Wearable device for controlling time delay parameters used for torque output delay, and operation method thereof

Abstract

This wearable device may: acquire a joint angle value of a user by using an angle sensor; determine a stride time value of the user on the basis of the acquired joint angle value; determine a delay value related to a delay in torque output of a driving module on the basis of at least one of a target value related to the ideal change timing of the torque rotation direction of the driving module, the determined stride time value, and a gain value related to the torque strength of the driving module; and control the driving module such that torque is output from the driving module with a delay corresponding to the determined delay value.

Description

Wearable device for controlling time delay parameter used for delaying torque output and operating method thereof

[0001] Certain embodiments relate to a wearable device and / or a method of operating the same for controlling a time delay parameter used to delay a torque output.

[0002] An assistance device may refer to a device and / or apparatus that assists a user in performing an exercise or movement. The assistance device may be worn on the user's body and may provide the user with the power necessary to perform the exercise or movement.

[0003] According to one embodiment, a wearable device may be provided that controls a time delay parameter (e.g., a delay value) used to delay a torque output.

[0004] According to one embodiment, a wearable device may include a drive module including a motor and / or a circuit, an angle sensor, and a processor including a processing circuit. The processor may obtain a joint angle value of a user using the angle sensor, determine a stride time value of the user based on the obtained joint angle value, determine a delay value related to a delay of a torque output of the drive module based on at least one of a target value related to an ideal change timing of a torque rotation direction of the drive module, the determined stride time value, and / or a gain value related to a torque intensity of the drive module, and control the drive module such that a torque is output from the drive module with a delay of the determined delay value.

[0005] According to one embodiment, a method of operating a wearable device may include an operation of obtaining a joint angle value of a user, an operation of determining a stride time value of the user based on the obtained joint angle value, an operation of determining a delay value related to a delay of a torque output of a drive module based on at least one of a target value related to an ideal change timing of a torque rotation direction of a drive module of the wearable device, the determined stride time value, and / or a gain value related to a torque intensity of the drive module, and an operation of outputting a torque with a delay equal to the determined delay value.

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

[0007] FIG. 1A is a diagram illustrating an overview of a wearable device worn on a user's body according to one embodiment.

[0008] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0009] FIG. 2A illustrates a rear schematic diagram of a wearable device according to one embodiment.

[0010] FIG. 2b illustrates a left side view of a wearable device according to one embodiment.

[0011] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0012] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0013] FIG. 5 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0014] FIG. 6 is a drawing illustrating an example of a configuration of a wearable device according to one embodiment.

[0015] FIG. 7 and FIG. 8 are drawings illustrating examples of operations of a wearable device according to one embodiment of the present invention to count the number of steps taken by a user.

[0016] FIG. 9 is a diagram illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a user's stride time.

[0017] FIG. 10 and FIG. 11 are diagrams illustrating examples of timing indicators of a wearable device according to one embodiment.

[0018] FIGS. 12 and 13 are diagrams illustrating other examples of timing indicators of a wearable device according to one embodiment.

[0019] FIG. 14 and FIG. 15 are diagrams illustrating examples of operations of a wearable device according to one embodiment of the present invention to determine a delay value.

[0020] Figure 16 is a flowchart illustrating a method of operating a wearable device according to one embodiment.

[0021] Specific structural or functional descriptions of the embodiments are disclosed for illustrative purposes only and may be modified and implemented in various forms. Therefore, the actual implementation is not limited to the specific embodiments disclosed, and the scope of this specification includes modifications, equivalents, or alternatives within the technical concepts described in the embodiments.

[0022] Although terms such as "first" or "second" may be used to describe various components, these terms should be interpreted solely to distinguish one component from another. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

[0023] When a component is described as being "connected," "coupled," or "joined" to another component, the first component may be directly connected, coupled, or joined to the second component, but at least a third component may be "connected," "coupled," or "joined" between the first and second components. Thus, for example, "connected" can cover both direct and indirect connections.

[0024] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "has" should be understood to indicate the presence of a described feature, number, step, operation, component, part, or combination thereof, but not to exclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0025] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with their meaning in the context of the relevant technology, and will not be interpreted in an idealized or overly formal sense unless explicitly defined herein.

[0026] Hereinafter, specific embodiments will be described in detail with reference to the attached drawings. In the description with reference to the attached drawings, identical components are assigned the same reference numerals regardless of the drawing numbers, and redundant descriptions thereof will be omitted.

[0027]

[0028] FIG. 1A is a drawing for explaining an overview of a wearable device worn on a user's body according to one embodiment.

[0029] Referring to FIG. 1A, a wearable device (120) may be a device worn on a user's body to assist the user's walking, exercise, and / or work. In embodiments, the term "wearable device" may be replaced with a wearable robot, a walking assistance device, an exercise assistance device, etc. The user may be a human or an animal, but is not limited thereto. The wearable device (120) may be worn on the user's body (e.g., lower body (legs, ankles, knees, etc.), upper body (torso, arms, wrists, etc.), or waist) to provide an external force (e.g., assistance force and / or resistance force) to the user's body movement. Assistance force refers to a force applied in the same direction as the user's body movement direction, and resistance force refers to a force applied in the opposite direction to the user's body movement direction. The term "resistance force" may also be referred to as "exercise load."

[0030] When the wearable device (120) performs a walking assistance function to assist the user's walking, the wearable device (120) can assist the user's walking by providing assistance to some or all of the user's legs by providing assistance to the user's body. The wearable device (120) can assist the user's walking force, thereby enabling independent walking or long-term walking, thereby expanding the user's walking ability. The wearable device (120) can also help improve the walking of a pedestrian with abnormal walking habits or walking posture.

[0031] When the wearable device (120) performs an exercise function to enhance the user's exercise effect, the wearable device (120) may impede the user's body movement or provide resistance to the user's body movement by providing resistance to the user's body. When the wearable device (120) is, for example, a hip-type wearable device, the wearable device (120) may provide exercise load to the user's body movement while being worn on the leg, thereby further enhancing the user's exercise effect. The user may perform a walking motion while wearing the wearable device (120) for exercise, and in this case, the wearable device (120) may provide resistance to the leg movement during the user's walking motion.

[0032] In various embodiments, for convenience of explanation, a hip-type wearable device (120) worn on the waist and legs is described as an example. However, as described above, the wearable device (120) may be worn on other body parts (e.g., upper arms, lower arms, hands, calves, feet) other than the waist and legs (particularly thighs), and the shape and configuration of the wearable device (120) may vary depending on the body part on which it is worn.

[0033] FIG. 1b is a diagram illustrating an example of a system including a wearable device according to one embodiment.

[0034] Referring to FIG. 1B, an electronic device (110) can communicate with a wearable device (120) and remotely control the wearable device (120). The electronic device (110) may be of various forms. The electronic device (110) may include, for example, a portable communication device (e.g., a smartphone), a computer device, a portable multimedia device, or a home appliance device, but is not limited to the aforementioned devices.

[0035] In one embodiment, the electronic device (110) and / or the wearable device (120) may be connected to another wearable device (130). For example, the wearable device (120), the electronic device (110), and the other wearable device (130) may be connected to each other via a wireless communication link (e.g., a Bluetooth communication link). The other wearable device (130) may be, for example, wireless earphones (131), a smart watch (132), or smart glasses (133), but is not limited to the aforementioned devices. The smart watch (132) may be a watch-type wearable device (or a watch-type electronic device), and the smart glasses (133) may be a glasses-type wearable device (or a glasses-type electronic device).

[0036] In one embodiment, the smart watch (132) can control the wearable device (120). When the smart watch (132) is connected to the electronic device (110) via a wireless communication link, and the electronic device (110) is connected to the wearable device (120) via a wireless communication link, the smart watch (132) can control the wearable device (120) via the electronic device (110). Without being limited thereto, the smart watch (132) can be directly connected to the wearable device (120) and control the wearable device (120).

[0037] In one embodiment, the electronic device (110) may transmit a control signal to another wearable device (130) that commands the other wearable device (130) to provide feedback corresponding to the state of the wearable device (120) to the user. The other wearable device (130) may, upon receiving the control signal, provide (or output) feedback (e.g., at least one of visual feedback, auditory feedback, or tactile feedback) corresponding to the state of the wearable device (120).

[0038] In one embodiment, the electronic device (110) may communicate with the server (140) using short-range wireless communication (e.g., Wi-Fi) or mobile communication (e.g., 4G, 5G, etc.).

[0039] In one embodiment, the electronic device (110) may receive user profile information from the user. The profile information may include, for example, at least one of age, gender, height, weight, or BMI (Body Mass Index), or a combination thereof. The electronic device (110) may transmit the user profile information to the server (140).

[0040] In one embodiment, the electronic device (110) and / or the wearable device (120) may request the user to perform one or more target movements to determine (or check) the user's motor skills. The one or more target movements may include, for example, knee lifts, leg raises, etc. The knee lift may be a movement (or motion) in which the user starts from a standing upright position with both feet in contact with the ground, raises the knees as much as possible without bending the waist, and then returns to the standing position. The leg raise may be a movement (or motion) in which the user starts from a standing upright position with hands on a wall, raises the legs as much as possible without bending the waist, and then returns to the standing position.

[0041] In one embodiment, a wearable device (120) may obtain movement information of a user performing a target movement using a sensor (e.g., an Inertial Measurement Unit (IMU)) and transmit the obtained movement information to an electronic device (110). The electronic device (110) may transmit the obtained movement information to a server (140).

[0042] In one embodiment, the server (140) may determine a user's target exercise amount for each exercise type (e.g., strength training, balance training, aerobic exercise) based on profile information and movement information received from the electronic device (110). The server (140) may transmit the target exercise amount for each exercise type to the electronic device (110).

[0043] In one embodiment, the server (140) may include a database storing information about a plurality of exercise programs that can be provided to a user through a wearable device (120). For example, the server (140) may manage a user account for a user of an electronic device (110) or a wearable device (120). The server (140) may store and manage exercise programs performed by the user and the results of the exercise programs, etc., in association with the user account.

[0044] In one embodiment, the electronic device (110) and / or the server (140) may provide the user with various exercise programs to achieve exercise goals in various exercise environments desired by the user. The exercise goals may include, for example, at least one of, or a combination of, muscle strength enhancement, physical fitness enhancement, cardiopulmonary endurance enhancement, core stability enhancement, flexibility enhancement, and symmetry enhancement.

[0045] In one embodiment, the electronic device (110) and / or the server (140) may recommend exercise programs to the user to achieve the user's exercise goal. Each exercise program may be composed of one or more exercise modes. For example, each exercise mode may be for a physical movement to achieve a specific exercise goal. For example, running may be an exercise mode for improving the user's cardiopulmonary endurance. For example, lunging may be an exercise mode for improving the user's core stability. Depending on the user's exercise goal, the combination of multiple exercise modes constituting each exercise program may vary. Even for the same exercise goal, the electronic device (110) may provide the user with various exercise programs based on combinations of multiple exercise modes.

[0046] In one embodiment, a plurality of exercise modes may be stored in a database in an electronic device (110) or a server (140). The electronic device (110) or the server (140) may generate a plurality of exercise programs based on various pieces of information about the user, and may recommend a target exercise program among the plurality of exercise programs to the user by considering the user's exercise purpose or exercise performance status. For example, the electronic device (110) or the server (140) may determine a target exercise program to recommend to the user based on at least one of the user's exercise purpose, exercise history, or exercise performance result. Accordingly, even when the user exercises daily under the same exercise goal, the user may be recommended a new exercise program, and by performing the new exercise program, the user may feel like performing a different exercise than before.

[0047] FIG. 2a illustrates a rear schematic diagram of a wearable device according to one embodiment. FIG. 2b illustrates a left side view of the wearable device according to one embodiment.

[0048] The wearable device (200) illustrated in FIGS. 2A and 2B may be an example of a wearable device (120).

[0049] Referring to FIG. 2a, a wearable device (200) according to one embodiment may include a waist support module (10), a waist frame (20), a driving module (30), a thigh fastening part (40a, 40b), a main belt (50), and a thigh frame (70a, 70b).

[0050] According to one embodiment, the waist support module (10) may be positioned on the user's lumbar region (waist area) while the user wears the wearable device (200). The waist support module (10) may be mounted on the user's lumbar region to provide a cushioning feeling to the user's waist and support the user's waist. The waist support module (10) may be hung over the user's buttocks (hip area) to prevent or reduce the wearable device (200) from being dislodged downward due to gravity while the user wears the wearable device (200). The waist support module (10) may distribute a portion of the weight of the wearable device (200) to the user's waist while the user wears the wearable device (200). The waist support module (10) may be directly or indirectly connected to the waist frame (20). Connecting elements (not shown) that may be connected to the waist frame (20) may be formed at both ends of the waist support module (10).

[0051] According to one embodiment, the lumbar support module (10) may include a lighting unit (60). The lighting unit (60) may include a plurality of light sources (e.g., light emitting diodes (LEDs)). The lighting unit (60) may emit light under the control of a processor (e.g., the processor (310) of FIGS. 3A and 3B to be described later). According to an embodiment, the processor may control the lighting unit (60) so that visual feedback corresponding to the status of the wearable device (200) (e.g., booting status, sensing status, etc.) may be provided (or output) to the user through the lighting unit (60).

[0052] According to one embodiment, a waist frame (20) may extend from both ends of a waist support module (10). A user's lower back may be accommodated on the inside of the waist frame (20). The waist frame (20) may include at least one rigid body beam. Each beam may have a curved shape having a predetermined curvature so as to surround the user's lower back. A main belt (50) may be directly or indirectly connected to an end of the waist frame (20). A drive module (30) may be mounted on the waist frame (20). The waist frame (20) may include a connector (not shown) for mounting the drive module (30).

[0053] According to one embodiment, the drive module (30) may include a first drive module (30a) positioned on the left side of the user while the user is wearing the wearable device (200) and a second drive module (30b) positioned on the right side of the user while the user is wearing the wearable device (200).

[0054] According to one embodiment, the first driving module (30a) may include a first angle sensor (e.g., a first encoder or a first hall sensor) for measuring an angle of a first joint of the user (e.g., a left hip joint angle). The second driving module (30b) may include a second angle sensor (e.g., a second encoder or a second hall sensor) for measuring an angle of a second joint of the user (e.g., a right hip joint angle).

[0055] According to one embodiment, the first driving module (30a) and the second driving module (30b) can generate torque. The first driving module (30a) can be directly or indirectly connected to the first thigh frame (70a), and the second driving module (30b) can be directly or indirectly connected to the second thigh frame (70b). The first driving module (30a) can provide the generated torque to the user's left leg through the first thigh frame (70a). The first thigh frame (70a) can provide an external force to the user's left leg by rotating through the torque generated by the first driving module (30a). The second driving module (30b) can provide the generated torque to the user's right leg through the second thigh frame (70b). The second thigh frame (70b) can provide an external force to the user's right leg by rotating through the torque generated by the second driving module (30b).

[0056] According to one embodiment, the thigh frame (70a, 70b) may support the user's leg (e.g., thigh) when the wearable device (200) is worn on the user's leg. The thigh frame (70a, 70b) may include a first thigh frame (70a) for supporting the user's left leg and a second thigh frame (70b) for supporting the user's right leg.

[0057] According to one embodiment, the thigh frame (70a, 70b) can transmit torque generated by, for example, a driving module (30a, 30b) to the user's thigh. One end of the thigh frame (70a, 70b) is connected to the driving module (30a, 30b) and can rotate, and the other end of the thigh frame (70a, 70b) is connected to a thigh fastening portion (40a, 40b), so that the thigh frame (70a, 70b) can support the user's thigh while transmitting torque generated by the driving module (30a, 30b) to the user's thigh. For example, the thigh frame (70a, 70b) can push or pull the user's thigh. The thigh frame (70a, 70b) can extend along the longitudinal direction of the user's thigh. The thigh frame (70a, 70b) can be bent to wrap at least a portion of the user's thigh circumference. Each “drive module” herein may include a motor and / or drive circuitry, and optionally an angle sensor. In various embodiments, the angle sensor may or may not be part of the drive module.

[0058] According to one embodiment, the thigh fastening portions (40a, 40b) are directly or indirectly connected to the thigh frame (70a, 70b) and can secure the thigh frame (70a, 70b) to the thigh. The thigh fastening portions (40a, 40b) may include a first thigh fastening portion (40a) for securing the first thigh frame (70a) to the user's left thigh and a second thigh fastening portion (40b) for securing the second thigh frame (70b) to the user's right thigh.

[0059] According to one embodiment, the first thigh fastening part (40a) may include a first cover, a first fastening frame, and a first strap, and the second thigh fastening part (40b) may include a second cover, a second fastening frame, and a second strap. The first cover and the second cover may be disposed on one side of the user's thigh. The first cover and the second cover may be disposed, for example, on the front side of the user's thigh. The first cover and the second cover may be disposed along the circumferential direction of the user's thigh. The first cover and the second cover may extend in both directions from the other end of the thigh frame (70a, 70b) and may include a curved surface corresponding to the user's thigh. One end of the first cover and the second cover may be directly or indirectly connected to the fastening frame, and the other end may be directly or indirectly connected to the strap.

[0060] According to one embodiment, the first fastening frame and the second fastening frame are arranged to, for example, surround at least a portion of the user's thigh, thereby preventing or reducing the user's thigh from being dislodged from the thigh frame (70a, 70b). The first fastening frame may have a fastening structure connecting the first cover and the first strap, and the second fastening frame may have a fastening structure connecting the second cover and the second strap.

[0061] In one embodiment, the first strap may encircle the remaining portion of the user's left thigh that is not covered by the first cover and the first fastening frame, and the second strap may encircle the remaining portion of the user's right thigh that is not covered by the second cover and the second fastening frame. The first strap and the second strap may comprise, for example, an elastic material (e.g., a band).

[0062] According to one embodiment, the main belt (50) may be directly or indirectly connected to the waist frame (20). The main belt (50) may include a first main belt (50a) that can wrap around the left abdomen of the user while the user wears the wearable device (200) and a second main belt (50b) that can wrap around the right abdomen of the user while the user wears the wearable device (200). The first main belt (50a) may be formed in a shape having a longer length than the second main belt (50b), but is not limited thereto, and the first main belt (50a) may be formed in a shape having the same length as or a shorter length than the second main belt (50b). The first main belt (50a) and the second main belt (50b) may be directly or indirectly connected to both ends of the waist frame (20), respectively. The main belt (50) may be bent in a direction that wraps around the user's abdomen when the user's body is inserted in the direction in which the wearable device (200) is accommodated. The first main belt (50a) and the second main belt (50b) may be interconnected while the user is wearing the wearable device (200). The main belt (50) may distribute a portion of the weight of the wearable device (200) to the user's abdomen while the user is wearing the wearable device (200).

[0063] Referring to FIG. 2b, the lumbar support module (10) may be mounted on the back of the user's lower back and may support a portion of the weight of the wearable device (200) by being hung on the user's buttocks. The first drive module (30a) may be positioned on the user's left lower back. The lumbar frame (20) may extend from an end of the lumbar support module (10) and may be inclined in a direction toward the first drive module (30a). The first main belt (50a) mounted on the lumbar frame (20) may be in a state of wrapping around the user's left abdomen.

[0064] FIGS. 3A and 3B are block diagrams illustrating an example of a configuration of a wearable device according to one embodiment.

[0065] According to one embodiment, the wearable device (300) of FIG. 3A may include a processor (310), angle sensors (320, 320-1), a battery (330), a PMIC (Power Management Integrated Circuit) (340), a memory (350), an IMU (360), motor driver circuits (370, 370-1), motors (or actuators) (380, 380-1), and a communication module (390).

[0066] Although FIG. 3A illustrates a plurality of angle sensors (320, 320-1), a plurality of motor driver circuits (370, 370-1), and a plurality of motors (380, 380-1), this is merely exemplary, and the wearable device (300-1) illustrated in FIG. 3B may include one angle sensor (320), one motor driver circuit (370), and one motor (380). In addition, depending on the implementation, the wearable device (300, 300-1) may include a plurality of processors. The number of motor driver circuits, the number of motors, or the number of processors may vary depending on the body part on which the wearable device (300, 300-1) is worn.

[0067] The wearable device (300) of FIG. 3a and the wearable device (300-1) of FIG. 3b may correspond to examples of the wearable device (120) and the wearable device (200).

[0068] According to one embodiment, the angle sensor (320), the motor driver circuit (370), and the motor (380) may be included in the first drive module (30a) of FIG. 2a, and the angle sensor (320-1), the motor driver circuit (370-1), and the motor (380-1) may be included in the second drive module (30b) of FIG. 2a.

[0069] According to one embodiment, each of the angle sensor (320) and the angle sensor (320-1) may correspond to a Hall sensor, but is not limited thereto.

[0070] According to one embodiment, the angle sensor (320) can measure or sense the angle of the first thigh frame (70a) (or the angle of the user's first joint (e.g., the left hip joint, etc.)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the first thigh frame (70a)) to the processor (310).

[0071] According to one embodiment, the angle sensor (320-1) can measure or sense the angle of the second thigh frame (70b) (or the angle of the user's second joint (e.g., the right hip joint)). The angle sensor (320) can transmit the measurement result (e.g., the angle value of the angle of the second thigh frame (70b)) to the processor (310).

[0072] According to one embodiment, depending on the position of the angle sensor (320) and the angle sensor (320-1), the angle sensor (320) and the angle sensor (320-1)) can additionally measure the user's knee angle and ankle angle.

[0073] According to one embodiment, the wearable device (300, 300-1) may include a potentiometer. The potentiometer may sense an R-axis joint angle, an L-axis joint angle, an R-axis joint angular velocity, and an L-axis joint angular velocity according to a user's walking motion. The R / L axes may be reference axes for the user's right / left legs. For example, the R / L axes may be set to be perpendicular to the ground, and may be set such that the front side of a person's torso has a negative value and the back side of the torso has a positive value.

[0074] According to one embodiment, the PMIC (340) can charge the battery (330) using power supplied from an external power source. For example, the external power source and the wearable device (300, 300-1) can be connected via a cable (e.g., a USB cable, etc.). The PMIC (340) can receive power from the external power source via the cable and charge the battery (330) using the received power. According to an embodiment, the PMIC (340) can charge the battery (330) via a wireless charging method.

[0075] According to one embodiment, the PMIC (340) can transfer power stored in the battery (330) to components (e.g., processor (310), memory (350), IMU (360), communication module (390), etc.) within the wearable device (300, 300-1). The PMIC (340) can, for example, adjust the power stored in the battery (330) to a voltage or current level suitable for the components within the wearable device (300). The PMIC (340) can include, for example, a converter (e.g., a direct current (DC)-DC converter) or a regulator (e.g., a low drop out (LDO) regulator or a switching regulator) capable of performing the above-described adjustment.

[0076] According to one embodiment, the PMIC (340) can determine state information (e.g., state of charge, state of health, overvoltage, undervoltage, overcurrent, overcharge, overdischarge, overheat, short circuit, or swelling) of the battery (330) and transmit the state information of the battery (330) to the processor (310). The processor (310) can provide the state information of the battery (330) to the user. For example, the processor (310) can output the state information of the battery (330) through at least one of an audio output module (e.g., a speaker), a vibration output module (e.g., a vibration motor or a haptic motor), or a display module (e.g., a display or a lighting unit (60)). For example, the processor (310) can transmit status information of the battery (330) to the electronic device (110) through the communication module (390), and the electronic device (110) can display the status information of the battery (330) on a display.

[0077] According to one embodiment, the IMU (360) can obtain movement information of the wearable device (300, 300-1) (or the user). For example, the IMU (360) can obtain rotation angle values ​​(e.g., an angle value of an X rotation angle, an angle value of a Y rotation angle, and an angle value of a Z rotation angle) of the lumbar support module (10) (or the user). The X rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the X axis, the Y rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Y axis, and the Z rotation angle may represent, for example, an angle at which the lumbar support module (10) rotates around the Z axis. The IMU (360) can transmit the obtained movement information (e.g., rotation angle values) to the processor (310). Depending on the implementation, the IMU (360) may, for example, acquire three-axis (e.g., X-axis, Y-axis, Z-axis) acceleration values ​​and angular acceleration values ​​of the lumbar support module (10) (or the user), and transmit the acquired acceleration values ​​and angular acceleration values ​​to the processor (310). The processor (310) may determine rotation angle values ​​of the lumbar support module (10) (or the user) based on at least some of the acquired acceleration values ​​and angular acceleration values.

[0078] According to one embodiment, the processor (310) can control the wearable device (300, 300-1) as a whole.

[0079] According to one embodiment, the processor (310) may be operatively connected, directly or indirectly, to at least one or all of the angle sensors (320, 320-1), the memory (350), or the IMU (360).

[0080] According to one embodiment, the processor (310) may control components (e.g., motor driver circuits (370, 370-1), etc.) within the wearable device (300, 300-1) by executing software (or programs, instructions) stored in the memory (350), for example, and may perform various data processing or calculations. As at least a part of the data processing or calculations, the processor (310) may store data received from other components (e.g., IMU (360), angle sensors (320, 320-1), etc.) in the memory (350), and process instructions or data stored in the memory (350).

[0081] According to one embodiment, each of the motor driver circuits (370, 370-1) can control each of the motors (380, 380-1) under the control of the processor (310), and by such control, each of the motors (380, 380-1) can generate torque.

[0082] Each "processor" herein may include a processing circuit and / or multiple processors. For example, the term "processor," as used herein, including in the claims, may include various processing circuits, including at least one processor, one or more of which may be configured to individually and / or collectively perform the various functions described herein in a distributed manner. As used herein, when "processor," "at least one processor," and "one or more processors" are described as being configured to perform various functions, these terms may include, for example, without limitation, a situation where one processor performs some of the functions and other processor(s) perform the remainder of the functions, and also a situation where a single processor may perform all of the functions. Additionally, the at least one processor may include a combination of processors that perform the various functions enumerated / disclosed, for example, in a distributed manner. The at least one processor may execute program instructions to achieve or perform the various functions.

[0083] According to one embodiment, a communication module (390) including a communication circuit may support establishment of a direct (e.g., wired) communication channel or a wireless communication channel between a wearable device (300, 300-1) and an external electronic device, and performance of communication through the established communication channel. The communication module may include one or more communication processors that support direct (e.g., wired) communication or wireless communication. According to one embodiment, the communication module may include a wireless communication module (e.g., a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module (e.g., a local area network (LAN) communication module, or a power line communication module). Any of these communication modules may communicate with an external electronic device via a first network (e.g., a short-range communication network such as Bluetooth, WiFi (wireless fidelity) direct, or IrDA (infrared data association)) or a second network (e.g., a legacy cellular network, a 5G network, a next-generation communication network, the Internet, or a computer network). These various types of communication modules may be integrated into a single component (e.g., a single chip) or implemented as multiple separate components (e.g., multiple chips).

[0084] According to one embodiment, the wearable device (300, 300-1) may include a display module. The display module may include, for example, a display and / or a lighting unit (e.g., the lighting unit (60) of FIG. 2A). The processor (310) may control the display module so that the display module can provide visual feedback to the user.

[0085] According to one embodiment, the wearable device (300, 300-1) may include an audio output module. The audio output module may include, for example, one or more speakers. The processor (310) may control the audio output module so that the audio output module can provide auditory feedback to the user.

[0086] According to one embodiment, the wearable device (300, 300-1) may include a vibration output module. The vibration output module may include, for example, one or more vibration motors or one or more haptic motors. The processor (310) may control the vibration output module so that the vibration output module can provide tactile feedback (or haptic feedback) to the user.

[0087] According to one embodiment, at least one of a processor (310), a battery (330), a PMIC (340), a memory (350), an IMU (360), a communication module (390) including a communication circuit, a display module, an audio output module, or a vibration output module, or a combination thereof, may be located inside the lumbar support module (10) of FIGS. 2A and 2B. Each “module” used herein may include a circuit.

[0088] FIG. 4 is a diagram illustrating interaction between a wearable device and an electronic device according to one embodiment.

[0089] Referring to FIG. 4, a wearable device (120) can communicate with an electronic device (410) (e.g., a smartphone, a smartwatch, etc.). For example, the electronic device (410) may be a user terminal of a user using the wearable device (120) or a dedicated controller device for the wearable device (120). According to one embodiment, the wearable device (120) and the electronic device (410) may be connected to each other via short-range wireless communication (e.g., Bluetooth communication, Wi-Fi communication).

[0090] According to one embodiment, the electronic device (410) may execute an application for checking the status of the wearable device (120) or controlling or operating the wearable device (120). By executing the application, a screen of a user interface (UI) for controlling the operation of the wearable device (120) or determining the operation mode of the wearable device (120) may be displayed on the display (412) of the electronic device (410). The UI may be, for example, a graphical user interface (GUI).

[0091] According to one embodiment, a user may input a command to control the operation of the wearable device (120) (e.g., a command to instruct to operate in an assist mode that generates assistive force or a command to instruct to operate in a resistance mode that generates resistive force) or change the settings of the wearable device (120) through a GUI screen on the display (212) of the electronic device (410). The electronic device (410) may generate a control command (or a control signal) corresponding to the operation control command or setting change command input by the user, and transmit the generated control command to the wearable device (120). The wearable device (120) may operate according to the received control command, and may transmit a control result according to the control command and / or sensor data measured by a sensor of the wearable device (120) (e.g., an angle sensor (320, 320-1) and / or an IMU (360)) to the electronic device (410). The electronic device (410) can provide the user with result information (e.g., walking ability information, exercise ability information, exercise movement evaluation information) derived by analyzing the control result and / or sensor data through a GUI screen.

[0092] FIG. 5 is a drawing illustrating an example of the operation of a wearable device according to one embodiment.

[0093] Referring to FIG. 5, a first position (501) at a first time point when the user's right foot touches the ground, a second position (503) at a second time point when the user's left foot touches the ground after the first time point, a third position (505) at a third time point when the user's right foot touches the ground again after the second time point, and a fourth position (507) at a fourth time point when the user's left foot touches the ground again after the third time point are shown.

[0094] In the example illustrated in FIG. 5, the length from a first position (501) where the user's right foot touches the ground to a third position (505) where the user's right foot touches the ground may correspond to the user's right stride length, and the difference between the third point in time and the first point in time may correspond to the user's right stride time. The length from a second position (503) where the user's left foot touches the ground to a fourth position (507) where the user's left foot touches the ground may correspond to the user's left stride length, and the difference between the fourth point in time and the second point in time may correspond to the left stride time.

[0095] In the example illustrated in FIG. 5, a user's step may, for example, represent a motion in which the user's first foot touches the ground and then touches the ground again. For example, a motion in which the user's right foot is at a first position (501) and then at a third position (505) may correspond to a step. A motion in which the user's left foot is at a second position (503) and then at a fourth position (507) may correspond to a step.

[0096] As described below, in one embodiment, the wearable device (120) may count the number of steps taken by the user based on the angle of the user's hip joint. The counted number of steps may include the number of steps taken by the left foot and the number of steps taken by the right foot.

[0097] According to one embodiment, when the user's hip joint is rotated forward from the gravity direction line (510) (or when the user's leg is in front of the gravity direction line (510), the user's hip joint angle may have a negative number value. When the user's hip joint is rotated backward from the gravity direction line (510) (or when the user's leg is behind the gravity direction line (510), the user's hip joint angle may have a positive number value. For example, in the example illustrated in FIG. 5, the user's right hip joint may be rotated forward from the gravity direction line (510), so the right hip joint angle ( ) can have a negative value, and the user's left hip joint may be rotated backward from the line (510) in the direction of gravity, so the left hip joint angle ( ) can have positive values.

[0098] According to one embodiment, the wearable device (120) measures the user's left hip joint angle and generates first raw angle data (e.g., ) can be obtained, and the second raw angle data (e.g., by measuring the user's right hip joint angle) can be obtained. ) can be obtained.

[0099] According to one embodiment, the wearable device (120) (e.g., processor (310)) may filter the first raw angle data and the second raw angle data through a first filter (e.g., low-pass filter). The processor (310) may filter the filtered first raw angle data (e.g., ) and filtered second raw angle data (e.g. ) can be obtained. The first filter can be expressed, for example, by the following mathematical expression 1. The first filter is not limited to the form of the following mathematical expression 1.

[0100] [Mathematical Formula 1]

[0101]

[0102] In the above [Mathematical Formula 1], x(t) at time t is input (e.g. ) can be expressed, is the filtering result of the first filter at the previous time t-1 (e.g. ) can be represented, is the filtering result of the first filter at time t (e.g. ) can be represented. α in the above mathematical expression 1 can represent the coefficient of the first filter.

[0103] High frequency components can be removed from the first raw angle data and the second raw angle data by filtering the first filter.

[0104] According to one embodiment, the wearable device (120) (e.g., processor (310)) controls the drive module (30) based on the following [Mathematical Formula 2], using a torque value (e.g., ) can be determined.

[0105] [Equation 2]

[0106]

[0107]

[0108] In [Mathematical Formula 2], y(t) can be a state factor indicating the state of the user's movement, for example. For example, the state factor y(t) can be related to the distance between the two legs (or the angle between the two hip joints). If y(t) is 0, it can indicate a state where the distance between the legs is 0 (e.g., a crossing state), and if the absolute value of y(t) is maximum, it can indicate a state where the angle between the legs is maximum (e.g., a landing state).

[0109] According to one embodiment, the gain value (κ) may be a parameter indicating the magnitude and direction of the output torque.

[0110] The larger the gain value (κ), the stronger the torque can be output. If the gain value (κ) is, for example, a negative value, a torque that acts as a resistive force to the user (or a resistive torque) can be output, and if the gain value (κ) is, for example, a positive value, a torque that acts as an assistive force to the user (or an assistive torque) can be output.

[0111] The delay value (△t) can be used to delay the torque output. The gain value (κ) and the delay value (△t) can be preset. They can be adjusted by the user, the wearable device (120), or an electronic device (e.g., a smartphone, a tablet PC) paired with the wearable device (120). The delay value (△t) can be fixed, for example, during the user's exercise. However, as will be described below, the wearable device (120) can adjust or change the delay value (△t).

[0112] According to one embodiment, the wearable device (120) (e.g., processor (310)) may use the following [Mathematical Formula 3] to generate a torque value (e.g., ) and a torque value that can be used to generate torque in the motor (380) (e.g. ) can be determined.

[0113] [Equation 3]

[0114]

[0115]

[0116] and The magnitudes can be the same, and the direction of the torque can be opposite.

[0117] A wearable device (120) (e.g., processor (310)) may be configured to measure a torque value (e.g., ) can be controlled so that the torque corresponding to the torque value (e.g., ) can be controlled so that the torque corresponding to the motor (380) is output by the motor (380).

[0118] FIG. 6 is a block diagram illustrating an example of a configuration of a wearable device according to one embodiment.

[0119] Referring to FIG. 6, a wearable device (600) (e.g., wearable device (120), wearable device (200), wearable device (300), wearable device (300-1)) according to one embodiment may include a processor (610) (e.g., processor (310)), an angle sensor (620), and a driving module (630) (e.g., driving module (30)).

[0120] According to one embodiment, the angle sensor (620) can sense or measure a joint angle (e.g., a hip joint angle) of the user, and transmit a sensing result (or a measurement result) (e.g., a joint angle value) to the processor (610). For example, the angle sensor (620) can include the angle sensor (320) and / or the angle sensor (320-1). The angle sensor (320) can sense an angle of a first joint (e.g., a left hip joint angle) of the user to obtain a first joint angle value (e.g., a left hip joint angle value) and transmit the first joint angle value to the processor (610). The angle sensor (320-1) can sense an angle of a second joint (e.g., a right hip joint angle) of the user to obtain a second joint angle value (e.g., a right hip joint angle value) and transmit the second joint angle value to the processor (610).

[0121] According to one embodiment, the drive module (630) may include one or more motors (e.g., motor (380) and / or motor (380-1)) and one or more motor driver circuits (e.g., motor driver circuit (370) and / or motor driver circuit (370-1)). The drive module (630) may include a first drive module (30a) and / or a second drive module (30b).

[0122] According to one embodiment, the processor (610) may acquire or collect the user's joint angle values ​​(e.g., the first joint angle value and / or the second joint angle value) using the angle sensor (620). The processor (610) may determine the user's stride time values ​​(e.g., the right stride time value and / or the left stride time value of FIG. 5) based on the acquired joint angle values. As used herein, "based on" covers at least based on.

[0123] According to one embodiment, the processor (610) may determine a delay value (e.g., a delay value (△t)) associated with a delay in a torque output of the drive module (630) based on at least one of a target value, a determined stride time value, or a gain value (e.g., a gain value (κ)) associated with a torque intensity of the drive module (630). The target value may represent, for example, a value related to an ideal timing of a change in the torque rotation direction of the drive module (630). The ideal timing of a change in the torque rotation direction of the drive module (630) may be a timing of a change in the direction of a user's joint rotation. It may be ideal for the torque rotation direction of the drive module (630) to change when the direction of the user's joint rotation changes. The target value may represent a value for a state in which there is no or little difference between the ideal timing of a change in the torque rotation direction of the drive module (630) and the timing of a change in the direction of the user's joint rotation. The target value may be, for example, 0, but is not limited thereto. Depending on the implementation, the target value may have a value close to 0 (e.g., 0.1).

[0124] According to one embodiment, the processor (610) can control the drive module (630) so that the torque is output from the drive module (630) with a delay equal to the determined delay value.

[0125] According to one embodiment, the processor (610) may obtain a first joint angle value of the user (e.g., a hip joint angle value when the hip joint is maximally spread forward during walking or a minimum hip joint angle value during walking) using the angle sensor (620). The processor (610) may obtain a first time value corresponding to the time point at which the first joint angle value is obtained. The processor (610) may obtain a second time value corresponding to a first torque value (e.g., 0 Nm) of the driving module (630). The processor (610) may determine a value of an index (hereinafter referred to as “timing index (TI)”) regarding the degree to which the timing of changing the torque rotation direction of the driving module (630) deviates from the timing of changing the rotation direction of the user’s hip joint (or the ideal timing of changing the torque rotation direction of the driving module (630)) based on at least one of the determined stride time value, the acquired first time value, the acquired second time value, the first torque value, or the second torque value of the driving module (630) corresponding to the acquired first time value.

[0126] For example, the processor (610) can determine a difference value between the acquired first time value and the acquired second time value, determine a ratio value (hereinafter referred to as “first ratio value”) between the determined difference value and the determined stride time value, and determine a value of a timing index using the determined first ratio value. The processor (610) can identify a zero torque point in the user’s first step and a point in time when the hip joint rotates maximally in the first step (hereinafter referred to as maximum rotation point), and determine a time difference between the zero torque point and the maximum rotation point. The processor (610) can determine a value of a timing index (TI) using a ratio value (e.g., first ratio value) between the stride time and the determined time difference. This will be described in detail with reference to FIGS. 10 and 11.

[0127] For another example, the processor (610) may determine a ratio value (hereinafter referred to as a “second ratio value”) between the first torque value and the third torque value of the driving module (630). The third torque value may represent, for example, a torque value corresponding to a maximum torque applied to the leg during the user’s first step or a minimum torque value during the first step. The processor (610) may determine a value of a timing index (TI) using the determined second ratio value. The processor (610) may determine a torque value (hereinafter referred to as a torque value at the maximum rotation point) (e.g., the first torque value) when the hip joint is rotated to its maximum during the first step, and may determine a torque value (e.g., the third torque value) corresponding to the maximum torque of the driving module (630) during the first step. The processor (610) may determine a value of a timing index (TI) using a ratio value (e.g., the second ratio value) between the torque value at the maximum rotation point during the first step and the torque value corresponding to the maximum torque during the first step. This is explained in detail through Figures 12 and 13.

[0128] Users may experience discomfort if they do not receive torque from their wearable device that matches their movements. For example, if the same delay value is used for both fast and slow walking speeds, the user may not receive torque that matches their movements. Users may experience discomfort if they receive torque from the wearable device at inappropriate timing. According to one embodiment, the wearable device (600) may determine a delay value from the walking step performed and provide torque to the user based on the determined delay value. The wearable device (600) may determine a delay value so that the timing indicator determined from the walking step can have a target value, and provide torque to the user based on the determined delay value. Accordingly, the wearable device (600) may provide torque to the user at an appropriate timing, thereby improving the UE (User Experience) of the wearable device (600).

[0129] FIG. 7 and FIG. 8 are drawings illustrating examples of operations of a wearable device according to one embodiment of the present invention to count the number of steps taken by a user.

[0130] Referring to FIG. 7, the user's leg movement state (or walking state) may include a first state (or low state) (710) and a second state (or high state) (720). The first state (710) may include, for example, a state in which the user's hip joint is rotated less than a first level (or a state in which the hip joint is opened less than the first level). The first state (710) may include, for example, a state in which the user's hip joint angle value is greater than a first threshold angle value (or an upward threshold angle value) (e.g., an angle value corresponding to the first level). The first threshold angle value may have a negative value, for example. As described above with reference to FIG. 5, when the hip joint is rotated forward, the hip joint angle may have a negative value. The wearable device (600) (e.g., the processor (610)) may determine that the user's leg movement state is in the first state (710) when the user's hip joint angle value is greater than the first threshold angle value. The wearable device (600) (e.g., processor (610)) can determine the user's leg movement state as the first state (710) (or a state in which the user's knee does not rise above a certain level) when the user's hip joint angle value is greater than the first threshold angle value.

[0131] As the user's leg gradually rises, the hip joint angle may gradually increase in a negative direction. As the user's leg gradually rises, the hip joint angle value may gradually decrease. The wearable device (600) (e.g., the processor (610)) may determine whether the user's hip joint angle value is less than or equal to a first threshold angle value. If the wearable device (600) (e.g., the processor (610)) determines that the user's hip joint angle value is less than or equal to the first threshold angle value, the wearable device (600) (e.g., the processor (610)) may change (or transition) the user's leg movement state from the first state (710) to the second state (720). If the first state change condition (or the first state transition condition) (e.g., the condition that the hip joint angle value is less than or equal to the first threshold angle value) is satisfied, the wearable device (600) (e.g., the processor (610)) may determine the user's leg movement state as the second state (720) (or a state in which the knee is raised to a certain level or more).

[0132] The second state (720) may include, for example, a state in which the user's hip joint is rotated beyond a first level (or a state in which the hip joint is opened beyond the first level). The second state (720) may include, for example, a state in which the user's hip joint angle value is less than a first threshold angle value.

[0133] In the second state (720), the user's hip joint may rotate forward as much as possible and then rotate in the opposite direction. As the user's hip joint begins to rotate in the opposite direction, the user's hip joint angle may narrow. As the user's hip joint begins to rotate in the opposite direction, the hip joint angle value may increase. As the user's hip joint rotates in the opposite direction, the user's hip joint angle may gradually narrow and widen below the second level. In other words, the hip joint angle value may be greater than or equal to the second threshold angle value (or a lower threshold angle value) (e.g., an angle value corresponding to the second level). When the wearable device (600) (e.g., the processor (610)) determines that the user's hip joint angle value is greater than or equal to the second threshold angle value, the wearable device (600) may change (or transition) the user's leg movement state from the second state (720) to the first state (710). The wearable device (600) (e.g., processor (610)) can determine the user's leg movement state as the first state (710) (or a state in which the knee is lowered below a certain level) when the second state change condition (or second state transition condition) (e.g., a condition in which the hip joint angle value is greater than or equal to the second threshold angle value) is satisfied.

[0134] The wearable device (600) (e.g., processor (610)) may increase the user's step count by one when the user's leg movement state changes from a first state (710) to a second state (720) and then returns to the first state (710). The wearable device (600) (e.g., processor (610)) may recognize that the user's step has occurred when the user's leg movement state changes from a first state (710) to a second state (720) and then returns to the first state (710), and may increase the step count by one. Depending on the implementation, the wearable device (600) (e.g., processor (610)) may increase the user's step count by one when the user's leg movement state changes from a second state (720) to a first state (710) and then returns to the second state (720).

[0135] The wearable device (600) (e.g., processor (610)) can check whether the leg movement state of each leg of the user changes. If the movement state of the user's right leg changes from a first state (710) to a second state (720) and then returns to the first state (710), the wearable device (600) (e.g., processor (610)) can update (or increase) the user's step count from, for example, a to a+1. If the movement state of the user's left leg changes from a first state (710) to a second state (720) and then returns to the first state (710), the wearable device (600) (e.g., processor (610)) can update (or increase) the user's step count from a+1 to a+2. The wearable device (600) (e.g., processor (610)) can accumulate the user's step count through changes in the leg movement state of each leg of the user.

[0136] According to one embodiment, the wearable device (600) (e.g., processor (610)) may change the first threshold angle value and / or the second threshold angle value. For example, the processor (610) may change the first threshold angle value through [Mathematical Formula 4] below and / or change the second threshold angle value through [Mathematical Formula 5] below.

[0137] [Equation 4]

[0138]

[0139] [Equation 5]

[0140]

[0141] In [Equation 4] and [Equation 5] above, may represent the first critical angle value (or rising critical angle value), may represent the second critical angle value (or descending critical angle value), can represent the hip angle value when the knee was raised the highest in the previous step, can represent the hip joint angle value when the knee was at its lowest point in the previous step, can represent weights.

[0142] In [Equation 4] and [Equation 5] above, may be a bias or a constant value. For example, at the start of a user's movement (e.g., walking), the first threshold angle value and the second threshold angle value may be given or set as the first value and the second value, respectively. For example, it can represent half the difference between a second value and a first value. For example, The initial value of and It can represent half of the difference between the initial values.

[0143] According to one embodiment, the wearable device (600) (e.g., processor (610)) may detect a change in the state of leg movement when: and / or can be renewed.

[0144] For example, the leg movement state of the user's first leg in the first step (or current step) may be in the first state (710). In the first state (710), the processor (610) may determine (or update) the second threshold angle value based on the hip joint angle value when the knee of the first leg was raised the highest in the previous step of the first leg, the hip joint angle value when the knee of the first leg was lowered the lowest in the previous step of the first leg, the weight, and the bias. The processor (610) may determine (or update) the second threshold angle value based on the hip joint angle value when the knee of the first leg was raised the highest in the previous step of the first leg, and the weight ( ) multiplication result (e.g. ) and the weighted value minus "1" (e.g. ) and the result of multiplying the hip joint angle value when the knee of the first leg was at its lowest in the previous step of the first leg (e.g. ) can be added. The processor (610) can add the result of the addition (e.g., ) and a bias can be added to determine (or update) the first threshold angle value. The processor (610) can determine (or update) the first threshold angle value according to the above [Mathematical Formula 4]. The processor (610) can compare the determined (or updated) first threshold angle value with the hip joint angle value to determine whether the leg movement state has entered the second state (720) from the first state (710).

[0145] The leg movement state of the user's first leg may change from the first state (710) to the second state (720). In the second state (720), the processor (610) may determine (or update) a second threshold angle value based on the hip joint angle value when the knee of the first leg was raised the highest in the previous step of the first leg, the hip joint angle value when the knee of the first leg was lowered the lowest in the previous step of the first leg, the weight, and the bias. The processor (610) may determine (or update) a second threshold angle value based on the above-described sum result (e.g., ) can be used to determine (or update) the first threshold angle value by subtracting the bias from the threshold angle value. The processor (610) can determine (or update) the second threshold angle value according to the above [Mathematical Formula 5]. The processor (610) can compare the determined (or updated) second threshold angle value with the hip joint angle value to determine whether the leg movement state has entered the first state (710) from the second state (720).

[0146] FIG. 8 illustrates examples of a graph (810) for hip joint angle over time (e.g., hip joint angle of the first leg), a graph (820) for a first threshold angle value over time, and a graph (830) for a second threshold angle value over time.

[0147] In the example illustrated in FIG. 8, the wearable device (600) (e.g., processor (610)) can determine each of the first threshold angle value and the second threshold angle value in the first step (840) of the first leg based on the maximum hip joint angle value in the step preceding the first step, the minimum hip joint angle value in the step preceding the first step, the weight, and the bias.

[0148] According to one embodiment, a wearable device (600) (e.g., processor (610)) may receive external information ( ) can be used to change the first threshold angle value and / or the second threshold angle value. For example, the processor (610) can change the first threshold angle value through [Mathematical Formula 6] below and / or change the second threshold angle value through [Mathematical Formula 7] below.

[0149] [Equation 6]

[0150]

[0151] [Equation 7j]

[0152]

[0153] In [Equation 6] and [Equation 7] above, can represent external information. The external information can include, for example, information obtained from sensors related to the walking environment (e.g., IMU (360), etc.).

[0154] According to one embodiment, the processor (610) receives external information ( )(e.g. left hip joint angle value or sensor data acquired by IMU(360)) and bias( ) to obtain the first critical angle value for the right leg ( ) can be determined. The processor (610) can determine external information ( )(e.g. left hip angle value or sensor data acquired by IMU(360) etc.) bias( ) by subtracting the second critical angle value for the right leg ( ) can be determined. The processor (610) can determine external information ( ) (e.g. right hip angle value or sensor data acquired by IMU (360)) and bias ( ) to obtain the first critical angle value for the left leg ( ) can be determined. The processor (610) can determine external information ( )(e.g. right hip angle value or sensor data acquired by IMU(360) etc.) bias( ) by subtracting the second critical angle value for the left leg ( ) can be determined.

[0155] FIG. 9 is a diagram illustrating an example of an operation of a wearable device according to one embodiment of the present invention to determine a user's stride time.

[0156] Referring to FIG. 9, a graph (910) for hip joint angle over time (e.g., right hip joint angle) and a graph (920) for stride time over time (e.g., right stride time) are shown.

[0157] According to one embodiment, the wearable device (600) (e.g., processor (610)) can determine a stride time value of the user based on at least one hip joint angle value of the user.

[0158] For example, the processor (610) can detect that the movement state of the user's right leg has changed from the first state (710) to the second state (720), and can detect that the movement state of the right leg has changed from the second state (720) back to the first state (710). In this case, the processor (610) can increase the number of right steps, and the time value when the number of right steps has increased (e.g., t in FIG. 9) a ) can be identified or recorded.

[0159] The processor (610) can detect that the movement state of the user's right leg has changed again from the first state (710) to the second state (720), and can detect that the movement state of the right leg has changed again from the second state (720) to the first state (710). In this case, the processor (610) can increase the number of right steps again, and the time value (e.g., t in FIG. 9) when the number of right steps has increased again a+1 ) can be identified or recorded. The processor (610) can detect or record a time value (e.g., t a+1 ) and time values ​​(e.g. t a ) to obtain the stride time value of the right leg (or one step of the right leg) (e.g. t a+1 and t a The processor (610) can determine the time value (e.g., t) when the first step of the right leg occurred. a+1 ) and the time value when the previous step of the right leg occurred (e.g. t a ) to obtain the stride time value (e.g. t) of the right leg (or first step) a+1 and t a The difference value between the two can be determined. Depending on the implementation, the processor (610) can determine the time value (e.g., t in FIG. 9) when the right hip joint is rotated to the maximum during the first step of the right leg. b+1 ) and the time value when the right hip joint was maximally rotated during the previous step (e.g., t in Fig. 9 b ) can be determined as the stride time value of the right leg (e.g., the stride time value of the first step).

[0160] Similar to the embodiment of determining the stride time value of the right leg, the processor (610) may determine the stride time value of the left leg. The processor (610) may determine the average value between the stride time value of the left leg and the stride time value of the right leg as the user's stride time value. Depending on the implementation, the processor (610) may determine either the stride time value of the left leg or the stride time value of the right leg as the user's stride time value.

[0161] Referring to the graphs (910) and (920) illustrated in FIG. 9, when the walking speed is fast, the stride time may decrease, and when the walking speed is slow, the stride time may increase.

[0162] FIG. 10 and FIG. 11 are diagrams illustrating examples of timing indicators of a wearable device according to one embodiment.

[0163] According to one embodiment, the wearable device (600) (e.g., processor (610)) may acquire a first joint angle value of the user using an angle sensor (620). The first joint angle value may correspond to, for example, a hip joint angle value when the hip joint is rotated forward to the maximum extent during the user's walking or a minimum hip joint angle value during the walking. The wearable device (600) (e.g., processor (610)) may acquire a first time value corresponding to the acquisition time of the first joint angle value.

[0164] According to one embodiment, the wearable device (600) (e.g., processor (610)) may obtain a second time value corresponding to a first torque value of the driving module (630). The first torque value may be, for example, 0, but is not limited thereto.

[0165] According to one embodiment, the wearable device (600) (e.g., processor (610)) can determine a value of a timing indicator (TI) (e.g., a first TI) using a stride time value, a first time value, and a second time value.

[0166] According to one embodiment, the processor (610) may determine a difference value between a first time value and a second time value. The processor (610) may determine a first ratio value between the determined difference value and the step time value. The processor (610) may use the determined first ratio value to determine a value of a timing indicator (TI) (e.g., a first TI).

[0167] For example, the processor (610) may determine the value of the first TI by applying a first value (e.g., 1) to the first ratio value when the first time value is less than or equal to the second time value. The processor (610) may determine the value of the first TI by applying a second value (e.g., -1) to the first ratio value when the first time value is greater than the second time value. The processor (610) may determine the value of the first TI through [Mathematical Formula 8] below.

[0168] [Equation 8]

[0169]

[0170] In the above [Mathematical Formula 8], time interval A may represent the difference value between the first time value and the second time value, and time interval B may represent the stride time value. Time interval B may represent the difference value between the first time value and the time value when the knee was raised the highest in the previous step.

[0171] Figure 10 illustrates examples of a graph (1010) for hip joint angle over time (e.g., right hip joint angle) and a graph (1020) for torque over time (e.g., auxiliary torque). Graph (1020) may be based on, for example, Equation 2 above.

[0172] In the example illustrated in FIG. 10, the wearable device (600) can obtain a first time value (e.g., t2) and a second time value (e.g., t3), and determine a time interval A (1040) (e.g., t3—t2) of the above [Mathematical Formula 8]. The wearable device (600) can obtain a time interval B (1030) (e.g., t2—t1). The time value (t1) may represent, for example, a time value when the right knee is raised the highest in a previous step of the right leg. The time interval B (1030) may correspond to, for example, a stride time value (e.g., a stride time value of a right step).

[0173] In the example illustrated in FIG. 10, the second time value (e.g., t3) may be greater than the first time value (e.g., t2), so that the wearable device (600) may output "time interval A / time interval B" (e.g., (t3― t 2) / (t2―t1)) can be multiplied by a first value (e.g., 1) to determine the value of the timing index (e.g., the first TI). If the time point at which the hip joint is maximally rotated forward is earlier than the time point at which the zero torque value is present, the wearable device (600) determines "time interval A / time interval B" (e.g., (t3― t 2) The value of the timing index (e.g., the first TI) can be determined by multiplying / (t2―t1)) by a first value (e.g., 1).

[0174] Figure 11 illustrates examples of a graph (1110) of hip joint angle over time (e.g., right hip joint angle) and a graph (1120) of torque over time (e.g., resistance torque). The graph (1120) may be based on, for example, the above [Mathematical Formula 2].

[0175] In the example illustrated in FIG. 11, the wearable device (600) can obtain a first time value (e.g., t6) and a second time value (e.g., t5), and determine a time interval A (1140) (e.g., t6-t5) of the above [Mathematical Formula 8]. The wearable device (600) can obtain a time interval B (1130) (e.g., t5-t4). The time value (t4) may represent, for example, a time value when the right knee is raised the highest in a previous step of the right leg. The time interval B (1130) may correspond to, for example, a stride time value (e.g., a stride time value of a right step).

[0176] In the example illustrated in FIG. 11, the second time value (e.g., t5) may be smaller than the first time value (e.g., t4), so that the wearable device (600) may be configured to "time interval A / time interval B" (e.g., (t6―t 5) / (t5―t4)) can be multiplied by a second value (e.g., -1) to determine the value of the timing index (e.g., the first TI). The wearable device (600) determines that "time interval A / time interval B" (e.g., (t6―t)) is earlier than the point in time when the zero torque value is earlier than the point in time when the hip joint is rotated forward to the maximum. 5) The value of the timing index (e.g., the first TI) can be determined by multiplying / (t5―t4)) by a second value (e.g., -1).

[0177] FIGS. 12 and 13 are diagrams illustrating other examples of timing indicators of a wearable device according to one embodiment.

[0178] According to one embodiment, the wearable device (600) (e.g., processor (610)) may acquire a first joint angle value of the user using an angle sensor (620). The first joint angle value may correspond to, for example, a hip joint angle value when the hip joint rotates forward to the maximum during one step of the user or a minimum hip joint angle value during one step. The wearable device (600) (e.g., processor (610)) may acquire a first time value corresponding to the acquisition time of the first joint angle value.

[0179] According to one embodiment, the wearable device (600) (e.g., processor (610)) may obtain a third torque value. The third torque value may correspond to, for example, a maximum torque value applied to a leg rotating forward during a single step of the user or a minimum torque value during a single step. The wearable device (600) (e.g., processor (610)) may obtain a time value (hereinafter referred to as a “third time value”) corresponding to the third torque value.

[0180] According to one embodiment, the wearable device (600) (e.g., processor (610)) can determine a value of a timing indicator (TI) (e.g., a second TI) using a first time value, a third time value, a first torque value, and a third torque value.

[0181] According to one embodiment, the processor (610) can determine a second ratio value between the first torque value and the third torque value, and can determine a value of a timing indicator (TI) (e.g., a second TI) using the determined second ratio value.

[0182] For example, the processor (610) may determine the value of the second TI by applying a first value (e.g., 1) to the second ratio value when the first time value is greater than the third time value. The processor (610) may determine the value of the second TI by applying a second value (e.g., -1) to the second ratio value when the first time value is less than or equal to the third time value. The processor (610) may determine the value of the second TI through [Mathematical Formula 9] below.

[0183] [Equation 9]

[0184]

[0185] In the above [Mathematical Formula 9], torque A can represent the first torque value, and torque B can represent the third torque value.

[0186] Figure 12 illustrates examples of a graph (1210) for hip joint angle over time (e.g., right hip joint angle) and a graph (1220) for torque over time (e.g., auxiliary torque). The graph (1220) may be based on, for example, the above [Mathematical Formula 2].

[0187] In the example illustrated in FIG. 12, the wearable device (600) can obtain a first time value (e.g., t8) and can obtain a first torque value (e.g., τ1) corresponding to the first time value (e.g., t8). The wearable device (600) can obtain a third torque value (e.g., τ2) and can obtain a third time value (e.g., t7) corresponding to the third torque value (e.g., τ2).

[0188] In the example illustrated in FIG. 12, the first time value (e.g., t8) may be greater than the third time value (e.g., t7), so the wearable device (600) may determine the value of the timing index (e.g., the second TI) by multiplying the first value (e.g., 1) by “torque A / torque B” (e.g., τ1 / τ2).

[0189] Figure 13 illustrates examples of a graph (1310) of hip joint angle over time (e.g., right hip joint angle) and a graph (1320) of torque over time (e.g., resistance torque). The graph (1320) may be based on, for example, the above [Mathematical Formula 2].

[0190] In the example illustrated in FIG. 13, the wearable device (600) can obtain a first time value (e.g., t9) and can obtain a first torque value (e.g., τ3) corresponding to the first time value (e.g., t9). The wearable device (600) can obtain a third torque value (e.g., τ4) and can obtain a third time value (e.g., t) corresponding to the third torque value (e.g., τ4). 10 ) can be obtained.

[0191] In the example shown in Figure 13, the first time value (e.g., t9) is compared to the third time value (e.g., t 10 ), the wearable device (600) may determine the value of the timing index (e.g., the second TI) by multiplying “torque A / torque B” (e.g., τ3 / τ4) by a second value (e.g., -1).

[0192] FIG. 14 and FIG. 15 are diagrams illustrating examples of operations of a wearable device according to one embodiment of the present invention to determine a delay value.

[0193] Referring to FIG. 14, a table (1410) is illustrated in which gain values, stride times, target values, timing indices (TIs) (e.g., first TI or second TI), and delay values ​​are recorded. The table (1410) may be stored, for example, in a memory (350).

[0194] According to one embodiment, the table (1410) may record delay values ​​corresponding to a plurality of combinations. Each of the combinations may include a plurality of gain values, a plurality of stride time values, a plurality of target values, and a plurality of timing indicator values. For example, in the example illustrated in FIG. 14, a first combination including a gain value (κ1), a stride time value (T1), a target value (target), and a value of a timing indicator (TI1) may correspond to a delay value (△t1). A second combination including a gain value (κ2), a stride time value (T2), a target value (target), and a value of a timing indicator (TI2) may correspond to a delay value (△t2).

[0195] According to one embodiment, the wearable device (600) (e.g., processor (610)) can determine a delay value based on a gain value, a stride time value, a target value, a value of a timing index (e.g., a first TI or a second TI), and a table (1410). For example, when the gain value is κ1 of FIG. 14, the stride time value is ST1 of FIG. 14, the target value is target of FIG. 14, and the timing index is TI1 of FIG. 14, the processor (610) can find a delay value (△t1) mapped to κ1 / ST1 / target / TI1 in the table (1410).

[0196] According to one embodiment, the processor (610) may obtain a delay value corresponding to a combination including a gain value, a target value, a stride time value determined for each step, and a timing index value determined for each step from the table (1410). The processor (610) may repeatedly obtain the delay value, and the delay value may become closer to the target value as time passes. The processor (610) may obtain a delay value approaching the target value by repeatedly performing an operation of obtaining the delay value.

[0197] Referring to FIG. 15 , a model (1510) is illustrated. The model (1510) may represent a model modeled based on, for example, various step time values, various gain values, various delay values, and various timing indicator values. The model (1510) may be a statistical model and / or a machine learning model. The model (1510) may be stored in memory (350).

[0198] According to one embodiment, the wearable device (600) (e.g., the processor (610)) can determine a delay value based on a gain value, a stride time value, a target value, a timing index (e.g., a first TI or a second TI), and a model (1510). For example, the processor (610) can input the gain value, the stride time value, the target value, and the timing index values ​​into the model (1510), and can obtain a delay value from the model (1510). The processor (610) can input the gain value, the target value, the stride time value determined for each step, and the timing index values ​​determined for each step into the model (1510), and can obtain an output (e.g., a delay value) corresponding to the input from the model (1510). The processor (610) can repeatedly obtain a delay value from the model (1510), and the delay value can become closer to the target value as time passes. The processor (610) can obtain a delay value close to a target value by repeatedly performing an operation of obtaining a delay value.

[0199] Depending on the implementation, the processor (610) can input a gain value, a step time value, and a target value to the model (1510) and obtain a delay value from the model (1510).

[0200] According to one embodiment, unlike the examples illustrated in FIGS. 14 and 15, the wearable device (600) (e.g., processor (610)) may determine a delay value through a control algorithm (e.g., a Proportional-Integral-Differential (PID) control algorithm). For example, the processor (610) may utilize a PID control algorithm so that the timing indicator has a target value.

[0201] Figure 16 is a flowchart illustrating a method of operating a wearable device according to one embodiment.

[0202] In operation 1610, the wearable device (600) can obtain the user's joint angle values.

[0203] At operation 1620, the wearable device (600) can determine the user's stride time value based on the acquired joint angle value.

[0204] In operation 1630, the wearable device (600) can determine a delay value related to the delay of the torque output of the drive module (630) based on at least one of the target value, the determined stride time value, or the gain value.

[0205] At operation 1640, the wearable device (600) can output torque (e.g., auxiliary torque or resistance torque) with a delay of a determined delay value.

[0206] The embodiments described through FIGS. 1A to 15 can be applied to the operating method of the wearable device of FIG. 16.

[0207] According to one embodiment, a wearable device (120, 200, 300, 300-1, 600) may include a driving module (630), an angle sensor (620), and a processor (610). The processor may obtain a joint angle value of the user using the angle sensor. The processor may determine a stride time value of the user based on the obtained joint angle value. The processor may determine a delay value related to a delay in a torque output of the driving module based on at least one of a target value related to an ideal change timing of a torque rotation direction of the driving module, the determined stride time value, or a gain value related to a torque intensity of the driving module. The processor may control the driving module such that a torque is output from the driving module with a delay equal to the determined delay value.

[0208] According to one embodiment, the processor may obtain a first joint angle value of the user using the angle sensor, obtain a first time value corresponding to the time point of obtaining the first joint angle value, obtain a second time value corresponding to the first torque value of the driving module, and determine an index (e.g., a value of the timing index (TI) described above) regarding the degree to which the timing of changing the torque rotation direction of the driving module deviates from the timing of changing the joint rotation direction of the user based on at least one of the determined stride time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the driving module corresponding to the obtained first time value.

[0209] According to one embodiment, the processor may determine a difference value between the acquired first time value and the acquired second time value, determine a first ratio value between the determined difference value and the determined step time value, and determine a value of the indicator (e.g., a first TI) using the determined first ratio value.

[0210] According to one embodiment, the processor may determine the value of the indicator by applying a first value (e.g., 1) to the determined first ratio value when the first time value is less than or equal to the second time value, and may determine the value of the indicator by applying a second value (e.g., -1) to the determined first ratio value when the first time value is greater than the second time value.

[0211] According to one embodiment, the processor may obtain a third torque value of the drive module, determine a second ratio value between the first torque value and the third torque value, and determine a value of the indicator (e.g., a second TI) using the determined second ratio value.

[0212] According to one embodiment, the processor may determine the value of the indicator by applying a first value to the determined second ratio value when the first time value is greater than a third time value corresponding to the third torque value, and may determine the value of the indicator by applying a second value to the determined second ratio value when the first time value is less than or equal to the third time value.

[0213] In one embodiment, the processor can determine the delay value such that the indicator has the target value.

[0214] According to one embodiment, the processor can input the determined stride time value, the gain value, and the target value into a model and determine the delay value through the model.

[0215] According to one embodiment, the processor can obtain the determined stride time value, the gain value, the target value, and the delay value corresponding to the determined value of the indicator from a table stored in a memory of the wearable device.

[0216] According to one embodiment, the processor may increase the number of steps of the user when the movement state of the user's leg changes from a first state to a second state, and then acquires the joint angle value in the second state, and detects that the movement state changes from the second state to the first state using the acquired joint angle value. The second state may include a state in which the hip joint of the leg is rotated to a first level or higher, and the first state may include a state in which the hip joint is rotated to a second level or lower.

[0217] In one embodiment, the processor may determine the first and second levels using a hip joint angle value when the knee of the leg was raised the highest in the previous step of the leg, a hip joint angle value when the knee of the leg was lowered the lowest in the previous step, a weight, and a bias.

[0218] The processor can determine a time value when the number of steps of the user increases, and determine a stride time value of the user using the determined time value and a time value when the previous step of the leg occurred.

[0219] According to one embodiment, a method of operating a wearable device (120, 200, 300, 300-1, 600) may include: an operation of acquiring a joint angle value of a user; an operation of determining a stride time value of the user based on the acquired joint angle value; an operation of determining a delay value related to a delay of a torque output of a drive module (630) of the wearable device based on at least one of a target value related to an ideal change timing of a torque rotation direction of the drive module, the determined stride time value, or a gain value related to a torque intensity of the drive module; and an operation of outputting a torque with a delay equal to the determined delay value.

[0220] According to one embodiment, the operating method may further include: an operation of obtaining a first joint angle value of the user; an operation of obtaining a first time value corresponding to a time point at which the first joint angle value is obtained; an operation of obtaining a second time value corresponding to a first torque value of the driving module; and an operation of determining a value of an indicator regarding a degree to which a timing of a change in the torque rotation direction of the driving module deviates from a timing of a change in the joint rotation direction of the user based on at least one of the determined stride time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the driving module corresponding to the obtained first time value.

[0221] Each implementation herein may be used in combination with any other implementation(s) described herein.

[0222] According to one embodiment, the operation of determining the value of the indicator may include the operation of determining a difference value between the acquired first time value and the acquired second time value; the operation of determining a first ratio value between the determined difference value and the determined step time value; and the operation of determining the value of the indicator using the determined first ratio value.

[0223] According to one embodiment, the operation of determining the value of the indicator using the determined first ratio value may include: an operation of determining the value of the indicator by applying the first value to the determined first ratio value when the first time value is less than or equal to the second time value; and an operation of determining the value of the indicator by applying the second value to the determined first ratio value when the first time value is greater than the second time value.

[0224] According to one embodiment, the operation of determining the value of the indicator may include the operation of obtaining a third torque value of the driving module, determining a second ratio value between the first torque value and the third torque value; and the operation of determining the value of the indicator using the determined second ratio value.

[0225] According to one embodiment, the operation of determining the value of the indicator using the determined second ratio value may include: determining the value of the indicator by applying the first value to the determined second ratio value when the first time value is greater than a third time value corresponding to the third torque value; and determining the value of the indicator by applying the second value to the determined second ratio value when the first time value is less than or equal to the third time value.

[0226] In one embodiment, the act of determining the delay value may include an act of determining the delay value such that the indicator has the target value.

[0227] According to one embodiment, the operation of obtaining the joint angle value may include an operation of obtaining the joint angle value in the second state after the movement state of the user's leg changes from the first state to the second state. The operation method may further include an operation of increasing the number of steps of the user when it is detected that the movement state changes from the second state to the first state using the obtained joint angle value.

[0228] The second state may include a state in which the hip joint of the leg is rotated to a first level or higher, and the first state may include a state in which the hip joint is rotated to a second level or lower.

[0229] The embodiments described above may be implemented using hardware components, software components, and / or a combination of hardware components and software components. A processing device including a processing circuit may be implemented using a general-purpose computer or a special-purpose computer, such as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and software applications running on the operating system. Furthermore, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used singly; however, those skilled in the art will appreciate that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, the processing device may include multiple processors, or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0230] Software may include a computer program, code, instructions, or a combination of one or more of these, and may configure a processing device to perform a desired operation or may independently or collectively command the processing device. The software and / or data may be stored on any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on a computer-readable recording medium.

[0231] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may store program commands, data files, data structures, etc., alone or in combination, and the program commands recorded on the medium may be those specially designed and configured for the embodiment or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands, such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0232] The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

[0233] 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.

[0234] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In wearable devices (120, 200, 300, 300-1, 600), A drive module (630) including a motor and / or circuit; angle sensor (620); and A processor (610) including a processing circuit, which obtains a joint angle value of a user through the angle sensor, determines a stride time value of the user based on the obtained joint angle value, determines a delay value related to a delay of a torque output of the driving module based on at least one of a target value related to an ideal change timing of a torque rotation direction of the driving module, the determined stride time value, or a gain value related to a torque intensity of the driving module, and controls the driving module so that the torque is output from the driving module with a delay of the determined delay value. including, Wearable devices.

2. In paragraph 1, The above processor, At least, obtaining a first joint angle value of the user through the angle sensor, obtaining a first time value corresponding to the time point of obtaining the first joint angle value, obtaining a second time value corresponding to the first torque value of the driving module, and determining a value of an index regarding the degree to which the timing of changing the torque rotation direction of the driving module deviates from the timing of changing the joint rotation direction of the user based on at least one of the determined stride time value, the obtained first time value, the obtained second time value, the first torque value, or the second torque value of the driving module corresponding to the obtained first time value. Wearable devices.

3. In paragraph 2, The above processor, Determine a difference value between the acquired first time value and the acquired second time value, determine a first ratio value between the determined difference value and the determined step time value, and determine a value of the indicator based at least on the determined first ratio value. Wearable devices.

4. In paragraph 3, The above processor, If the first time value is less than or equal to the second time value, the value of the indicator is determined by applying at least the first value to the determined first ratio value, and if the first time value is greater than the second time value, the value of the indicator is determined by applying at least the second value to the determined first ratio value. Wearable devices.

5. In paragraph 2, The above processor, Obtaining a third torque value of the driving module, determining a second ratio value between the first torque value and the third torque value, and determining a value of the index based on the determined second ratio value. Wearable devices.

6. In paragraph 5, The above processor, If the first time value is greater than the third time value corresponding to the third torque value, the value of the indicator is determined by applying the first value to at least the determined second ratio value, and if the first time value is less than or equal to the third time value, the value of the indicator is determined by applying the second value to at least the determined second ratio value. Wearable devices.

7. In paragraph 2, The above processor, determining the delay value so that the indicator has the target value; Wearable devices.

8. In paragraph 1, The above processor, Inputting the determined step time value, the gain value, and the target value into the model and determining the delay value at least through the model, Wearable devices.

9. In paragraph 2, The above processor, Obtaining the determined stride time value, the gain value, the target value, and the delay value corresponding to the determined value of the indicator from a table stored in the memory of the wearable device. Wearable devices.

10. In paragraph 1, The above processor, When the movement state of the user's leg changes from a first state to a second state, the joint angle value is acquired in the second state, and when it is detected that the movement state changes from the second state to the first state based on the acquired joint angle value, the number of steps of the user is increased. The second state includes a state in which the hip joint of the leg is rotated to a first level or higher, and the first state includes a state in which the hip joint is rotated to a second level or lower. Wearable devices.

11. In paragraph 10, The above processor, The first and second levels are determined based on the hip joint angle value when the knee of the leg was raised the highest in the previous step of the leg, the hip joint angle value when the knee of the leg was lowered the lowest in the previous step, the weight, and the bias. Wearable devices.

12. In paragraph 10, The above processor, Determine the time value when the number of steps of the user increases, and determine the stride time value of the user based on the determined time value and the time value when the previous step of the leg occurred. Wearable devices.

13. In the operating method of a wearable device (120, 200, 300, 300-1, 600), Action to obtain the user's joint angle values; An action of determining a stride time value of the user based on the joint angle value obtained above; An operation of determining a delay value related to a delay in a torque output of the drive module based on at least one of a target value related to an ideal change timing of a torque rotation direction of the drive module (630) of the wearable device, the determined step time value, or a gain value related to a torque intensity of the drive module; and An operation that outputs torque by delaying the delay value determined above. including, How to operate a wearable device.

14. In paragraph 13, An action of obtaining the first joint angle value of the user; An operation of acquiring a first time value corresponding to the acquisition time of the first joint angle value; An operation of obtaining a second time value corresponding to a first torque value of the driving module; An operation of determining a value of an indicator regarding the degree to which the timing of changing the torque rotation direction of the driving module deviates from the timing of changing the joint rotation direction of the user based on at least one of the determined stride time value, the acquired first time value, the acquired second time value, the first torque value, or the second torque value of the driving module corresponding to the acquired first time value. including more, How to operate a wearable device.

15. In paragraph 14, The action of determining the value of the above indicator is: An operation of determining a difference value between the acquired first time value and the acquired second time value; An operation of determining a first ratio value between the determined difference value and the determined stride time value; and An operation for determining the value of the indicator based on the first ratio value determined above. including, How to operate a wearable device.

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