring the exercise movement of the user (110).

[0028] In various embodiments of the present disclosure, for convenience of explanation, a hip-type wearable device (100) as illustrated in FIG. 1 is described as an example, but is not limited thereto. As described above, the wearable device (100) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly, thighs), and the shape and configuration of the wearable device (100) may vary depending on the body part on which it is worn.

[0029] According to one embodiment, the wearable device (100) may include a support frame for supporting the body of the user (110) when the wearable device (100) is worn on the body of the user (110) (e.g., leg support frame (50, 55) and waist support frame (20) of FIG. 3), a sensor module for obtaining sensor data including movement information about the body movement of the user (110) (e.g., leg movement, upper body movement) (e.g., sensor module (520) of FIG. 5A), a driving module (120) for generating a torque applied to the leg of the user (110) (e.g., driving module (35, 45) of FIG. 3), and a control module (130) for controlling the wearable device (100) (e.g., control module (510) of FIGS. 5A and 5B).

[0030] The sensor module may include an angle sensor (125) and an inertial measurement device (135). The angle sensor (125) may measure a rotation angle of a leg support frame of the wearable device (100) corresponding to a hip joint angle value of the user (110). The rotation angle of the leg support frame measured by the angle sensor (125) may be estimated to be a hip joint angle value (or leg angle value) of the user (110). The angle sensor (125) may include, for example, an encoder and / or a hall sensor. In one embodiment, the angle sensors (125) may be located near the right hip joint and the left hip joint of the user (110), respectively. The inertial measurement device (135) may include an acceleration sensor and / or an angular velocity sensor, and may measure a change in acceleration and / or angular velocity according to a movement of the user (110). The inertial measurement device (135) can measure, for example, the upper body movement value of the user (110) corresponding to the movement value of the waist support frame (or base body (base body (80) of FIG. 3)) of the wearable device (100). The movement value of the waist support frame measured by the inertial measurement device (135) can be estimated as the upper body movement value of the user (110).

[0031] In one embodiment, the control module (130) and the inertial measurement device (135) may be placed in the base body of the wearable device (100) (e.g., the base body (80) of FIG. 3). The base body may be positioned at the lumbar region (waist region) of the user (110) while the user (110) wears the wearable device (100). The base body may be formed or attached to the outside of the lumbar support frame of the wearable device (100). The base body may be mounted at the lumbar region of the user (110) to provide a cushioning feeling to the lumbar region of the user (110) and support the lumbar region of the user (110) together with the lumbar support frame.

[0032] FIG. 2 is a diagram illustrating an exercise management system including a wearable device and an electronic device according to one embodiment.

[0033] Referring to FIG. 2, the exercise management system (200) may include a wearable device (100) worn on a user's body, an electronic device (210), another wearable device (220), and a server (230). In one embodiment, the exercise management system (200) may omit at least one of these devices (e.g., another wearable device (220) or the server (230)) or may add one or more other devices (e.g., a dedicated controller device of the wearable device (100)).

[0034] In one embodiment, the wearable device (100) may be worn on the user's body in a walking assistance mode to assist the user's movements. For example, the wearable device (100) may be worn on the user's leg to generate an assistive force to assist the user's leg movements, thereby assisting the user's walking.

[0035] In one embodiment, the wearable device (100) may generate and apply to the user's body a resistance force to hinder the user's body movement or an assistive force to assist the user's body movement in order to enhance the user's exercise effect in the exercise assistance mode. In the exercise assistance mode, the user may select an exercise program (e.g., squats, split lunges, dumbbell squats, lunges and knee ups, stretching, etc.) to be exercised using the wearable device (100) through the electronic device (210) and / or an exercise intensity to be applied to the wearable device (100). The wearable device (100) may control the drive module of the wearable device (100) according to the exercise program selected by the user, and may acquire sensor data including information on the user's movement through the sensor module. The wearable device (100) may adjust the strength of the resistance force or the assistive force to be applied to the user according to the exercise intensity selected by the user. For example, the wearable device (100) can control the drive module to generate a resistance corresponding to the exercise intensity selected by the user.

[0036] In one embodiment, the wearable device (100) may be used to measure a user's physical ability in conjunction with an electronic device (210). The wearable device (100) may operate in a physical ability measurement mode, which is a mode for measuring the user's physical ability under the control of the electronic device (210), and may transmit sensor data acquired by the user's movements in the physical ability measurement mode to the electronic device (210). The electronic device (210) may analyze the sensor data received from the wearable device (100) to estimate the user's physical ability.

[0037] The electronic device (210) can communicate with the wearable device (100), remotely control the wearable device (100), or provide the user with status information about the status of the wearable device (100) (e.g., booting status, charging status, sensing status, error status). The electronic device (210) can receive sensor data acquired by a sensor of the wearable device (100) from the wearable device (100), and estimate the user's physical ability or exercise result based on the received sensor data. In one embodiment, when the user wears the wearable device (100) and exercises, the wearable device (100) can acquire sensor data including movement information of the user using sensors, and transmit the acquired sensor data to the electronic device (210). The electronic device (210) can extract the user's movement value from the sensor data, and evaluate the user's exercise action based on the extracted movement value. The electronic device (210) can provide the user with exercise motion measurement values ​​and exercise motion evaluation information for the user's exercise motion through a graphical user interface.

[0038] In one embodiment, the electronic device (210) may execute a program (e.g., an application) for controlling the wearable device (100), and the user may adjust the operation or setting values ​​(e.g., the torque intensity output from the driving module (e.g., the driving module (35, 45) of FIG. 3), the volume of the audio output from the sound output module (e.g., the sound output module (550) of FIGS. 5A and 5B), the brightness of the light unit (e.g., the light unit (85) of FIG. 3)) of the wearable device (100) through the program. The program executed in the electronic device (210) may provide a graphical user interface (GUI) for interaction with the user. The electronic device (210) may be a device of various forms. For example, the electronic device (210) may include, but is not limited to, a portable communication device (e.g., a smartphone), a computer device, an access point, a portable multimedia device, or a home appliance device (e.g., a television, an audio device, a projector device).

[0039] According to one embodiment, the electronic device (210) may be connected to the server (230) using short-range wireless communication or cellular communication. The server (230) may receive user profile information of a user using the wearable device (100) from the electronic device (210) and store and manage the received user profile information. The user profile information may include, for example, information on at least one of name, age, gender, height, weight, or body mass index (BMI). The server (230) may receive exercise history information on exercise performed by the user from the electronic device (210) and store and manage the received exercise history information. The server (230) may provide various exercise programs or physical ability measurement programs that may be provided to the user to the electronic device (210).

[0040] According to one embodiment, the wearable device (100) and / or the electronic device (210) may be connected to another wearable device (220). The other wearable device (220) may be, for example, wireless earphones (222), a smartwatch (224), or smartglasses (226), but is not limited to the aforementioned devices. In one embodiment, the smartwatch (224) may measure a bio-signal including heart rate information of the user, and transmit the measured bio-signal to the electronic device (210) and / or the wearable device (100). The electronic device (210) may estimate heart rate information of the user (e.g., current heart rate, maximum heart rate, average heart rate) based on the bio-signal received from the smartwatch (224), and may provide the estimated heart rate information to the user.

[0041] In one embodiment, the user's exercise result information, physical ability information, and / or exercise motion evaluation information evaluated by the electronic device (210) may be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). Status information of the wearable device (100) may also be transmitted to another wearable device (220) and provided to the user through the other wearable device (220). In one embodiment, the wearable device (100), the electronic device (210), and the other wearable device (220) may be connected to each other through wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0042] In one embodiment, the wearable device (100) may provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100) according to a control signal received from the electronic device (210). For example, the wearable device (100) may provide visual feedback through a light unit (e.g., light unit (85) of FIG. 3) and may provide auditory feedback through an audio output module (e.g., audio output module (550) of FIGS. 5A and 5B). The wearable device (100) may include a haptic module and may provide tactile feedback in the form of vibration to the user's body through the haptic module. The electronic device (210) may also provide (or output) feedback (e.g., visual feedback, auditory feedback, tactile feedback) corresponding to the state of the wearable device (100).

[0043] In one embodiment, the electronic device (210) may present personalized exercise goals to the user in an exercise assistance mode. The personalized exercise goals may include exercise volume targets for each of the exercise types (e.g., strength training, balance training, aerobic training) that the user wishes to perform, as determined by the electronic device (210) and / or the server (230). When the server (230) determines the exercise volume targets, the server (230) may transmit information about the determined exercise volume targets to the electronic device (210). The electronic device (210) may present exercise volume targets for the exercise types of strength training, aerobic training, and balance training in a personalized manner according to the exercise program to be performed (e.g., squats, split lunges, lunge and knee-ups) and / or the user's physical characteristics (e.g., age, height, weight, BMI). The electronic device (210) may display a GUI screen indicating the exercise volume targets for each exercise type on the display.

[0044] In one embodiment, the electronic device (210) and / or the server (230) may include a database storing information on a plurality of exercise programs that may be provided to the user through the wearable device (100). To achieve the user's exercise goal, the electronic device (210) and / or the server (230) may recommend an exercise program suitable for the user. The exercise goal may include, for example, at least one of muscle strength improvement, physical strength improvement, cardiopulmonary endurance improvement, core stability improvement, flexibility improvement, or symmetry improvement. The electronic device (210) and / or the server (230) may store and manage exercise programs performed by the user and the results of the exercise programs performed.

[0045] Figure 3 illustrates a rear schematic diagram of a wearable device according to one embodiment. Figure 4 illustrates a left side view of the wearable device according to one embodiment.

[0046] Referring to FIGS. 3 and 4, a wearable device (100) according to one embodiment may include a base body (80), a waist support frame (20), a driving module (35, 45), a leg support frame (50, 55), a thigh fastening part (1, 2), and a waist fastening part (60). The base body (80) may include a lighting unit (85). In one embodiment, the wearable device (100) may omit at least one of these components (e.g., the lighting unit (85)), or may have one or more other components (e.g., a haptic module) added.

[0047] The base body (80) can be positioned on the user's lower back while the user wears the wearable device (100). The base body (80) can be mounted on the user's lower back to provide a cushioning feeling to the user's lower back and support the user's lower back. The base body (80) can be hung over the user's buttocks (hip area) to prevent the wearable device (100) from falling downward due to gravity while the user wears the wearable device (100). The base body (80) can distribute a portion of the weight of the wearable device (100) to the user's lower back while the user wears the wearable device (100). The base body (80) can be connected to the lower back support frame (20). The base body (80) can be provided with lower back support frame connection elements (not shown) that can be connected to the lower back support frame (20) at both ends.

[0048] In one embodiment, a lighting unit (85) may be disposed outside the base body (80). The lighting unit (85) may include a light source (e.g., a light emitting diode (LED)). The lighting unit (85) may emit light under the control of a control module (not shown) (e.g., the control module (510) of FIGS. 5A and 5B). According to an embodiment, the control module may control the lighting unit (85) so that visual feedback corresponding to the status of the wearable device (100) may be provided (or output) to the user through the lighting unit (85).

[0049] The lumbar support frame (20) may extend from both ends of the base body (80). The user's lower back may be accommodated on the inside of the lumbar support frame (20). The lumbar support frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A lumbar fastening part (60) may be connected to an end of the lumbar support frame (20). A driving module (35, 45) may be connected to the lumbar support frame (20).

[0050] In one embodiment, a control module, an inertial measurement device (not shown) (e.g., an inertial measurement device (135) of FIG. 1, an inertial measurement device (522) of FIG. 5B), a communication module (not shown) (e.g., a communication module (516) of FIGS. 5A and 5B), and a battery (not shown) may be arranged inside the base body (80). The base body (80) may protect the control module, the inertial measurement device, the communication module, and the battery. The control module may generate a control signal for controlling the operation of the wearable device (100). The control module may include a control circuit including a processor and a memory for controlling the actuators of the drive modules (35, 45). The control module may further include a power supply module (not shown) for supplying power from the battery to each component of the wearable device (100).

[0051] In one embodiment, the wearable device (100) may include a sensor module (not shown) (e.g., sensor module (520) of FIG. 5A) that obtains sensor data from one or more sensors. The sensor module may obtain sensor data that changes according to the user's movement. In one embodiment, the sensor module may obtain sensor data including movement information of the user and / or movement information of components of the wearable device (100). The sensor module may include, but is not limited to, an inertial measurement device (e.g., inertial measurement device (135) of FIG. 1, inertial measurement device (522) of FIG. 5B) for measuring a movement value of the user's upper body or a movement value of the waist support frame (20) and an angle sensor (e.g., angle sensor (125) of FIG. 1, first angle sensor (524) and second angle sensor (524-1) of FIG. 5B) for measuring a hip joint angle value of the user or a movement value of the leg support frames (50, 55). For example, the sensor module may further include at least one of a position sensor, a temperature sensor, a biosignal sensor, or a proximity sensor.

[0052] The waist fastening member (60) can be connected to the waist support frame (20) and can secure the waist support frame (20) to the user's waist. The waist fastening member (60) can include, for example, a pair of belts.

[0053] The drive module (35, 45) can generate an external force (or torque) applied to the user's body based on a control signal generated by the control module. For example, the drive module (35, 45) can generate an assistive force or a resistance force applied to the user's leg. In one embodiment, the drive module (35, 45) can include a first drive module (45) positioned corresponding to the user's right hip joint position and a second drive module (35) positioned corresponding to the user's left hip joint position. The first drive module (45) can include a first actuator and a first joint member, and the second drive module (35) can include a second actuator and a second joint member. The first actuator can provide power transmitted to the first joint member, and the second actuator can provide power transmitted to the second joint member. The first actuator and the second actuator may each include a motor that receives power from a battery and generates force (or torque). When powered and driven, the motor may generate force to assist the user's body movements (assistive force) or force to impede the user's body movements (resistive force). In one embodiment, the control module may adjust the voltage and / or current supplied to the motor to control the strength and direction of the force generated by the motor.

[0054] In one embodiment, the first joint member and the second joint member may receive power from the first actuator and the second actuator, respectively, and apply an external force to the user's body based on the received power. The first joint member and the second joint member may be disposed at positions corresponding to the user's joints, respectively. One side of the first joint member may be connected to the first actuator, and the other side may be connected to the first leg support frame (55). The first joint member may be rotated by the power received from the first actuator. An encoder or a hall sensor that may function as an angle sensor for measuring a rotation angle of the first joint member (corresponding to the user's joint angle) may be disposed on one side of the first joint member. One side of the second joint member may be connected to the second actuator, and the other side may be connected to the second leg support frame (50). The second joint member may be rotated by the power received from the second actuator. An encoder or hall sensor that can act as an angle sensor for measuring the rotation angle of the second joint member may also be arranged on one side of the second joint member.

[0055] In one embodiment, the first actuator may be disposed laterally of the first joint member, and the second actuator may be disposed laterally of the second joint member. The rotational axis of the first actuator and the rotational axis of the first joint member may be disposed to be spaced apart from each other, and the rotational axis of the second actuator and the rotational axis of the second joint member may also be disposed to be spaced apart from each other. However, the present invention is not limited thereto, and the actuator and the joint member may share a rotational axis. In one embodiment, each actuator may be disposed to be spaced apart from the joint member. In this case, the drive module (35, 45) may further include a power transmission module (not shown) that transmits power from the actuator to the joint member. The power transmission module may be a rotating body such as a gear, or a longitudinal member such as a wire, a cable, a string, a spring, a belt, or a chain. However, the scope of the embodiment is not limited by the positional relationship between the actuator and joint member and the power transmission structure described above.

[0056] In one embodiment, the leg support frame (50, 55) can support the user's leg (e.g., thigh) when the wearable device (100) is worn on the user's leg. The leg support frame (50, 55) can transmit power (torque) generated from, for example, the driving module (35, 45) to the user's thigh, and the power can act as an external force applied to the movement of the user's leg. One end of the leg support frame (50, 55) can be connected to a joint member and rotated, and the other end of the leg support frame (50, 55) is connected to a thigh fastening part (1, 2), so that the leg support frame (50, 55) can support the user's thigh while transmitting the power generated from the driving module (35, 45) to the user's thigh. For example, the leg support frame (50, 55) can push or pull the user's thigh. The leg support frame (50, 55) can extend along the length direction of the user's thigh. The leg support frame (50, 55) can be folded to wrap around at least a portion of the user's thigh. The leg support frame (50, 55) can include a first leg support frame (55) for supporting the user's right leg and a second leg support frame (50) for supporting the user's left leg.

[0057] The thigh fastening parts (1, 2) are connected to the leg support frame (50, 55) and can fix the leg support frame (50, 55) to the thigh. The thigh fastening parts (1, 2) may include a first thigh fastening part (2) for fixing the first leg support frame (55) to the user's right thigh and a second thigh fastening part (1) for fixing the second leg support frame (50) to the user's left thigh.

[0058] In one embodiment, the first thigh fastening part (2) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (1) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may apply a torque generated from the driving module (35, 45) to the user's thigh. The first cover and the second cover may be disposed on one side of the user's thigh and may push or pull the user's thigh. The first cover and the second cover may be disposed on the front side of the user's thigh, for example. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions with the other end of the leg support frame (50, 55) as the center, and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be connected to the fastening frame, and the other end may be connected to the strap.

[0059] The first fastening frame and the second fastening frame may be arranged to, for example, surround at least a portion of the user's thigh, thereby preventing the user's thigh from being dislodged from the leg support frame (50, 55). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0060] The first strap may encircle the user's right thigh, the remaining portion not covered by the first cover and the first fastening frame, and the second strap may encircle the user's left thigh, the remaining portion not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0061] FIGS. 5A and 5B are diagrams illustrating the configuration of a control system of a wearable device according to one embodiment.

[0062] Referring to FIG. 5A, a wearable device (100) may be controlled by a control system (500). The control system (500) may include a control module (510), a communication module (516), a sensor module (520), a driving module (530), an input module (540), and an audio output module (550). In one embodiment, the control system (500) may omit at least one of these components (e.g., an audio output module (550)), or may have one or more other components (e.g., a haptic module) added.

[0063] The drive module (530) may include a motor (534) capable of generating power (e.g., torque) and a motor driver circuit (532) for driving the motor (534). In the embodiment of FIG. 5A, a drive module (530) including one motor driver circuit (532) and one motor (534) is illustrated, but this is merely an example. Referring to FIG. 5B, as in the control system (500-1) illustrated in FIG. 5B, there may be a plurality of motor driver circuits (532, 532-1) and a plurality of motors (534, 534-1), respectively (e.g., two or more). A drive module (530) including a motor driver circuit (532) and a motor (534) may correspond to the first drive module (45) of FIG. 3, and a drive module (530-1) including a motor driver circuit (532-1) and a motor (534-1) may correspond to the second drive module (35) of FIG. 3. The description of each of the motor driver circuit (532) and the motor (534) described below may also be applied to the motor driver circuit (532-1) and the motor (534-1) illustrated in FIG. 5b.

[0064] Returning to FIG. 5A, the sensor module (520) may include a sensor circuit including at least one sensor. The sensor module (520) may include sensor data including movement information of the user or movement information of the wearable device (100). The sensor module (520) may transmit the acquired sensor data to the control module (510). The sensor module (520) may include an inertial measurement device (522) and an angle sensor (e.g., a first angle sensor (524) and a second angle sensor (524-1)) as illustrated in FIG. 5B. The inertial measurement device (522) may measure movement values ​​of the user's upper body. For example, the inertial measurement device (522) may sense accelerations of the X-axis, Y-axis, and Z-axis and angular velocities of the X-axis, Y-axis, and Z-axis according to the movement of the user. The inertial measurement device (522) can be used to measure, for example, at least one of forward and backward tilt, left and right tilt, or rotation of the user's body. In addition, the inertial measurement device (522) can obtain movement values ​​(e.g., acceleration values ​​and angular velocity values) of a lumbar support frame (e.g., lumbar support frame (20) of FIG. 3) of the wearable device. The movement values ​​of the lumbar support frame can correspond to movement values ​​of the user's upper body.

[0065] The angle sensor can measure a hip joint angle value according to the movement of the user's legs. Sensor data that can be measured by the angle sensor can include, for example, a hip joint angle value of the right leg, a hip joint angle value of the left leg, and information on the movement direction of the legs. For example, the first angle sensor (524) of FIG. 5B can obtain a hip joint angle value of the user's right leg, and the second angle sensor (524-1) can obtain a hip joint angle value of the user's left leg. Each of the first angle sensor (524) and the second angle sensor (524-1) can include, for example, an encoder and / or a Hall sensor. In addition, the angle sensor can obtain a movement value of the leg support frame of the wearable device (100). For example, the first angle sensor (524) can obtain a movement value of the first leg support frame (55), and the second angle sensor (524-1) can obtain a movement value of the second leg support frame (50). The movement value of the leg support frame can correspond to the hip joint angle value.

[0066] In one embodiment, the sensor module (520) may further include at least one of a position sensor for obtaining a position value of the wearable device (100), a proximity sensor for detecting the proximity of an object, a biosignal sensor for detecting a user's biosignal, or a temperature sensor for measuring an ambient temperature.

[0067] The input module (540) can receive commands or data to be used in a component of the wearable device (100) (e.g., a processor (512)) from an external source (e.g., a user) of the wearable device (100). The input module (540) can include an input component circuit. The input module (540) can include, for example, a key (e.g., a button) or a touch screen.

[0068] The audio output module (550) can output audio signals to the outside of the wearable device (100). The audio output module (550) can provide auditory feedback to the user. For example, the audio output module (550) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound, an exercise start notification sound), a music content, or a guide voice to audibly inform specific information (e.g., exercise result information, exercise movement evaluation information).

[0069] In one embodiment, the control system (500) may further include a battery (not shown) for supplying power to each component of the wearable device (100). The wearable device (100) may convert the power of the battery to an operating voltage of each component of the wearable device (100) and supply the converted power to each component.

[0070] The drive module (530) can generate an external force applied to the user's leg under the control of the control module (510). The drive module (530) can generate a torque applied to the user's leg based on a control signal generated by the control module (510). The control module (510) can transmit the control signal to the motor driver circuit (532). The motor driver circuit (532) can control the operation of the motor (534) by generating a current signal (or voltage signal) corresponding to the control signal and supplying the current signal to the motor (534). In some cases, the current signal may not be supplied to the motor (534). When the motor (534) is driven by supplying a current signal to the motor (534), the motor (534) can generate a torque for an assistive force that assists the movement of the user's leg or a resistive force that hinders the movement of the leg.

[0071] The control module (510) controls the overall operation of the wearable device (100) and can generate control signals for controlling each component (e.g., communication module (516), driving module (530)). The control module (510) may include a processor (512) and a memory (514).

[0072] The processor (512) may, for example, execute software to control at least one other component (e.g., hardware or software component) of the wearable device (100) connected to the processor (512) and perform various data processing or calculations. The software may include an application for providing a GUI. According to one embodiment, as at least a part of the data processing or calculation, the processor (512) may store instructions or data received from another component (e.g., a communication module (516)) in the memory (514), process the instructions or data stored in the memory (514), and store the result data after the processing in the memory (514). According to one embodiment, the processor (512) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or together therewith. The auxiliary processor may be implemented separately from the main processor or as part of it.

[0073] The memory (514) can store various data used by at least one component (e.g., processor (512)) of the control module (510). The data can include, for example, input data or output data for software, sensor data, and commands related thereto. The memory (514) can include volatile memory or non-volatile memory (e.g., RAM, DRAM, SRAM).

[0074] The communication module (516) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the control module (510) and other components of the wearable device (100) or an external electronic device (e.g., the electronic device (210) or another wearable device (220) of FIG. 2), and the performance of communication through the established communication channel. The communication module (516) may include a communication circuit for performing a communication function. The communication module (516) may, for example, receive a control signal from an electronic device (e.g., the electronic device (210)) and transmit sensor data acquired by the sensor module (520) to the electronic device. According to one embodiment, the communication module (516) may operate independently from the processor (512) and may include one or more communication processors (not shown) that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (516) may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) and / or a wired communication module. Any of these communication modules may communicate with other components of the wearable device (100) and / or external electronic devices via a short-range communication network such as, for example, Bluetooth, wireless fidelity (Wi-Fi), or infrared data association (IrDA), or a long-range communication network such as a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network (e.g., a LAN or WAN).

[0075] In one embodiment, the control system (500, 500-1) may further include a haptic module (not shown). The haptic module may provide tactile feedback to a user under the control of the processor (512). The haptic module may convert an electrical signal into a mechanical stimulus (e.g., vibration or movement) or an electrical stimulus that a user may perceive through a tactile or kinesthetic sense. The haptic module may include a motor, a piezoelectric element, or an electrical stimulation device. In one embodiment, the haptic module may be located in at least one of the base body (e.g., the base body (80)), the first thigh fastening portion (2), or the second thigh fastening portion (1).

[0076] FIG. 5c is a diagram illustrating the configuration of a drive module according to one embodiment.

[0077] According to one embodiment, the drive module (530) may include a motor driver circuit (532), a motor (534), a processor (535), a memory (536), and a current sensor (537).

[0078] According to one embodiment, the drive module (530) includes a processor (535) and a memory (536) that stores instructions executable by the processor (535), and when the instructions are executed by the processor (535), the drive module (530) can determine the state of the motor (534). For example, the processor (535) and the memory (536) can constitute a micro controller unit (MCU).

[0079] The drive module (530) may further include a motor (534) and a current sensor (537). For example, the current sensor (537) may sense the value of the current flowing through each of the coils (e.g., 3-phase coils) of the motor (534).

[0080] FIG. 5d is a diagram illustrating a configuration of a control module, a driving module, a clipper circuit, and a BEMF regulating circuit according to one embodiment.

[0081] In the drawing, the bold solid lines represent electrical connections through which power is applied, and the dotted lines represent electrical connections through which control signals are transmitted and received.

[0082] According to one embodiment, the control module (510) may include a charging circuit (517), a battery (518), and a diode (519). For example, the charging circuit (517) may include at least one of a wired charging module or a wireless charging module. The wired charging module may receive external power from an external power source connected via a wire, such as a cable, and may charge the battery (518) using the external power. The wireless charging module may charge the battery (518) using an inductive charging method or a method using electromagnetic waves.

[0083] The battery (518) and the driving module (530) are electrically connected through a diode (519), and current for controlling the motor (534) of the driving module (530) from the battery (518) can flow through the diode (519). The diode (519) may not prevent current for power output from the charging circuit (517) or the battery (518) from flowing in the direction from the control module (510) to the driving module (530) to control the driving module (530). Conversely, the diode (519) may prevent current for power appearing in the driving module (530) from flowing in the direction from the driving module (530) to the control module (510). Since the power appearing in the driving module (530) does not affect the control module (510) by the diode (519), the control module (510) can be protected.

[0084] When the operating power for driving the motor (534) is supplied to the driving module (530) by the control module (510), the driving module (530) may display operating power. Additionally, when the user (110) moves while wearing the wearable device (100), the motor (534) may operate as a generator. When the motor (534) operates as a generator, a counter electromotive force may be generated within the driving module (530). For example, operating power and counter electromotive force may simultaneously appear within the driving module (530). The sum of the operating power and counter electromotive force may be referred to as “summed power.” If the summed power is too large, there is a possibility that the components included in the driving module (530) may be damaged by the summed power.

[0085] In one embodiment, the clipper circuit (570) may dissipate at least a portion of the summed power presented to the drive module (530). For example, the clipper circuit (570) may include a resistor, and at least a portion of the summed power may be dissipated as heat by the resistor. The power dissipated from the summed power by the clipper circuit (570) may be referred to as "target power." A method for generating target power is described in detail below with reference to FIGS. 10 and 11 .

[0086] In one embodiment, if the summed power is of a magnitude that does not damage the components included in the driving module (530), the summed power may be treated as the target power. That is, if the summed power is of a magnitude that does not damage the components included in the driving module (530), the summed power may be defined as the target power even if at least a portion of the summed power is not consumed as heat.

[0087] According to one embodiment, target power may be supplied to a back-Electro Motive Force (BEMF) regulating circuit. The BEMF regulating circuit may generate charging power by regulating or converting the target power. For example, the charging circuit (517) may charge the battery (518) using the charging power. For example, the charging circuit (517) may supply operating power to the drive module (530) using the charging power.

[0088] A method of generating charging power and a method of charging a battery using the charging power are described in detail below with reference to FIGS. 8 and 9.

[0089] FIG. 6 is a diagram illustrating the interaction between a wearable device and an electronic device according to one embodiment.

[0090] Referring to FIG. 6, the wearable device (100) can communicate with the electronic device (210). For example, the electronic device (210) may be a user terminal of a user using the wearable device (100) or a dedicated controller device for the wearable device (100). According to one embodiment, the wearable device (100) and the electronic device (210) may be connected to each other through short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0091] In one embodiment, the electronic device (210) may execute an application to check the status of the wearable device (100) or to control or operate the wearable device (100). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (100) or determining the operation mode of the wearable device (100) may be displayed on the display (212) of the electronic device (210). The UI may be, for example, a graphical user interface (GUI).

[0092] In one embodiment, a user may input a command to control the operation of the wearable device (100) (e.g., a command to execute a walking assistance mode, an exercise assistance mode, or a physical ability measurement mode) or change the settings of the wearable device (100) through a GUI screen on a display (212) of the electronic device (210). The electronic device (210) may generate a control command (or a control signal) corresponding to the motion control command or setting change command input by the user, and transmit the generated control command to the wearable device (100). The wearable device (100) may operate according to the received control command, and transmit a control result according to the control command and / or sensor data measured by a sensor module of the wearable device (100) to the electronic device (210). The electronic device (210) may analyze the control result and / or sensor data to provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) through the GUI screen.

[0093] FIG. 7 is a diagram illustrating a configuration of an electronic device according to one embodiment.

[0094] Referring to FIG. 7, the electronic device (210) may include a processor (710), a memory (720), a communication module (730), a display module (740), an audio output module (750), and an input module (760). In one embodiment, the electronic device (210) may omit at least one of these components (e.g., an audio output module (750)), or may have one or more other components (e.g., a sensor module, a battery) added.

[0095] The processor (710) may control at least one other component (e.g., hardware or software component) of the electronic device (210) and perform various data processing or calculations. According to one embodiment, as at least a part of the data processing or calculation, the processor (710) may store commands or data received from another component (e.g., communication module (730)) in the memory (720), process the commands or data stored in the memory (720), and store result data in the memory (720).

[0096] According to one embodiment, the processor (710) may include a main processor (e.g., a central processing unit or an application processor) or an auxiliary processor (e.g., a graphics processing unit, a neural network processing unit (NPU), an image signal processor, a sensor hub processor, or a communication processor) that can operate independently or in conjunction therewith.

[0097] The memory (720) can store various data used by at least one component (e.g., the processor (710) or the communication module (730)) of the electronic device (210). The data can include, for example, input data or output data for a program (e.g., an application) and commands related thereto. The memory (720) can include at least one instruction executable by the processor (710). The memory (720) can include volatile memory or non-volatile memory.

[0098] The communication module (730) may support the establishment of a direct (e.g., wired) communication channel or a wireless communication channel between the electronic device (210) and another electronic device (e.g., wearable device (100), another wearable device (220), server (230)), and the performance of communication through the established communication channel. The communication module (730) may include a communication circuit for performing a communication function. The communication module (730) may operate independently from the processor (710) (e.g., application processor) and may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module (290) may include a wireless communication module (e.g., a Bluetooth communication module, a cellular communication module, a Wi-Fi communication module, or a GNSS communication module) that performs wireless communication, or a wired communication module (e.g., a LAN communication module or a power line communication module). The communication module (730) may, for example, transmit a control command to the wearable device (100) and receive at least one of sensor data including body movement information of a user wearing the wearable device (100), status data of the wearable device (100), or control result data corresponding to the control command from the wearable device (100).

[0099] The display module (740) can visually provide information to an external party (e.g., a user) of the electronic device (210). The display module (740) may include, for example, an LCD or OLED display, a holographic device, or a projector device. The display module (740) may further include a control circuit for controlling display operation. In one embodiment, the display module (740) may further include a touch sensor configured to detect a touch, or a pressure sensor configured to measure the intensity of a force generated by the touch.

[0100] The audio output module (750) can output an audio signal to the outside of the electronic device (210). The audio output module (750) can include a speaker that plays a guide audio signal (e.g., a driving start sound, an operation error notification sound), music content, or a guide voice based on the status of the wearable device (100). If it is determined that the wearable device (100) is not properly worn on the user's body, for example, the audio output module (750) can output a guide voice to notify the user of an abnormal wearing or to induce normal wearing. The audio output module (750) can also output a guide voice corresponding to exercise evaluation information or exercise result information that evaluates the user's exercise, for example.

[0101] The input module (760) can receive commands or data to be used in a component of the electronic device (210) (e.g., a processor (710)) from an external source (e.g., a user) of the electronic device (210). The input module (760) can include an input component circuit and can receive user input. The input module (760) can include, for example, a key (e.g., a button) or a touch screen.

[0102] Figure 8 is a flowchart of a method for charging a battery according to one embodiment.

[0103] The operations 810 to 840 below may be performed by a wearable device (e.g., the wearable device (100) described above with reference to FIGS. 1 to 7). For example, the wearable device may include at least one processor and a memory storing instructions.

[0104] For example, at least one processor may include at least one of the processor (512) of FIG. 5A, the processor (535) of FIG. 5C, the processor of the charging circuit (517) of FIG. 5D, or the processor of the battery (518). The processor of the charging circuit (517) may be a processor that controls the operation of the charging circuit (517). The processor of the battery (518) may be a processor that controls charging and discharging of the battery (518).

[0105] The memory of the wearable device (100) may be configured collectively or distributedly. Instructions stored in the memory may be stored collectively or distributedly. The instructions may be executed individually or collectively by at least one processor, and functions of the wearable device may be performed by executing the instructions.

[0106] In operation 810, the wearable device can determine whether a switch connection condition is satisfied based on a target voltage of a target power appearing in a driving module (e.g., a driving module (530) of FIG. 5d) and a current voltage of a battery (e.g., a battery (518) of FIG. 5d).

[0107] The target power may be the power presented to a motor driver circuit of the drive module (e.g., motor driver circuit (532) of FIG. 5d) or a motor (e.g., motor (534) of FIG. 5d). For example, the target power may correspond to or include a counter electromotive force generated by the motor when the motor operates as a generator. For example, the target power may include at least a portion of the operating power supplied to the drive module by the control module (e.g., control module (510) of FIG. 5d). For example, the voltage of the target power may be less than 60 V (volt), but is not limited to the examples described.

[0108] In one embodiment, the target power may correspond to the power after consuming at least a portion of the summed power presented to the drive module. For example, the voltage of the summed power presented to the drive module may be 60 V or higher. If a voltage of the summed power higher than the voltage (or current) that the components of the drive module can withstand is applied, the components of the drive module may be damaged. To prevent damage to the components of the drive module, the wearable device may lower the voltage (or current) applied to the drive module by consuming at least a portion of the summed power. A method of consuming at least a portion of the summed power is described in detail below with reference to FIGS. 10 and 11.

[0109] A wearable device can sense the current voltage of a battery. The current voltage of the battery can be used as the basis for calculating the state of charge (SOC) of the battery. For example, the voltage of the battery can range from 10 V to 17 V. The voltage range of the battery can correspond to the operating voltage range of the motor. When the SOC of the battery is 100%, the current voltage of the battery can correspond to the maximum voltage, and when the SOC of the battery is 0%, the current voltage of the battery can correspond to the minimum voltage. When the SOC of the battery is 0%, the wearable device can turn off the power to protect the control system of the wearable device (e.g., the control system (500) of FIG. 5A) and the battery.

[0110] According to one embodiment, the wearable device may determine whether a switch connection condition is satisfied based on a target voltage of a target power indicated on the drive module and a current voltage of the battery. For example, if the target voltage of the target power is within a first range and the current voltage of the battery is within a second range, the switch connection condition may be determined to be satisfied.

[0111] The upper voltage of the first range for the target voltage may be set to correspond to a voltage that the components of the drive module or the BEMF regulating circuit (e.g., the BEMF regulating circuit (580) of FIG. 5D) can withstand. A low target voltage may correspond to a case where no counter electromotive force appears in the motor. If the target power is supplied to the BEMF regulating circuit even when no counter electromotive force is generated by the motor, the power stored in the battery that should be supplied to the drive module may not be supplied to the drive module. To prevent a situation where operating power is not supplied to the drive module, the lower voltage of the first range may be set to correspond to any voltage at which the wearable device can determine that counter electromotive force appears in the drive module.

[0112] If the current voltage of the battery falls outside the second range, and if the current voltage of the battery exceeds the upper voltage of the second range, the SOC of the battery may exceed 100%. To prevent overcharging of the battery, the switch connection condition may be determined to be unsatisfied.

[0113] If the current voltage of the battery falls outside the second range, and if the current voltage of the battery is lower than the lower voltage of the second range, the SOC of the battery may be lower than the threshold SOC. If the SOC of the battery is lower than the threshold SOC, the switch connection condition may be determined not to be satisfied to prevent malfunction of the wearable device. For example, the threshold SOC may be a value of 10% or less, and is not limited to the described embodiments.

[0114] According to one embodiment, the wearable device may determine whether a switch connection condition is satisfied based on the current state of the wearable device. For example, the current state of the wearable device may be a state in which a mode for charging a battery based on back electromotive force is activated. For example, the current state of the wearable device may include at least one of a temperature state, a humidity state, a immersion state, a vibration state, or an operation mode of the wearable device or the battery. The temperature state, humidity state, immersion state, or vibration state of the wearable device or the battery may be sensed by a sensor associated therewith. For example, the operation mode of the wearable device may include at least one of a walking assistance mode, an exercise assistance mode, a physical ability measurement mode, and a freestyle mode. The freestyle mode may be a mode in which the wearable device does not output torque through a motor.

[0115] According to one embodiment, at least one of a first range for the target voltage and a second range for the current voltage of the battery may be set differently depending on the operating mode of the wearable device. For example, in freestyle mode, since the operating power from the battery is not supplied to the driving module, even if the target power indicated by the driving module is supplied to the BEMF regulating circuit, the battery power may not be consumed.

[0116] According to one embodiment, the BEMF regulating circuit may include a switch control circuit that determines whether a switch connection condition is satisfied. For example, the switch control circuit may include a circuit that receives a target voltage of a target power indicated by a drive module, a circuit that receives a current voltage of a battery, and a circuit that compares the target voltage of the target power with the current voltage of the battery. The switch control circuit may further include a circuit that receives a current state of the wearable device. The switch control circuit is described in detail with reference to FIG. 9 below.

[0117] According to one embodiment, the wearable device may receive additional information from an external electronic device (e.g., electronic device (2100) of FIG. 2) directly or indirectly connected to the wearable device, and determine whether a switch connection condition is satisfied based on the additional information. A method for receiving additional information from an external electronic device to determine whether a switch connection condition is satisfied is described in detail below with reference to FIG. 12.

[0118] In operation 820, the wearable device may electrically connect the driving module and the BEMF regulating circuit using a switch of the BEMF regulating circuit when a switch connection condition is satisfied. For example, when the switch of the BEMF regulating circuit is closed, the driving module and the regulator of the BEMF regulating circuit may be electrically connected through the switch. As the driving module and the regulator are electrically connected, the target power appearing in the driving module may be input to the regulator.

[0119] When the switch connection condition is not satisfied, the switch of the BEMF regulating circuit can be controlled so that the drive module and the BEMF regulating circuit are not electrically connected.

[0120] In operation 830, the wearable device can generate charging power based on the target power through a regulator (or DC / DC converter) of the BEMF regulating circuit. The regulator can regulate (or convert) the target power so that the generated charging power has a voltage value within a preset range. For example, the preset voltage range for the charging power can correspond to the voltage range of the external power that the charging circuit (e.g., the charging circuit (517) of FIG. 5D) receives from an external power source connected through a wired charging module to charge the battery. For example, the preset voltage range for the charging power can be 20 V or less. The charging power generated through the regulator can be supplied to the charging circuit.

[0121] In operation 840, the wearable device may charge the battery based on charging power through the charging circuit. For example, the charging power may be considered as external power received from an external power source via a wired connection, such as a cable.

[0122] Although operations 810 to 840 have been described as being performed by a wearable device (e.g., the wearable device (100) described above with reference to FIGS. 1 to 7), operations 810 to 840 may be performed by an electronic device. For example, the electronic device may be a device that includes at least some of the components described for the wearable device (100). For example, the electronic device may include a control module (510), a drive module (530), a clipper circuit (570), and a BEMF regulating circuit (580) described with reference to FIG. 5D.

[0123] FIG. 9 is a diagram illustrating a configuration of a BEMF regulating circuit according to one embodiment.

[0124] According to one embodiment, the BEMF regulating circuit (580) of FIG. 5d may include a switch (910), a switch control circuit (920), and a regulator (930).

[0125] When the switch (910) is open, the drive module (530) and the regulator (930) are electrically disconnected, and when the switch (910) is closed, the drive module (530) and the regulator (930) are electrically connected. The connection state of the switch (910) can be controlled by the switch control circuit (920).

[0126] The switch control circuit (920) may include a circuit that receives a target voltage of the target power appearing on the drive module (530). For example, the switch control circuit (920) may include a voltage divider circuit and may receive the target voltage appearing on the drive module (530) through the voltage divider circuit. The switch control circuit (920) may include a circuit that receives a current voltage of the battery (518). The switch control circuit (920) may include a circuit (e.g., a comparator) that compares the target voltage of the target power with the current voltage of the battery (518). The comparator may be a circuit that operates only with hardware elements.

[0127] The switch control circuit (920) can determine whether one or more preset conditions are satisfied for the target voltage of the target power and the current voltage of the battery (518) through at least one comparator. For example, it can be determined whether the target voltage of the target power is within a first range. For example, it can be determined whether the current voltage of the battery is within a second range.

[0128] The switch control circuit (920) may include an additional controller. For example, the controller may include an MCU or an application processor (AP). The controller of the switch control circuit (920) may receive the target voltage of the target power and the current voltage of the battery (518) and determine whether one or more preset conditions for the target voltage of the target power and the battery (518) are satisfied. Additional software may be used to enable the switch control circuit (920) to determine whether one or more preset conditions for the target voltage of the target power and the battery (518) are satisfied using the additional controller.

[0129] The switch control circuit (920) may further include a circuit that receives a current state of the wearable device (100) from the processor (902). For example, the processor (902) may correspond to the processor (512) of FIG. 5A, the processor (535) of FIG. 5C, the processor of the charging circuit (517) of FIG. 5D, or the processor of the battery (518). For example, the current state of the wearable device (100) may include at least one of a temperature state, a humidity state, a submersion state, a vibration state, or an operating mode of the wearable device (100) or the battery (518). If any one of the various measured states is an inappropriate state for generating charging power using the target power, the processor (902) may transmit a switch deactivation to the switch control circuit (920).

[0130] According to one embodiment, the wearable device (100) may receive additional information from an external electronic device (e.g., the electronic device (210) of FIG. 2) directly or indirectly connected to the wearable device (100) via the communication module (516), and determine whether a switch connection condition is satisfied based on the additional information. Whether the switch connection condition is satisfied based on the additional information may be input to the switch control circuit (920) via the processor (902).

[0131] According to one embodiment, the switch control circuit may include elements constituting one or more comparators and elements constituting an AND gate. For example, a first comparator among the comparators may receive a first plurality of values ​​for the first comparator, and output a comparison result of the first plurality of values ​​as a first output value to an AND gate. For example, the first comparator may be a comparator for determining whether a target voltage of a target power is within a first range, or a comparator for determining whether a current voltage of a battery (518) is within a second range. For example, when one or more switch connection conditions are all satisfied, values ​​of all 1s (or HIGH signals) may be input to the AND gate, and the AND gate may output a value of 1. Hereinafter, the value of 1 is described as "1". When "1" is output by the AND gate, the switch (910) may be closed so that the driving module (530) and the regulator (930) are electrically connected. For example, if at least one of the switch connection conditions is not satisfied, at least one 0 value (or LOW signal) may be input to the AND gate, and the AND gate may output a 0 value. Hereinafter, the value of 0 is described as “0.” When “0” is output by the AND gate, the switch (910) may be opened so that the driving module (530) and the regulator (930) are not electrically connected.

[0132] FIG. 10 is a flowchart of a method for outputting target power by clipping the sum power appearing in a drive module according to one embodiment.

[0133] According to one embodiment, operations 1010 and 1020 below may be performed before operation 810 described above with reference to FIG. 8 is performed. Operations 1010 and 1020 may be performed by a wearable device (e.g., the wearable device (100) described above with reference to FIGS. 1 to 7). For example, the wearable device may include at least one processor and a memory storing instructions.

[0134] For example, at least one processor may include at least one of the processor (512) of FIG. 5a, the processor (535) of FIG. 5c, the processor of the charging circuit (517) of FIG. 5d, or the processor of the battery (518).

[0135] The memory of the wearable device (100) may be configured collectively or distributedly. Instructions stored in the memory may be stored collectively or distributedly. The instructions may be executed individually or collectively by at least one processor, and functions of the wearable device may be performed by executing the instructions.

[0136] In operation 1010, the wearable device can determine whether to clip the summed power based on the voltage of the summed power appearing in the driving module (e.g., the driving module (530) of FIGS. 5D and 9) and a first threshold voltage. The summed power may be the operating power supplied to the driving module and the power appearing by the back electromotive force generated by the motor. For example, the first threshold voltage may correspond to a voltage that can be withstood by components of the BEMF regulating circuit (e.g., the BEMF regulating circuit (580) of FIGS. 5D and 9) or a voltage higher than the voltage. The wearable device can determine whether the voltage of the summed power is excessively high based on the first threshold voltage.

[0137] In one embodiment, the summed power may not be clipped if the voltage of the summed power is below a first threshold voltage. The unclipped summed power may be applied as a target power to a switch of the BEMF regulating circuit (e.g., switch (910) of FIG. 9).

[0138] In operation 1020, if the wearable device determines that the summed power is clipped, the device may control a switch of the clipper circuit to output target power by consuming at least a portion of the summed power using the resistance of the clipper circuit. The switch of the clipper circuit may be open so that the drive circuit (530) and the resistance of the clipper circuit are not connected when the voltage of the summed power is below a first threshold voltage. The switch of the clipper circuit may be closed so that the drive circuit (530) and the resistance of the clipper circuit are connected when the voltage of the summed power is above the first threshold voltage. For example, at least a portion of the summed power may be converted into heat by the resistance of the clipper circuit. As at least a portion of the summed power is converted into heat, the voltage of the summed power may be reduced. The clipper circuit is described in detail below with reference to FIG. 11.

[0139] According to one embodiment, when the voltage of the summed power is greater than or equal to a first threshold voltage, the summed power is clipped, and the clipped summed power can be applied to a switch of the BEMF regulating circuit as target power.

[0140] FIG. 11 is a diagram illustrating a configuration of a clipper circuit for clipping the sum power appearing in a drive module according to one embodiment.

[0141] According to one embodiment, the clipper circuit (570) described above with reference to FIG. 5D may include a switch (572) and a resistor (574). The connection between the drive module (530) and the resistor (574) may be controlled by the switch (572). The clipper circuit (570) described above may further include a circuit (e.g., a comparator) that compares the voltage of the summed power (1110) appearing in the drive module (530) with a first threshold voltage. The first threshold voltage may be a reference voltage. The switch (572) may be controlled based on the output of the comparator.

[0142] When the drive module (530) and the resistor (572) are connected through the switch (572), at least a portion (1112) of the total power (1110) appearing in the drive module (530) may be consumed by the resistor (572). At least a portion (1112) of the total power (1110) may be dissipated as heat.

[0143] After at least a portion (1112) of the total power (1110) is consumed, the power appearing at the drive module (530) may be designated as target power (1114). The target power (1114) may be supplied to the switch (910) of the BEMF regulating circuit (580).

[0144] FIG. 12 is a flowchart of a method for determining whether a switch connection condition is satisfied, according to one embodiment.

[0145] According to one embodiment, operation 810 described above with reference to FIG. 8 may include operations 1210 and 1220 below.

[0146] Actions 1210 and 1220 may be performed by a wearable device (e.g., the wearable device (100) described above with reference to FIGS. 1 to 7). For example, the wearable device may include at least one processor and a memory storing instructions.

[0147] For example, at least one processor may include at least one of the processor (512) of FIG. 5a, the processor (535) of FIG. 5c, the processor of the charging circuit (517) of FIG. 5d, or the processor of the battery (518).

[0148] The memory of the wearable device (100) may be configured collectively or distributedly. Instructions stored in the memory may be stored collectively or distributedly. The instructions may be executed individually or collectively by at least one processor, and functions of the wearable device may be performed by executing the instructions.

[0149] In operation 1210, the wearable device may receive control information for a switch (e.g., a switch (910) of FIG. 9) of a BEMF regulating circuit (e.g., a BEMF regulating circuit (580) of FIG. 5d and FIG. 9) from an external electronic device (e.g., an electronic device (210) of FIG. 2) via a communication module (e.g., a communication module (516) of FIG. 5a).

[0150] According to one embodiment, a wearable device may be directly or indirectly connected to an external electronic device via a communication module. For example, the wearable device may be connected to the external electronic device via cellular communication or short-range wireless communication. The external electronic device may have an application installed thereon that can control the wearable device. A user may control the power or operating mode of the wearable device via the external electronic device.

[0151] A user can activate or deactivate a mode in which a battery (e.g., a battery (518) of FIG. 5d) of the wearable device is charged using the counter electromotive force of a motor (e.g., a motor (534) of FIG. 5d) of the wearable device. For example, an external electronic device can transmit control information including a command to activate or deactivate the above mode to the wearable device through an application in response to a user input. The wearable device can receive the control information from the external electronic device. For example, if the control information is a command to activate the above mode, "1" can be input to an AND gate of a switch control circuit (e.g., a switch control circuit (920) of FIG. 9) of a BEMF regulating circuit (e.g., a BEMF regulating circuit (580) of FIG. 5d). For example, if the control information is a command to deactivate the above mode, "0" can be input to an AND gate of a switch control circuit of the BEMF regulating circuit.

[0152] At operation 1220, the wearable device may determine whether a switch connection condition is satisfied based on control information for a switch of the BEMF regulating circuit.

[0153] When there are multiple switch connection conditions, if all of the multiple switch connection conditions are satisfied, it can be determined that the switch connection condition is satisfied. For example, the results for the multiple switch connection conditions can be input to an AND gate of a switch control circuit. If all inputs of the AND gate are "1", the output of the AND gate can be "1". If the output of the AND gate is "1", it can be determined that the switch connection condition is satisfied. If any one of the inputs of the AND gate is "0", the output of the AND gate can be "0". If the output of the AND gate is "0", it can be determined that the switch connection condition is not satisfied.

[0154] Even if all other switch connection conditions are satisfied, if "0" is input to the AND gate of the switch control circuit of the BEMF regulating circuit, the output of the AND gate may be "0". When the output of the AND gate is "0", the switch (e.g., switch (910) of FIG. 9) may be opened so that the driving module (e.g., driving module (530) of FIG. 5d and FIG. 9) and the BEMF regulating circuit are not connected.

[0155] FIG. 13 is a flowchart of a method for supplying operating power to a motor based on charging power through a charging circuit, according to one embodiment.

[0156] According to one embodiment, operation 1310 below may be performed after operation 830 described above with reference to FIG. 8 is performed.

[0157] Action 1310 may be performed by a wearable device (e.g., the wearable device (100) described above with reference to FIGS. 1 to 7). For example, the wearable device may include at least one processor and a memory storing instructions.

[0158] For example, at least one processor may include at least one of the processor (512) of FIG. 5a, the processor (535) of FIG. 5c, the processor of the charging circuit (517) of FIG. 5d, or the processor of the battery (518).

[0159] The memory of the wearable device (100) may be configured collectively or distributedly. Instructions stored in the memory may be stored collectively or distributedly. The instructions may be executed individually or collectively by at least one processor, and functions of the wearable device may be performed by executing the instructions.

[0160] In operation 1310, the wearable device may supply operating power to a motor (e.g., a motor (534) of FIG. 5d) of a driving module (e.g., a driving module (530) of FIG. 5d) based on charging power through a charging circuit (e.g., a charging circuit (517) of FIG. 5d).

[0161] According to one embodiment, if the wearable device is currently in a state where it needs to supply operating power to the drive module, it can preferentially supply operating power to the drive module based on the charging power. If the charging power is greater than the operating power, the wearable device can charge the battery based on the remaining power.

[0162] According to one embodiment, a wearable device (100) comprises a base body (80) positioned at the waist area of ​​a user (110) when the wearable device (100) is worn on the body of the user (110), a waist support frame (20) and a leg support frame (50; 55) for supporting at least a part of the body of the user (110), a thigh fastening part (1; 2) for fixing the leg support frame (50; 55) to the thigh of the user (110), an IMU (135) positioned within the base body (80), and a driving module (35; 45; 120; 530) for generating a torque applied to the leg of the user (110) - the driving module (35; 45; 120; 530) is positioned between the waist support frame (20) and the leg support frame (50; 55), and the driving module (35; 45; 120; 530) A wearable device (100) comprising a motor (534) and a motor driver circuit (532), a BEMF regulating circuit (580) for generating charging power by regulating target power presented to the driving module (35; 45; 120; 530), a charging circuit (517) including a battery (518), at least one processor (512; 535; 902), and a memory (514; 536) for storing instructions, wherein when the instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: to determine whether a switch connection condition is satisfied based on a target voltage of the target power presented to the driving module (35; 45; 120; 530) and a current voltage of the battery (518), and, if the switch connection condition is satisfied, to use a switch (910) of the BEMF regulating circuit (580) to connect the driving module (35; 45; 120; 530) to the charging circuit (517). 45; 120;530) and a BEMF regulating circuit (580) can be electrically connected, and charging power can be generated based on target power through a regulator (930) of the BEMF regulating circuit (580), and a battery (518) can be charged based on the charging power through a charging circuit (517).

[0163] According to one embodiment, the wearable device (100) may further include a clipper circuit (570) that generates a target power based on the sum power appearing in the drive modules (35; 45; 120; 530).

[0164] In one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the wearable device (100) to at least: determine whether to clip the sum power based on a voltage of the sum power and a preset first threshold voltage, and, if it is determined to clip the sum power, control a switch (572) of the clipper circuit (570) so that the target power is output by dissipating at least a portion of the sum power using a resistor (574) of the clipper circuit (570).

[0165] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the wearable device (100) to determine that a switch connection condition is satisfied at least when: a target voltage of a target power is within a first range, and a current voltage of a battery (518) is within a second range.

[0166] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the wearable device (100) to at least: determine whether a switch connection condition is satisfied based on a current state of the wearable device (100).

[0167] According to one embodiment, the current state of the wearable device (100) may include at least one of a temperature state, a humidity state, a submersion state, a vibration state, or an operation mode of the wearable device (100) or a battery (518).

[0168] According to one embodiment, the wearable device (100) may further include a communication module (516).

[0169] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the wearable device (100) to at least: receive control information for a switch (910) of a BEMF regulating circuit (580) from an external electronic device via a communication module (516), and determine whether a switch connection condition is satisfied based on the control information for the switch (910) of the BEMF regulating circuit (580).

[0170] According to one embodiment, the battery (518) and the drive module (35; 45; 120; 530) are electrically connected through a diode (519), and current can flow from the battery (518) through the diode (519) to control the motor (534) of the drive module (35; 45; 120; 530).

[0171] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the wearable device (100) to at least: supply operating power to the motor (534) based on charging power via the charging circuit (517).

[0172] According to one embodiment, in a battery charging method performed by a wearable device (100), the wearable device (100) includes a base body (80) positioned at the waist area of ​​a user (110) when the wearable device (100) is worn on the body of the user (110), a waist support frame (20) and a leg support frame (50; 55) for supporting at least a part of the body of the user (110), a thigh fastening part (1; 2) for fixing the leg support frame (50; 55) to the thigh of the user (110), an IMU (135) disposed within the base body (80), and a driving module (35; 45; 120; 530) for generating a torque applied to the leg of the user (110) - the driving module (35; 45; 120; 530) is positioned between the waist support frame (20) and the leg support frame (50; 55), and drives the The module (35; 45; 120; 530) includes a motor (534) and a motor driver circuit (532), a back-Electro Motive Force (BEMF) regulating circuit (580) for generating charging power by regulating target power appearing in the drive module (35; 45; 120; 530), a charging circuit (517) including a battery (518), at least one processor (512; 535; 902), and a memory (514; 536) for storing instructions, and the battery charging method comprises: an operation (810) of determining whether a switch connection condition is satisfied based on a target voltage of the target power appearing in the drive module (35; 45; 120; 530) and a current voltage of the battery (518), and, if the switch connection condition is satisfied, using a switch (910) of the BEMF regulating circuit (580) to charge the drive module (35; 45; 120; 530). 120;530) and a BEMF regulating circuit (580), an operation (820) of electrically connecting the BEMF regulating circuit (580), an operation (830) of generating charging power based on the target power through the regulator of the BEMF regulating circuit (580), and an operation (840) of charging the battery (518) based on the charging power through the charging circuit (517).

[0173] According to one embodiment, an electronic device includes a drive module (35; 45; 120; 530) including a motor (534) and a motor driver (532), a BEMF regulating circuit (580) for generating charging power by regulating target power presented to the drive module (35; 45; 120; 530), a charging circuit (517) including a battery (518), at least one processor (512; 535; 902), and a memory (514; 536) for storing instructions, wherein the instructions, when individually or collectively executed by the at least one processor (512; 535; 902), cause the electronic device to at least: determine whether a switch connection condition is satisfied based on a target voltage of the target power presented to the drive module (35; 45; 120; 530) and a current voltage of the battery (518), and, if the switch connection condition is satisfied, charge the battery by regulating the target power. The drive module (35; 45; 120; 530) and the BEMF regulating circuit (580) are electrically connected using a switch (910) of a BEMF (back-Electro Motive Force) regulating circuit (580) that generates power, and charging power is generated based on target power through the regulator (930) of the BEMF regulating circuit (580), and the battery (518) can be charged based on the charging power through the charging circuit (517).

[0174] According to one embodiment, the electronic device may further include a clipper circuit (570) that generates a target power based on the sum power appearing in the drive modules (35; 45; 120; 530).

[0175] In one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the electronic device to at least: determine whether to clip the sum power based on a voltage of the sum power and a preset first threshold voltage, and, if it is determined to clip the sum power, control a switch (572) of the clipper circuit (570) so that the target power is output by dissipating at least a portion of the sum power using a resistor (574) of the clipper circuit (570).

[0176] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the electronic device to determine that a switch connection condition is satisfied at least when: a target voltage of a target power source is within a first range, and a current voltage of a battery (518) is within a second range.

[0177] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the electronic device to at least: determine whether a switch connection condition is satisfied based on a current state of the electronic device.

[0178] According to one embodiment, the current state of the electronic device may include at least one of a temperature state of the battery (518), a humidity state, a submersion state, a measured vibration state, or an operating mode of the electronic device.

[0179] According to one embodiment, the electronic device may further include a communication module (516).

[0180] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the electronic device to at least: receive control information for a switch from an external electronic device via a communication module (516), and determine whether a switch connection condition is satisfied based on the control information for the switch.

[0181] According to one embodiment, the battery (518) and the drive module (35; 45; 120; 530) are electrically connected through a diode (519), and current can flow from the battery (518) through the diode (519) to control the motor (534) of the drive module (35; 45; 120; 530).

[0182] According to one embodiment, the instructions, when individually or collectively executed by at least one processor (512; 535; 902), may cause the electronic device to at least: supply operating power to the motor (534) based on charging power via the charging circuit (517).

[0183] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. For example, the devices, methods, and components described in the embodiments may be implemented using a general-purpose computer or a special-purpose computer, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0184] Software may include a computer program, code, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium or device, or transmitted signal wave, for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0185] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0186] The hardware device described above may be configured to operate as one or more software modules to perform the operations of the embodiment, and vice versa.

[0187] Although the embodiments described above have been described with limited drawings, those skilled in the art will appreciate that various technical modifications and variations can be applied based on the described embodiments. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0188] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. Wearable device (100), A base body (80) positioned at the waist area of the user (110) when the wearable device (100) is worn on the body of the user (110); A waist support frame (20) and a leg support frame (50; 55) for supporting at least a part of the body of the user (110); A thigh fastening part (1; 2) for fixing the above leg support frame (50; 55) to the thigh of the user (110); An IMU (inertial measurement unit) (135) placed within the above base body (80); A driving module (35; 45; 120; 530) for generating a torque applied to the legs of the user (110) - the driving module (35; 45; 120; 530) is positioned between the waist support frame (20) and the leg support frame (50; 55), and the driving module (35; 45; 120; 530) includes a motor (534) and a motor driver circuit (532); A BEMF (back-Electro Motive Force) regulating circuit (580) that generates charging power by regulating the target power appearing in the above driving module (35; 45; 120; 530); A charging circuit (517) including a battery (518); At least one processor (512; 535; 902) and Memory for storing commands (514; 536) Including, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: Determine whether the switch connection condition is satisfied based on the target voltage of the target power and the current voltage of the battery (518) that appear in the drive module (35; 45; 120; 530). When the above switch connection condition is satisfied, the drive module (35; 45; 120; 530) and the BEMF regulating circuit (580) are electrically connected using the switch (910) of the BEMF regulating circuit (580), Generate charging power based on the target power through the regulator (930) of the above BEMF regulating circuit (580), Charging the battery (518) based on the charging power through the charging circuit (517) To do, Wearable device (100).

2. In paragraph 1, A clipper circuit (570) that generates the target power based on the summed power appearing in the above driving modules (35; 45; 120; 530). including more, Wearable device (100).

3. In paragraph 1 or 2, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: Determine whether to clip the summed power based on the voltage of the summed power and a preset first threshold voltage, If it is determined that the above summed power is to be clipped, the switch (572) of the clipper circuit (570) is controlled so that the target power is output by consuming at least a portion of the above summed power using the resistor (574) of the clipper circuit (570). To do, Wearable device (100).

4. In any one of paragraphs 1 to 3, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: When the target voltage of the target power is within the first range and the current voltage of the battery (518) is within the second range, it is determined that the switch connection condition is satisfied. To do, Wearable device (100).

5. In any one of paragraphs 1 to 4, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: Determine whether the switch connection condition is satisfied based on the current status of the wearable device (100) To do, Wearable device (100).

6. In any one of paragraphs 1 to 5, The current state of the wearable device (100) includes at least one of a temperature state, a humidity state, a submersion state, a vibration state of the wearable device (100) or the battery (518) or an operation mode of the wearable device (100). Wearable device (100).

7. In any one of paragraphs 1 to 6, Communication module (516) Including more, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: Receive control information for the switch (910) of the BEMF regulating circuit (580) from an external electronic device through the communication module (516), Determine whether the switch connection condition is satisfied based on the control information for the switch (910) of the BEMF regulating circuit (580). To do, Wearable device (100).

8. In any one of paragraphs 1 to 7, The above battery (518) and the driving module (35; 45; 120; 530) are electrically connected through a diode (519), Current flows from the battery (518) through the diode (519) to control the motor (534) of the drive module (35; 45; 120; 530). Wearable device (100).

9. In any one of paragraphs 1 to 8, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the wearable device (100) causes at least: Supply operating power to the motor (534) based on the charging power through the charging circuit (517) To do, Wearable device (100).

10. In a battery charging method performed by a wearable device (100), The above wearable device (100) is A base body (80) positioned at the waist area of the user (110) when the wearable device (100) is worn on the body of the user (110); A waist support frame (20) and a leg support frame (50; 55) for supporting at least a part of the body of the user (110); A thigh fastening part (1; 2) for fixing the above leg support frame (50; 55) to the thigh of the user (110); An IMU (inertial measurement unit) (135) placed within the above base body (80); A driving module (35; 45; 120; 530) for generating a torque applied to the legs of the user (110) - the driving module (35; 45; 120; 530) is positioned between the waist support frame (20) and the leg support frame (50; 55), and the driving module (35; 45; 120; 530) includes a motor (534) and a motor driver circuit (532); A BEMF (back-Electro Motive Force) regulating circuit (580) that generates charging power by regulating the target power appearing in the above driving module (35; 45; 120; 530); A charging circuit (517) including a battery (518); At least one processor (512; 535; 902); and Memory for storing commands (514; 536) Including, The above battery charging method is, An operation (810) of determining whether a switch connection condition is satisfied based on the target voltage of the target power and the current voltage of the battery (518) appearing in the drive module (35; 45; 120; 530); When the above switch connection condition is satisfied, an operation (820) of electrically connecting the driving module (35; 45; 120; 530) and the BEMF regulating circuit (580) using the switch (910) of the BEMF regulating circuit (580); An operation (830) of generating charging power based on the target power through the regulator of the BEMF regulating circuit (580); and An operation (840) of charging the battery (518) based on the charging power through the charging circuit (517) including, How to charge the battery.

11. A computer-readable recording medium containing a program for performing the method of Article 10.

12. Electronic devices, A drive module (35; 45; 120; 530) including a motor (534) and a motor driver (532); A BEMF (back-Electro Motive Force) regulating circuit (580) that generates charging power by regulating the target power appearing in the above driving module (35; 45; 120; 530); A charging circuit (517) including a battery (518); At least one processor (512; 535; 902); and Memory for storing commands (514; 536) Including, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the electronic device causes at least: Determine whether the switch connection condition is satisfied based on the target voltage of the target power and the current voltage of the battery (518) that appear in the drive module (35; 45; 120; 530). When the above switch connection condition is satisfied, the drive module (35; 45; 120; 530) and the BEMF regulating circuit (580) are electrically connected using the switch (910) of the BEMF (back-Electro Motive Force) regulating circuit (580) that generates charging power by regulating the target power, Generate charging power based on the target power through the regulator (930) of the above BEMF regulating circuit (580), Charging the battery (518) based on the charging power through the charging circuit (517) To do, Electronic devices.

13. In paragraph 12, A clipper circuit (570) that generates the target power based on the summed power appearing in the above driving modules (35; 45; 120; 530). including more, Electronic devices.

14. In paragraph 12 or 13, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the electronic device causes at least: Determine whether to clip the summed power based on the voltage of the summed power and a preset first threshold voltage, If it is determined that the above summed power is to be clipped, the switch (572) of the clipper circuit (570) is controlled so that the target power is output by consuming at least a portion of the above summed power using the resistor (574) of the clipper circuit (570). To do, Electronic devices.

15. In any one of paragraphs 12 and 14, When the above instructions are individually or collectively executed by the at least one processor (512; 535; 902), the electronic device causes at least: When the target voltage of the target power is within the first range and the current voltage of the battery (518) is within the second range, it is determined that the switch connection condition is satisfied. To do, Electronic devices.

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